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1、A New Contact less Fault Diagnosis Approach for Pantograph-Catenary SystemRailway transport is one of the most important mass transportation media in the worldwide.With the development of trains speed, safety and comfort levels of railways is getting more importance day by day. Besides high level of
2、 security requirement, detection of anomaly for rail and road shall be early identified for decreasing operation and maintenance expenditures. The pantograph-catenary system has an important role for collecting the current in electrical railways. The problem occurred in this system will affect the c
3、urrent collection performance of electrified trains. In this paper, a new image processing based technique is proposed to detect the arcing faults occurred between catenary and pantograph contact. The proposed method takes one frame from the digital camera and then the edge detection algorithm extra
4、cts the edges of pantograph. The arcing between contact wire and pantograph is detected by examining the position of contact wire of pantographs edge. INTRODUCTIONWith the development of the high-speed electrified trains, the demands for safety of railway transport come into more important. A pantog
5、raph is the most utilized component for transmission electric power from overhead wire to locomotive. To ensure the power without any problem, pantographs should maintain good contact under different train speeds. In recent times, the speeds of electrified trains have reached rather high levels. Und
6、er these speeds, maintain good contact is challenging problem. Via railroad maintenance planning based on early rail and road anomaly detection technologies, derailment accidents are prevented. Pantograph and overhead line are two fundamental components for the collection of current signals in elect
7、rified trains. The wear between pantograph and overhead wire will result with catastrophic faults. The pantograph arcing faults occurs because of below reasons.In railway systems, the pantograph is manually inspected to detect damages. In this inspection, locomotive should be taken to a service. Thi
8、s method is undesirable because of loss of service time and cost . Pantograph arcing is one of the most seen fault in electrified railway systems. This arcing generally occurs at higher speed, increasing load, and in cold weather condition. In most case, there is a sliding contact between pantograph
9、 and catenary system. A pantograph laterally draws a zigzag on overhead line. However, overhead line applies more contact to some location of pantograph because of a faulty condition. In normal condition, there is a moisture layer between the contact surface and pantograph. In winter season, this mo
10、isture layer is frozen and it is more difficult the sliding between two components. Mechanical sensor based contact type rail and road measurement and inspection techniques has been used in the railway industry. The contact force between pantograph and catenary system was monitored by using a fiber
11、strain sensors . Static and dynamic strains were detected by developed system. With the latest technological developments, contact less measurement techniques are now being used in railway measurement systems. Pantograph and overhead wire system was analyzed by using infrared camera. This analysis w
12、as used to detect overheating pantograph strip, bursts of arcing, and irregular positioning of contact line. For an efficient wear measurement of contact wire, a new multi-camera based optical inspection system was proposed. Different cameras were mounted at different positions of the roof of the ve
13、hicle and overhead contact was visually inspected from different angles. Abrasion on pantograph slide was detected by using edge detection algorithm. Discrete wavelet and Hough transform based method was applied to image of pantograph slide and abrasion related features were extracted. The five kind
14、s of edge detection algorithms were evaluated for the examination of the pantograph slipper images. The results show that Canny edge detection algorithm gives better results than other algorithms. The contact performance between pantograph and overhead line affects the current collecting performance
15、. An image processing based method was proposed to monitor the contact performance. In recent years, there is more relevance about using contact less condition monitoring of railway systems. However, the developed system is suitable for laboratory applications. In this paper, a new method is propose
16、d to monitor the contact between pantograph and catenary system. The proposed method takes one frame from a video in each step and then the Canny edge detection algorithm extracts edges from image frame. The position of overhead wire is determined in the edge image. This position is used to detect t
