基于三角测量的接触网几何参数动态检测方法

Catenary geometrical parameter dynamic detection method based on triangulation

Abstract

一种基于三角测量的接触网几何参数动态检测方法,运用于车载弓网动态监测系统或手推式接触网巡检车上,其包括以下步骤:(1),获取图像中接触网的像素坐标(xPixel,yPixel)以及检测装置的角度变化(xAngle,yAngle),(2),数据处理,将整个测试范围分为N段,对每段进行标定,从而使每段形成一组相机标定参数;通过步骤(1)所获取的像素坐标,判断和获取该像素坐标位于的标定高度段,再通过该高度段的相机标定参数,得出拉出值、导高值;(3),数据校正,通过校正转换,获取接触网实际的拉出值和导高值;(4),坡度计算;本发明采用三角测距原理,能够有效的检测接触网的导高、拉出、两线间距和坡度,保证整个量程内的测量精度,消除较大范围的误差。
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.

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Cited By (1)

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    CN-106114553-ANovember 16, 2016中国人民解放军国防科学技术大学Photoelectric dynamic measurement method for shaking of railway detection vehicle platform