Pantograph damage and wear monitoring system

• US 9,061,594 B2
• Filed: 08/06/2008
• Issued: 06/23/2015
• Est. Priority Date: 08/06/2007
• Status: Expired due to Fees

• Current Assignee: QR Limited (Future FinTech Group, Inc.)
• Original Assignee: QR Limited (Future FinTech Group, Inc.)
• Inventors: Wesche, Darryl, Watkins, Timothy John, Hamey, Leonard George Chardborn
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Retallick, Kaitlin A
• Application Number:
  US12/671,871
• Publication Number:
  US 20100322465A1
• Time in Patent Office: 2,512 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60L 2200/26 Rail vehicles
• CPC Class Codes: B60L 5/24 Pantographs
• CPC Class Codes: B60M 1/28 Manufacturing or repairing trolley lines scaffold cars B60P; B61D15/00; platforms therefor B66F11/04; manufacturing conductors in general H01B13/00; overhead lines in general H02G1/00
• CPC Class Codes: G06T 7/0004 Industrial image inspection

Abstract

A system for evaluating the condition of a pantograph, the system comprising: a track-side pantograph monitoring station that captures one or more images of a pantograph, while a locomotive comprising the pantograph is in normal service; a station management system that analyzes one or more images captured at the monitoring site and determines the condition of the pantograph; and a user interface that controls the system and presents the results of the analysis to the user. A user may control the track-side monitoring station and station management system remotely.

Claims

1. A system for evaluating the condition of a pantograph, the system comprising:

a track-side pantograph monitoring station for capturing an image of the pantograph while a locomotive comprising the pantograph is in normal service, the monitoring station comprising a first image capture device positioned below and at an oblique angle relative to the pantograph;

a station management system for analyzing the image captured at the monitoring station and for determining the condition of the pantograph, the station management system configured to;

a) determine a number of current collectors in the pantograph by matching the image to a pre-defined model of a plurality of pre-defined models, the plurality of pre-defined models representing a plurality of known pantograph types;

b) generate a current collector profile for each of the number of current collectors and based upon the image; and

c) analyse each of the current collector profiles to determine the condition of the pantograph; and

a user interface for controlling the station management system and indicating whether the pantograph is damaged and/or worn.

2. The system of claim 1, wherein the monitoring station comprises:

a data transfer means;

at least one track-side mounted sensor for detecting a locomotive as it enters the monitoring station (“

locomotive sensor”

);

at least one track-side mounted sensor for detecting the position of the pantograph at the monitoring station (“

pantograph sensor”

);

at least one image capture device that captures at least one image of the pantograph at the monitoring station; and

a sensor interface that receives input from the sensors and commands the at least one image capture device to capture at least one image of the pantograph at the monitoring station.

3. The system of claim 2, wherein the data transfer means facilitates communication between the sensors, sensor interface, at least one image capture device and the station management system.

4. The system of claim 3, wherein the monitoring station further comprises a second image capture device for capturing an image of the pantograph which comprises at least one pantograph horn.

5. The system of claim 4, wherein the first image capture device (“

sideposition image capture device”

) is configured to capture a profile image of the pantograph which comprises at least one carbon current collector.

6. The system of claim 5, wherein the second image capture device (“

top-position image capture device”

) is positioned above the pantograph at the monitoring station.

7. The system of claim 6, wherein an image capture device is a high-definition video camera.

8. The system of claim 7, wherein the first image capture device further comprises a backing screen.

9. The system of claim 8, wherein the backing screen is white.

10. The system of claim 9, wherein the backing screen is illuminated.

11. The system of claim 10, wherein the backing screen is mounted behind the focal point of the image capture device and within the device'"'"'s field of view, such that when the first image capture device is activated the captured image is a profile of the pantograph against the backing screen.