17、he contact force between pantograph and overhead wire. The obtained signal from position of contact wire is analyzed by two statistical parameters and anomaly in the position is detected. SLIDING CONTACT BETWEEN PANTOGRAPH AND OVERHEAD WIRE The contact between pantograph and overhead wire, which is
18、found on the roof of an electrified train, allows the collecting current from overhead feeding conductor. Contact wire takes the electric from feeder station that connected at regular space.The contact wire is connected to the messenger wire using dropper wires. The continuity of contact wire is imp
19、ortant to ensure better electrical performance. One way to maintain contact is to increase the up-lifting force. However, it increases the resonance of overhead wire and this causes the loss of the contact and wear of contact wire. When the contact has been lost or a gap has been occurred, the power
20、 of train will be interrupted. The loss of the contact also causes the arcing between contact wire and pantograph. For high speed train, current collection is based on good contact performance. On a straight way, the contact wire moves slightly to the left and right corner of pantograph.The contact
21、wire applies an impression to different points of the pantograph. Such a system extends the life time of a pantograph. The sliding contact between pantograph and overhead wire consists of three layers. These layers are copper wire, layer of oxide and carbon, and thin film of water. The conduction me
22、chanism is realized by using thin film of water. The gap between two electrodes should be maintained. However, the thin film of water can get frozen in winter and the sliding contact may extend.The sliding contact is affected from weather condition. The harsh winter condition affects lifting force o
23、f pantograph and this leads to appearance of arcing. Thereafter, the contact wire and pantograph can cause damage.CONTACTLESS FAULT DIAGNOSIS APPROACH FOR PANTOGRAPH -CATENARY SYSTEMTo measure automatically the contact strip, the images taken from a camera are used. The main task is to monitor the s
24、equential video frames and detect the anomaly conditions. The obtained images will be analyzed by using canny edge detection algorithm. Edges of pantograph system are extracted for all frames. Contact wire position of each frame is determined from the extracted edge images. The y-axis of this wire c
25、ontinuously changes. This change is saved for each frame. All positions of the contact wire in the video are saved as a signal and then the anomaly of this signal is detected by using statistical parameters. Therefore, the monitoring process will be automated.The first step is to extract the edge of
26、 each frame from video. Afterwards, the y-position of the contact wire is detected and added to the YS array. When all of frame is read, the algorithm will produce the position array of y-axis. The features extracted from contact wire signal (YS) are skewness and kurtosis. They can be computed as re
27、present the mean and standard deviation of each window. The edges in an images are the pixels that their brightnesss change suddenly. Edges characterize the boundaries and therefore they have an important topic in image processing . An edge detection algorithm generally consists of three steps: filt
28、ering, derivation, and edge detection. In the filtering stage, the image is filtered in order to remove the noise. In the derivation stage, edge areas in the image are brightening up via density change in the edge area. In the last stage, edges of the image are determined.Canny algorithm is known as
29、 an optimal edge detection algorithm . Canny algorithm uses Gaussian filter to smooth the image and eliminate the noise in the first step. In the next step, these regions are tracked and the algorithm suppresses any pixel that is not at the maximum. In the hysteresis step, the remaining pixels that
30、have not been suppressed are tracked. In this step, two thresholds are used. If the magnitude is smaller than first threshold, it is taken as non-edge. If the second threshold is smaller than magnitude, this magnitude is taken as an edge. X and y shows the coordinates of the images and is the standa
31、rd deviation. Gn and n show the first derivative of G and direction, respectively. The image is depicted as g. The first step of the algorithm is to apply the canny algorithm to each frame of pantographs video. After the edge image is obtained, the position of contact wire will be detected. For each
32、 frame, the obtained positions are added to an array. This array will be used to detect the disorder between contact wire and pantograph.The algorithm takes the edge image of the current frame and finds the y-axis position of contact wire. The algorithm starts the searching of contact wire from the
33、first pixel of the current frame. If the algorithm detects a candidate pixel, contact wire method inspect whether the detected pixel is contact wire or not. When the position of contact wire is found, the algorithm will be terminated. For each frame in video, the positions of contact wire is detecte
