CN109254010A - A kind of pantograph detection device and detection method - Google Patents

Abstract

The invention belongs to the technical field of locomotive component detection, and in particular relates to a pantograph detection device and a detection method. The device of the invention is composed of a pantograph, a camera module and a detection arm; the camera module is connected with the detection arm, the detection arm is fixed on the roof of the electric locomotive with the pantograph chassis as the vertex, and the camera module is connected to an external image processing module. connected to realize the transmission and processing of images. Through parking detection, digital image processing technology is used to measure the wear thickness of the pantograph carbon sliding plate. When the wear thickness exceeds the set wear threshold, an alarm that the pantograph needs to be replaced is issued. The invention simultaneously has the flexibility of manual detection in the pantograph detection method, and the high efficiency and accuracy of the image processing method.

Description

A pantograph detection device and detection method

technical field

The invention relates to the technical field of locomotive component detection, in particular to a pantograph detection device and a detection method.

Background technique

The pantograph is generally installed on the roof of the electric locomotive, and the electric locomotive receives the current through the active contact between the pantograph and the catenary and transmits it to the electric locomotive. With the increase of train running speed, the dynamic performance between pantograph and catenary deteriorates, and the pantograph and catenary of the high-speed train are in direct contact and friction. This process will cause mechanical wear of the pantograph carbon plate. Excessive wear and tear of carbon skateboards will cause major traffic accidents and seriously endanger driving safety. Therefore, in order to ensure the normal operation and stable current flow of the locomotive, and to ensure the safety of the pantograph and catenary system, it is necessary to regularly test the thickness of the carbon plate of the pantograph. Safety during transport.

Currently, four main technical means are used in pantograph detection: manual detection, contact detection, non-contact ranging technology detection, and image processing technology detection. Manual detection is more flexible and can identify various faults; however, it is inefficient and must be stopped for operation, and the detection results have a lot to do with the experience of the staff. The contact detection is mainly to install sensors, and the detection accuracy and efficiency are high; but the detection items of the equipment are single, and sometimes the pantograph needs to be transformed, which will affect the safety of the tram. The non-contact ranging technology uses laser, ultrasonic and other ranging technology to detect distance, which has high efficiency and little traffic interference; however, the laser detection function is relatively simple, and the ultrasonic detection accuracy is poor. Image processing technology has high detection intelligence, various detection items, and does not interfere with driving, but has poor flexibility; and the installation of the image acquisition device on the train will affect the driving safety, and the detection area installed on the ground will be affected by the driving speed and ambient light. The quality is not good, and there are also limitations of insufficient detection accuracy.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose a pantograph detection device and detection method which combine manual flexibility and high efficiency and accuracy of image processing.

A pantograph detection device proposed by the present invention includes a measurement system and an alarm device. The measurement system is composed of a pantograph 1, a camera module 2 and a detection arm 3. The pantograph 1 includes a pantograph 101, The bottom frame 102, the bow head 103 and the carbon slide plate 104, the pantograph 1 takes the center point of the bottom frame 102 as the axis of symmetry, and is divided into left and right half bows as a symmetrical structure, and the bow frame 101 and the bow head are symmetrically distributed on both sides of the bottom frame 102 103 and carbon slide plate 104, the lower end of the bow frame 101 is hinged with the bottom frame 102, the upper end of the bow frame 101 is mechanically connected with the bow head 103, and the carbon slide plate 104 is installed on the bow head 103; the camera module 2 is composed of several cameras, wherein : The bottom of the camera module 2 is connected to one end of the detection arm 3, the other end of the detection arm 3 is connected to the center point of one end of the chassis 102 of the pantograph 1, and the other end of the chassis 102 is connected to the electric locomotive; the The camera module 2 is connected to an external image processing module, and the external image processing module is connected to the alarm device; when the external image processing module detects that the maximum wear thickness A of the carbon slide plate 104 of the pantograph 1 exceeds a preset When the wear threshold A is ₀ , an alarm is issued by the alarm device.

In the present invention, the maximum wear thickness A of the carbon slide plate 104 is:

Wherein, d is the length of the detection arm 3 , N is the thickness pixel value of the maximum wear point of the carbon slide plate 104 , and C is the optical constant of the camera module 2 .

In the present invention, the camera module 2 is composed of two digital cameras, the two digital cameras are respectively fixed on both sides of the detection arm 3, and the two digital cameras are symmetrically distributed about the detection arm 3; The images of the left and right half bows of the pantograph 1 are collected respectively, and the maximum wear thickness of the half bow with the smaller thickness of the maximum wear point of the carbon slide plate 104 is taken as the maximum wear thickness of the carbon slide plate 104 of the pantograph 1 Wear thickness A.