12. The system of claim 11, wherein the locomotive sensor and/or the pantograph sensor is an infra-red sensor.

13. The system of claim 12,

wherein the pantograph sensor is a top-position pantograph sensor positioned such that it identifies the point at which the pantograph is within the field of view of the top-position image capture device, and

wherein the monitoring station comprises a further pantograph sensor for detecting the position of the pantograph, the further pantograph sensor being a side-position pantograph sensor positioned such that it identifies the point at which the pantograph is within the field of view of the side-position image capture device.

14. The system of claim 13, wherein at least one of the sensors is in communication with the at least one of the image capture device, such that when the pantograph is detected by the sensor the at least one image capture device is activated.

15. The system of claim 14, wherein the monitoring station further comprises at least one track-side mounted sensor for capturing locomotive identity details (“

locomotive identity sensor”

).

16. The system of claim 15, wherein the at least one locomotive identity sensor is an Automated Vehicle Identification (AVI) tag decoder.

17. The system of claim 16, wherein the AVI tag decoder acquires information relating to any one of:

the vehicle identification number of the locomotive at the monitoring station;

or a locomotive type.

18. The system of claim 17, wherein the sensor interface is in the form of a circuit wherein the circuit performs the steps of:

receiving an input from the locomotive sensor indicating that the locomotive is at the monitoring station;

receiving an input from at least one of the pantograph sensors indicating that the pantograph is within the field of view of one of the image capture devices;

de-bouncing and shaping the inputs received from the sensors; and

providing a command to at least one of the image capture devices to acquire an image of the pantograph when the inputs from the locomotive sensor and pantograph sensors are received simultaneously.

19. The system of claim 18, wherein the sensor interface circuit performs the further step of providing a command to the at least one locomotive identity sensor to capture details of the locomotive at the monitoring station when the inputs from the locomotive sensor and pantograph sensors are received simultaneously.

20. A method of analyzing whether a pantograph is damaged and/or worn using computer programs, the method comprising the steps of:

receiving at least one command from a sensor and on receipt of the at least one command activating at least one image capture device to capture an image of the pantograph at a monitoring station, said at least one image capture device being positioned below and at an oblique angle relative to the pantograph;

analyzing the image captured by the at least one image capture device for signs of damage and/or wear, wherein the analyzing includes;

a) determining a number of current collectors in the pantograph by matching the image to a predefined model of a plurality of pre-defined models, the plurality of pre-defined models representing a plurality of known pantograph types, b) generating a current collector profile for each of the number of current collectors and based upon the image; and

c) analysing each of the current collector profiles to determine the condition of the pantograph; and

providing the results of the analysis to an output means.

21. The method of claim 20, wherein the method further performs at least one of the following steps:

receiving user input;

receiving locomotive details from an AVI tag reader and assigning those details to the image of the pantograph;

controlling the illumination of a backing screen, wherein the backing screen is mounted behind the focal point of the at least one image capture device;

calibrating the exposure and gain settings of the at least one image capture device;

receiving input from a user, wherein the input modulates the analysis of the image of the pantograph; and

automatically adjusting the exposure time and video gain of the at least one image capture device.

22. The method of claim 21, wherein the analysis of the image of the pantograph captured by the at least one image capture device comprises the steps of:

receiving an input from the at least one image capture device, wherein the input represents an image of the field of view of the device;

using the matched pre-defined model to calculate the co-ordinates of the pantograph within the input image;

using the co-ordinates calculated in the previous step to extract at least one image of a region of the pantograph from the input image; and

analyzing the at least one image of the pantograph region to determine whether the pantograph is damaged and/or worn.

23. The method of claim 22, wherein a region representing one carbon current collector profile is extracted from the input image.

24. The method of claim 22, wherein a region representing two carbon current collector profile images are extracted from the input image.

25. The method of claim 23 or 24, wherein the analysis of carbon current collector wear comprises the steps of:

determining a distance between a surface outline representing a bottom edge of a carbon current collector and a surface outline representing a top edge of the carbon current collector; and

identifying regions where the distance, as measured in the preceding step, falls below a minimum acceptable distance that is indicative of wear.

