基于线激光测量的地铁受电弓磨耗在线检测方法  

Online Detection Method for Metro Pantograph Wear Based on Line⁃Laser Measurement

作　　者：赖洋 王金栋[1] 郭浩然 王旭 付孟新 刘伟渭[1] Lai Yang;Wang Jindong;Guo Haoran;Wang Xu;Fu Mengxin;Liu Weiwei(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,Sichuan,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《中国激光》2023年第23期143-153,共11页Chinese Journal of Lasers

基　　金：四川省科技计划(2021YFG0194)。

摘　　要：受电弓磨耗关系着地铁的正常运行。为了对地铁受电弓磨耗进行有效检测,提出一种地铁受电弓磨耗线激光在线检测方法。该方法利用两台线激光传感器采集受电弓廓形数据,通过阈值设定、特征点搜寻、廓形配准对比得到受电弓实际磨耗。针对特征点搜寻,提出一种基于点云窗口移动计算的特征点搜寻算法,通过定义点云窗口来遍历受电弓廓形,计算每次移动后窗口内数据点方差,构造窗口最小方差索引点与廓形第一等分点直线,依据点线最大距离找出受电弓廓形特征点。采用主成分分析(PCA)算法的粗配准结合迭代最近点(ICP)算法的精确配准策略,实现受电弓廓形配准,依据配准结果得到受电弓磨耗。实验结果表明,特征点搜寻算法可准确找出所需特征点,廓形配准策略能有效保留廓形数据磨耗情况,使检测系统达到±0.5 mm的磨耗检测精度要求,实现地铁受电弓磨耗在线测量。Objective Pantograph is an important part of the metro traction power system.In the long-term operation of the metro,the pantograph carbon slider continues experiencing wear.If the pantograph wear detection is not timely or accurate enough,it is easy to cause failure and even metro safety accidents.Therefore,it is important for the safe operation of the metro to realize high-precision online detection of pantograph wear.At present,the metro pantograph wear detection is mostly manual detection and image detection.The manual detection method requires metro shutdown,and the detection efficiency is low.The image detection method can realize the non-contact online detection of pantograph wear,which improves the detection efficiency and accuracy.However,the image detection method is affected by factors such as illumination,vehicle speed,and interference.There is a situation that the quality of the original picture is poor and the pantograph profile cannot be accurately extracted,which greatly lowers the accuracy of the pantograph wear detection.Aiming at the pantograph wear detection in metro operation,an online detection method of metro pantograph wear based on line-laser measurement is proposed to realize high precision,high efficiency and online detection of metro pantograph wear.Methods In this study,the line-laser sensor is used to realize the data acquisition of the pantograph profile of running metro.For the collected pantograph profile data,firstly,the effective pantograph profile data are selected by threshold setting.Secondly,a feature point search algorithm based on point cloud window moving calculation is proposed to realize the feature point search of pantograph profile data and separate the carbon slider profile data.Then,the Savitzky-Golay filtering algorithm is used to denoise the carbon slider profile data.Finally,the combination of coarse registration based on principal component analysis(PCA)and accurate registration of iterative closest point(ICP)algorithm with interval constraints is used to realiz

关 键 词：测量 受电弓磨耗检测 线激光传感器 特征点 点云窗口 廓形配准 

分 类 号：U216.3[交通运输工程—道路与铁道工程]