In the present invention, the digital camera adopts a zoom lens, and its viewing angle ranges from 32° to 83°.

In the present invention, the detection arm 3 is a telescopic structure, and the range of the telescopic length d is:

Wherein, L is the length of the pantograph 1, and n is the number of the cameras.

In the present invention, the camera module 2 adopts one or more of wired, wireless or integrated communication modules; the external image processing module is an application module of an intelligent terminal, and the camera module 2 will obtain the received The image of the carbon sliding plate 104 of the pantograph 1 is digitized and sent to the application module of the smart terminal to calculate the maximum wear thickness A of the carbon sliding plate 104 of the pantograph 1 .

The detection method adopted by a pantograph detection device proposed by the present invention includes the following specific steps:

(1) After the electric locomotive is stopped, connect the camera module 2 and the detection arm 3 to the electric locomotive through the chassis 102 of the pantograph 1;

(2), set the length of the detection arm 3 to d ;

(3) Connect the external image processing module to the camera module 2, and confirm that the detection device works normally;

(4), setting the shutter and aperture of the camera module 2 according to the environmental conditions;

(5) Use the camera module 2 to acquire the image of the pantograph 1 and transmit it to the external image processing module;

(6), using the external image processing module to process the image of the pantograph 1 to calculate the maximum wear thickness A of the carbon slide plate 104 of the pantograph 1;

(7) When the detection device of the pantograph detects that the maximum wear thickness A of the carbon sliding plate 104 of the pantograph 1 exceeds a preset wear threshold A ₀ , an alarm is issued.

In the present invention, the method for processing the image of the pantograph 1 by the detection device includes the following steps:

(1), extract the image edge of the pantograph 1;

(2), performing grayscale transformation on the edge of the image;

(3), take the point with the largest grayscale change value as the boundary of the carbon slide plate 104;

(4) Calculate the pixel value of the thickness of the point according to the boundary of the carbon sliding plate 104 .

The beneficial effect of the present invention is that: the flexibility of manual detection in the pantograph detection method and the high efficiency and accuracy of the image processing method are combined, and the shortcomings of the traditional manual detection method of low efficiency and the detection result affected by the experience of the staff are overcome, and at the same time , Parking detection avoids the problem that the image quality is easily disturbed by the environment in the existing online image processing detection methods, improves the detection efficiency while ensuring the detection accuracy and flexibility, and provides a great advantage for the wear detection of the pantograph carbon plate. convenient.

Description of drawings

1 is a side view of a detection device for a pantograph according to an embodiment of the present invention;

FIG. 2 is a top view of a detection device for a pantograph according to an embodiment of the present invention.

Labels in the figure: 1—Pantograph; 101—Pantograph; 102—Bottom frame; 103—Bow head; 104—Carbon slide plate; 2—Camera module; 3—Detection arm.

Detailed ways

The embodiments of the present invention are described below by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the invention will be presented in conjunction with the preferred embodiment, this does not mean that the features of the invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiments is to cover other options or modifications that may be extended based on the claims of the invention. The following description will contain numerous specific details in order to provide a thorough understanding of the present invention. The invention may also be practiced without these details. Also, some specific details will be omitted from the description in order to avoid obscuring or obscuring the gist of the present invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In addition, "top", "bottom", "left", "right", "top", and "bottom" used in the following description should not be construed as limiting the present invention.

Embodiment 1: As shown in FIG. 1 , this embodiment discloses a detection device for a pantograph, including a measurement system and an alarm device. The measurement system includes a pantograph 1 , a camera module 2 and a retractable detection arm 3 . ; The pantograph 1 is composed of a bow frame 101, a bottom frame 102, a bow head 103 and a carbon slide plate 104. The camera module 2 includes a digital camera, wherein the camera module 2 is connected with the detection arm 3; the detection arm 3 is connected to the electric locomotive through the chassis 102 of the pantograph 1; the camera module 2 is also connected to the application of the intelligent terminal through the wireless communication module The smart terminal is connected to the alarm device; when the detection device of the pantograph detects that the maximum wear thickness A of the carbon slide plate of the pantograph exceeds the preset wear threshold A ₀ , an alarm is issued.