26. The method of claim 25, wherein the analysis of carbon current collector damage comprises the steps of:

creating a “

rainfall”

pattern in which a region between a bottom of the image and a surface outline representing a top edge of the carbon current collector is filled in with a vertical line;

creating a closed region with a circle having a fixed radius on the surface outline representing the top edge of the carbon current collector; and

subtracting the rainfall pattern from the closed region and identifying regions of damage.

27. The method of claim 26, wherein the analysis further comprises the steps of:

receiving an input from the at least one image capture device, wherein the input represents an image of the field of view of the device;

matching an image of the pantograph within the input image to the pre-defined model representing a known pantograph type;

using the matched pre-defined model to calculate the co-ordinates of the pantograph horn within the input image;

identifying a damaged or missing pantograph horn by comparing the co-ordinates identified in the preceding step with a further pre-defined model representing a specific horn design.

28. The method of claim 27, wherein the pre-defined model is either a Tbar or Y-bar pantograph configuration.

29. The method of claim 28, wherein the computer is connected to one or more computer networks.

30. The method of claim 29, wherein the output means comprises one or more of the following:

a visual display such as a computer monitor, a storage device such as a computer hard disk, relational database, networked device or physical output means such as paper.

31. The method of claim 30, wherein the output means can further comprise an electronic data transfer means for transferring data to a database run on a computer remote from the station management computer.

32. The method of claim 31, further comprising a user interface, the user interface comprising a data entry means and an electronic display means.

33. The system of claim 32, wherein the data entry means controls a task performed by the station management system or modulates the way in which the end-user views the results of the analysis.

34. The method of claim 33, wherein the user interface is a display on a computer that is in communication with the station management system and is located at a remote site.

35. The method of claim 34, wherein a locomotive is traveling at a speed no less than 12 kph and no more than 80 kph when in normal service.

36. An automated method for determining the condition of a pantograph, said method comprising the steps of:

detecting the presence of a locomotive at a monitoring station;

detecting the presence of the pantograph at the monitoring station;

activation of an image capture device on simultaneous detection of the locomotive and pantograph at the monitoring station to thereby capture an image of the pantograph, the image capture device being positioned below and at an oblique angle relative to the pantograph;

analyzing the image of the pantograph to determine whether the pantograph is damaged and/or a constituent carbon current collector is worn, wherein the analyzing includes a) determining a number of current collectors in the pantograph by matching the image to a pre-defined model of a plurality of pre-defined models, the plurality of pre-defined models representing a plurality of known pantograph types;

b) generating a current collector profile for each of the number of current collectors and based upon the image; and

c) analysing each of the current collector profiles to determine the condition of the pantograph; and

reporting the results of the analysis to an end user.

37. A system for evaluating the condition of a pantograph, the system comprising:

a track-side pantograph monitoring station for capturing an image of the pantograph while a locomotive comprising the pantograph is in normal service, the monitoring station comprising a first image capture device positioned below and at an oblique angle relative to the pantograph;

a sensor interface for receiving a first input from a locomotive sensor indicating that the locomotive is at the monitoring station, receiving a second input from a pantograph sensor indicating that the pantograph is within the field of view of the first image capture device, de-bouncing and shaping the inputs received from the sensors; and

providing a command to the first image capture device to acquire an image of the pantograph when the first and second inputs are received simultaneously;

a station management system for analyzing the image captured at the monitoring station and for determining the condition of the pantograph, wherein the analyzing includes a) determining a number of current collectors in the pantograph by matching the image to a pre-defined model of a plurality of pre-defined models, the plurality of pre-defined models representing a plurality of known pantograph types;

b) generating a current collector profile for each of the number of current collectors and based upon the image; and

c) analysing each of the current collector profiles to determine the condition of the pantograph is performed according to the matched pre-defined model; and

a user interface for controlling the station management system and indicating whether the pantograph is damaged and/or worn.

38. The system of claim 37, wherein the sensor interface circuit is configured to provide a command to a locomotive identity sensor to capture locomotive identity details of the locomotive at the monitoring station when the first and second inputs are received simultaneously.