Stereo Vision-Based Measurement System for Geometric Parameters of High-Speed Railway Catenary

Wei Zhou; Xinyu Du; Xiantang Xue; Ding Li; Qiang Fu; Yi Zhang; Qiang Wang; Fadeng Wang; Shengwei Ren

doi:10.3788/AOS221547

Acta Optica Sinica, Volume. 43, Issue 5, 0512001(2023)

Stereo Vision-Based Measurement System for Geometric Parameters of High-Speed Railway Catenary

Wei Zhou^1、*, Xinyu Du¹, Xiantang Xue¹, Ding Li², Qiang Fu², Yi Zhang¹, Qiang Wang², Fadeng Wang¹, and Shengwei Ren¹

¹Infrastructure Inspection Research Institute, China Academy of Railway Sciences Corporation Limited, Beijing 100081, China

²Beijing IMAP Technology Co. Ltd., Beijing 100081, China

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Figures & Tables(13)

Fig. 1. Measurement principle of overhead wire geometry parameters based on multi-view stereo vision

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Fig. 2. Vehicle vibration compensation model

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Fig. 3. Principle of synchronized stroboscopic lighting technology

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Fig. 4. Measurement system of overhead wire geometry parameters using blue LED stroboscopic lighting technology

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Fig. 5. Catenary image illuminated by gas discharge lamp light source (a sunny day in summer)

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Fig. 6. Catenary image illuminated by blue LED stroboscopic lighting lamps (a sunny day in summer)

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Fig. 7. Matching method of multi-view stereo vision

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Fig. 8. Calibration tool for line-scan cameras

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Fig. 9. Catenary inspection vehicle for high-speed railway

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Fig. 10. Grayscale gradient curve of catenary image

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Table 1. Calibration results of line-scan camera parameters
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Table 1. Calibration results of line-scan camera parameters
Camera No. 1 2 3 4
m₁₁ -4104.27 -3991.49 -2983.28 -2275.00
m₁₂ 330.15 1149.90 2890.27 3445.18
m₁₃ 2653017.50 1290261.95 -1189125.70 -1745124.50
m₂₁ -0.41 -0.22 0.25 0.44
m₂₂ 0.91 0.98 0.97 0.90
m₂₃ 253.33 70.62 67.22 250.02

Table 2. Measurement results of stereo vision measurement module of catenary geometry parameters and vehicle vibration compensation module

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Table 2. Measurement results of stereo vision measurement module of catenary geometry parameters and vehicle vibration compensation module

Pole No.	Stagger（car roof） X_w /mm	Height（car roof） Z_w /mm	Roll angle θ /（°）	Lateral relative displacement Δx /mm	Vertical relative displacement Δz /mm
1452	230	5308	0.086	10	1
1450	-180	5305	0.071	9	1
1448	211	5298	0.080	10	1
1446	-178	5276	0.055	8	0
1444	206	5292	0.093	10	0
1442	-201	5300	-0.002	3	1
1440	206	5290	-0.059	-3	0
1438	-193	5277	-0.094	-10	1
1436	168	5295	-0.152	-18	0
1434	-208	5283	-0.175	-24	0
1432	179	5299	-0.273	-33	1
1430	-222	5298	-0.350	-39	1
1428	145	5307	-0.351	-39	1
1426	-255	5313	-0.383	-43	0
1424	124	5310	-0.417	-46	0
1422	-261	5307	-0.413	-46	1

Table 3. Comparison between dynamic test results and ground measurement results

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Table 3. Comparison between dynamic test results and ground measurement results

Pole No.	Stagger （rail surface） X_f	Height （rail surface） Z_f	Stagger（ground measurement） X_G	Height（ground measurement） Z_G
1452	218	5309	221	5306
1450	-191	5304	-195	5302
1448	199	5299	202	5296
1446	-187	5275	-191	5273
1444	194	5292	198	5292
1442	-204	5300	-202	5298
1440	210	5289	213	5290
1438	-181	5278	-180	5275
1436	189	5293	195	5292
1434	-180	5283	-178	5280
1432	217	5299	217	5297
1430	-176	5299	-186	5295
1428	191	5306	197	5304
1426	-204	5313	-201	5309
1424	178	5308	184	5306
1422	-207	5309	-206	5306

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Wei Zhou, Xinyu Du, Xiantang Xue, Ding Li, Qiang Fu, Yi Zhang, Qiang Wang, Fadeng Wang, Shengwei Ren. Stereo Vision-Based Measurement System for Geometric Parameters of High-Speed Railway Catenary[J]. Acta Optica Sinica, 2023, 43(5): 0512001

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