It can be understood that the retractable detection arm 3 is a preferred solution of the detection arm, so that it can meet different length requirements, and in other embodiments, the non-retractable detection arm can also detect the corresponding pantograph. Purpose: In this embodiment, the pantograph 1 is composed of a bow frame 101, a base frame 102, a bow head 103 and a carbon slide plate 104, and in other embodiments, the detection device can also detect any other structure with a base frame and the pantograph of the carbon skateboard; the camera module 2 includes a digital camera, and it is a preferred solution of the present invention to be connected with the application software of the intelligent terminal through the wireless communication module. In other embodiments, other types of cameras can also be used. to capture the image of the carbon slide of the pantograph and connect to other external image processing modules through wired communication module, integrated communication module or other communication means.

Optionally, the maximum wear thickness A of the carbon slide 104 can be defined as:

Wherein, d is the length of the detection arm 3, N is the thickness pixel value of the maximum wear point of the carbon slide 104, C is the optical constant of the camera module 2, which can be obtained by distance calibration, that is: the detection arm 3 with a length of d is The vertex is fixed in front of an unworn standard pantograph chassis 102 with a known carbon slide plate 104 thickness A , the unworn standard pantograph is photographed and the pixel value N corresponding to the thickness A is obtained. The optical constant C of the camera module 2 .

Optionally, as shown in Figure 2, two digital cameras 2 with zoom lenses and a viewing angle range of 32° to 83° can also be used to collect images of the carbon slides of the left and right half bows of the pantograph 1, respectively. In order to overcome the serious problem of the edge distortion of the camera angle of view, the detection accuracy is further improved, and the maximum wear thickness A of the carbon slide plate 104 of the pantograph 1 is taken as the maximum wear thickness of the half bow with the smaller thickness of the maximum wear point of the carbon slide plate 104; two The digital cameras 2 take the detection arm 3 as the axis and are symmetrically fixed on both sides of the detection arm 3; the detection arm 3 is a T-shaped retractable structure, the distance between the two digital cameras 2 is fixed, and the digital camera 2 and the pantograph The distance between 1 can be adjusted by the telescopic length d of the detection arm 3.

The following describes in detail the detection device and detection method of the pantograph 1 in this embodiment.

When measuring, first, the camera module 2 and the detection arm 3 are fixed on the roof of the stopped electric locomotive with the pantograph chassis 102 as the vertex, and the length d of the detection arm 3 is adjusted to be:

Among them, L is the length of pantograph 1, is the angle of view of the digital camera 2 , and n is the number of the digital camera 2 .

In this embodiment, by using two digital cameras 2 to collect images of the left and right half of the pantograph 1 respectively, and to further limit the viewing angle range of the digital cameras 2, it effectively avoids the edge of the camera's viewing angle in the ordinary image detection method. For the problem of image distortion that is easy to occur, the two digital cameras 2 are respectively focused on the maximum wear point of the carbon slide 104 to further improve the detection accuracy; and the retractable T-shaped detection arm 3 can adjust the two digital cameras 2 and the pantograph. The distance between 1 and the length d of the detection arm 3 is determined on the basis that the viewing angle range of the digital camera 2 can cover the entire pantograph 1 . After that, connect the external image processing module taking the application software of the smart terminal as an example to the camera module 2 through wired, wireless, integrated communication or other means. shutter, aperture and other shooting parameters; two digital cameras 2 respectively collect the images of the left and right half of the pantograph, and digitize the obtained pantograph images and transmit them to the application software of the smart terminal. The image of pantograph 1 is processed by an external image processing module, the edge of the image of pantograph 1 is extracted, and grayscale transformation is performed. Formula to calculate the actual maximum wear thickness A of pantograph 1:

Among them, d is the length of the detection arm 3, N is the thickness pixel value of the carbon slide 104 of the pantograph 1 corresponding to the maximum wear point in the image, C is the optical constant of the camera module 2, which can be obtained by distance calibration, That is: fix the vertex of the detection arm 3 with a length of d in front of an unworn standard pantograph chassis 102 with a known carbon slide 104 and a thickness of A, and use the camera module 2 to photograph the unworn standard pantograph and record it. The pixel value N corresponding to the thickness of A is obtained, and the optical constant C of the camera module 2 is obtained by inversely inferring the above formula.

Select the half-bow with the smaller thickness at the maximum wear point of the carbon slide in the two half-bow images to calculate the actual maximum wear thickness A of the pantograph. When it is detected that the actual maximum wear thickness A of the pantograph carbon slide plate 104 exceeds the set wear threshold A ₀ , an alarm is issued to notify the staff that the worn pantograph 1 needs to be replaced to ensure the driving safety of the electric locomotive.