34、d and saved to an array. EXPERIMENTAL RESULTS The proposed algorithm is applied to a real pantographs video. All images of the pantograph are taken from the roof of the locomotive. The video of pantograph system is saved for a determined time. While the camera takes a frame, the algorithm will scan
35、the current frame in order to find the position of contact wire. For our experiment, the size of the video is selected as 240x320 for healthy condition. The pantograph video, which has not any arcing and is taken as a healthy condition, is saved for duration of 23 seconds. The original frames of the
36、ir edges are given in Fig. for a healthy condition. The pixel view of the edge images are given for three frames of the pantograph video. The contact wire zigzags over the pantograph system with an order for a healthy condition. The obtained signal is normalized with z-score normalization. This tech
37、nique centers the original signal at zero mean and scales it to unit standard deviation. As shown in Fig, the contact wire zigzags a balanced motion over the pantograph. The cameras point of view, the image resolution or the contact wire position in frame are not affect the performance of the algori
38、thm. This feature is provided by used the normalization technique. The video size of faulty condition is selected as 270x480. The original frames and their edges are given in Fig for a faulty condition. In faulty condition, contact wire draws more zigzags in some parts of pantograph than others. The
39、 more contact occurred on some part of pantograph causes the arcing between contact wire and pantograph. The y-axis position of contact wire is given in Fig for a faulty condition. As shown in Fig, the motion of contact wire has a disorder. The contact wire draws more zigzags on the bottom of image
40、than other pixels. This disorder is analyzed by using two statistical parameters. These parameters are given in TABLE for each motor condition. CONCLUSIONS This paper presents a new approach for monitoring catenary-pantograph system. A simple image acquisition system is used and an image processing
41、based technique is proposed to detect arcing faults. The canny edge detection is selected for image edge detection to deal with image edge of pantograph slipper. The experimental results of the proposed method showed that the position detection of the contact wire was efficient method to detect arci
42、ng faults and disorder in contact between pantograph and contact wire. In literature, image processing based condition monitoring of pantograph systems was only performed in laboratory environment. However, the proposed method can be applied in real-time. The realization of the proposed method is no
43、t only low cost but also it can be setup to a real system.The monitoring of contact wire and active pantograph control system brings following contributions: Development of a railway measurement and inspection train for both conventional and high speed railway lines, Real time fault diagnosis that h
44、as high accuracy and has immunity to environment condition, Low cost measurement system, Increasing safety and comfort levels of railways. 接触网受电弓系统的一个新的非接触式故障诊断方法在全世界，铁路运输是最重要的公共交通运输工具之一。随着火车速度的提高，铁路的安全与舒适水平也变得越来越重要。除了安全水平要求高之外,应尽早检测铁路和公路的异常以便减少运营维护支出。接触网受电弓系统在收集电气化铁路的电流方面具有重要的作用。这个系统出现问题，将影响电气列车收集电
45、流的性能。本文提出了一种新的图像处理方法,来检测接触网与受电弓间发生的电弧故障。该方法是通过提取数码相机的一帧数据，然后用边缘检测算法提取受电弓的边缘。通过检查接触线与受电弓的位置，来确定发生电弧故障的位置。简介随着高速电气化列车的发展,对铁路运输的安全要求也变得更重要了。受电弓是架空线对电力机车传输电力最常用的组件。为了确保电力没有任何问题,受电弓应在不同的列车速度下保持良好的接触。当前电气化列车的速度已经达到了相当高的水平。在这样的速度下,保持良好的接触是具有挑战性的问题。基于铁路维护规划的道路异常检测技术对早期的铁路进行检测,脱轨事故是可以避免的。受电弓和架空线是电气化列车采集电流信号的
46、两个基本组成部分。受电弓和架空线之间的磨损将导致灾难性故障的发生。以下是受电弓电弧故障发生的原因。在铁路系统中,通过人工检查受电弓的损害。在该检查中,机车也应被检查。因为浪费时间和成本,这个方法是不可取的。受电弓电弧故障是电气化铁路系统最常见的一种故障。电弧故障通常发生在高速、超负荷、冷天的情况下。在大多数情况下,受电弓和接触网系统之间滑动接触。受电弓外侧吸引一个之字形的架空线。然而,发生故障时受电弓与架空线多点接触。在正常情况下,接触面与受电弓之间有一层水膜。在冬季,水膜被冻结使得两组件之间的滑动更加困难。基于接触式机械传感器测量和检验铁路和道路的技术已应用于铁路行业。通过使用光纤的应变传感
47、器监测受电弓和接触网系统之间的应力。通过开发的系统来检测静态和动态应力。随着新技术的发展,铁路测量系统将采用非接触式测量技术。利用红外线摄像头分析受电弓和架空线系统。这种方法是用来检测过热的受电弓、连续电弧和不正常接触线的位置。为了有效的测量接触线的磨损,提出了一个新的基于多摄像头的光学检测系统。不同的摄像头被安装在机车和架空线顶部的不同位置，从不同角度进行外观检验。采用边缘检测算法检测受电弓滑板的磨耗。应用离散波变换和霍夫变换的方法提取相关受电弓滑板的磨损特征的影像。用五种边缘检测算法评估受电弓脱线图像。结果表明,边缘检测算法比其他算法得出的结果更好。受电弓和架空线之间的接触性能影响集电的性
48、能。基于一种图像处理方法,提出了监测接触性能。近年来,铁路系统使用了更多的与非接触式有关的状态监测。然而,开发系统只适合于实验室应用。本文提出了一种新的方法来监视受电弓和接触网系之间的接触。该方法从视频中提取每一步的一帧，然后用边缘检测算法从图像帧中提取目标边缘。从边缘图像中确定架空线的位置。用这个位置来检测受电弓和架空线之间的应力。用两个统计参数和检测到的异常位置来分析从接触线上所获得的信号。受电弓和架空电线之间的滑动接触电气化列车顶部上受电弓和接触线的之间接触,可以采集架空供电导体中的电流。接触线连接在固定的空间变电站。用承力索连接导线。接触线的连续性对电气性能有很重要的影响。保持接触的方
49、法之一是增大向上的力。然而,它增加了架空线的共振影响，这会造成接触线磨损。当接触面发生分离,列车的供电会被中断。接触分离时，还会使接触线和受电弓之间产生电弧。高速列车的集电是基于良好的接触性能。在直线行驶时,接触线稍微移向受电弓向左或向右的角落。接触线应用于受电弓不同的点的一种印象。这种系统里受电弓的寿命得到延长。受电弓和架空线之间的滑动接触由三层组成。这些层是铜线层、有机层和水膜。传导机制是通过水膜实现的。两个电极之间的间隙应该保持不变。然而,水膜在冬天会被冻结滑动接触可能会延伸。滑动接触受天气条件的影响。严酷的冬季条件影响受电弓的受力,这会产生电弧。然后,对接触线和受电弓产生损害。接触网受电弓系统接触故障的诊断方法使用相机拍摄自动测量的接触带的图像。其主要任务是监测连续的视频帧和检测异常条件。使用精确的边缘检测算法，分析得到的图像。提取受电弓系统边缘的所有帧。从提取的边缘图像，确定每帧联络线的位置。这根电线的y-轴连续变化。每一帧都保存这种变化。接触线的所有位置的视频被保存为一个信号，然后通过使用参数统计这个被检测到的异常的信号。因此，监