To sum up, the above-mentioned embodiments provided by the present invention merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Claims (8)

1. A pantograph detection device, characterized in that it comprises a measurement system and an alarm device, wherein the measurement system is composed of a pantograph (1), a camera module (2) and a detection arm (3). The pantograph (1) includes a pantograph (101), a base frame (102), a bow head (103) and a carbon slide plate (104), the lower end of the pantograph (101) is hinged with the bottom frame (102), and the pantograph (101) ) The upper end is mechanically connected with the bow head (103), and a carbon slide plate (104) is installed on the bow head (103); the camera module (2) is composed of several cameras, wherein: the bottom of the camera module (2) is connected to one end of the detection arm (3), the other end of the detection arm (3) is connected to the center point of one end of the chassis (102) of the pantograph (1), and the other end of the chassis (102) is connected to the electric locomotive; The camera module (2) is connected to an external image processing module, and the external image processing module is connected to the alarm device; when the external image processing module detects that the carbon slide (104) of the pantograph (1) has When the maximum wear thickness A exceeds the preset wear threshold A ₀ , an alarm will be issued by the alarm device. 2. A pantograph detection device according to claim 1, wherein the maximum wear thickness A of the carbon slide plate (104) is: Wherein, d is the length of the detection arm (3), N is the thickness pixel value of the maximum wear point of the carbon slide plate (104), and C is the optical constant of the camera module (2). 3 . The pantograph detection device according to claim 1 , wherein the pantograph ( 1 ) is a left-right symmetrical structure, and takes the center point of the chassis ( 102 ) as the axis of symmetry, and is divided into left and right The half bow, the bow frame (101), the bow head (103) and the carbon slide plate (104) are symmetrically distributed on both sides of the bottom frame (102), the camera module (2) is composed of two digital cameras, the two digital The cameras are respectively fixed on both sides of the detection arm (3), and two digital cameras are symmetrically distributed about the detection arm (3); the two digital cameras respectively collect images of the left and right half-bow of the pantograph (1). , the maximum wear thickness A of the carbon slide plate (104) of the pantograph (1) is taken as the maximum wear thickness of the half bow with the smaller thickness at the maximum wear point of the carbon slide plate (104). 4 . The pantograph detection device according to claim 3 , wherein the digital camera adopts a zoom lens, and its viewing angle ranges from 32° to 83°. 5 . 5. A pantograph detection device according to claim 1, wherein the detection arm (3) is a retractable structure, and the range of the retractable length d is: Wherein, L is the length of the pantograph (1), and n is the number of the cameras. 6 . The detection device for a pantograph according to claim 1 , wherein the camera module ( 2 ) adopts one or more of wired, wireless or integrated communication modules; the external image processing The module is an application module of an intelligent terminal, and the camera module (2) digitizes the acquired image of the carbon slide (104) of the pantograph (1) and sends it to the application module of the intelligent terminal, and calculates the Maximum wear thickness A of the carbon slide (104) of the pantograph (1). 7. A detection method adopted by the pantograph detection device as claimed in claim 1, characterized in that the specific steps are as follows: (1) After the electric locomotive is stopped, connect the camera module (2) and the detection arm (3) to the electric locomotive through the chassis (102) of the pantograph (1); (2) Set the length of the detection arm (3) as d ; (3) Connect the external image processing module to the camera module (2), and confirm that the detection device works normally; (4) setting the shutter and aperture of the camera module (2) according to the environmental conditions; (5) using the camera module (2) to acquire the image of the pantograph (1), and transmitting it to the external image processing module; (6) using the external image processing module to process the image of the pantograph (1), and calculating the maximum wear thickness A of the carbon slide plate (104) of the pantograph (1); (7) When the detection device of the pantograph detects that the maximum wear thickness A of the carbon slide plate (104) of the pantograph (1 _{) exceeds the preset wear threshold A0} , an alarm is issued. 8 . The detection method adopted by a pantograph detection device according to claim 7 , wherein the method for processing the image of the pantograph ( 1 ) by the detection device comprises the following steps: 9 . (1) extracting the image edge of the pantograph (1); (2) performing grayscale transformation on the edge of the image; (3) taking the point with the largest grayscale change value as the boundary of the carbon sliding plate (104); (4) Calculate the pixel value of the thickness of the point according to the boundary of the carbon sliding plate (104).