A Real-Time Detection Approach for Catenary Geometry Parameters in Complex Scenes

The reliability of pantograph-catenary system directly affects the operational safety of electric buses, and the catenary geometry parameters (CGP) is an important indicator reflecting the current-receiving quality by the pantograph. Although some methods have been used to detect CGP in practice, in some complex scenarios, such as overlap and overhead crossing, there will be multiple contact wires and messenger wires at the same time, which may lead to missed detection or false positives. Aiming at this situation, this paper presents a real-time detection method of CGP in railway. Based on the principle of laser triangulation, the detection method combines image difference with contact wire detection and tracking to locate the target laser spot. On the basis of three-dimensional reconstruction of linear structured light, spatial coordinate conversion is completed, and then CGP is obtained. Finally, high-precision detection values are obtained by combining with vibration compensation module. Experimental results show that this method can effectively detect CGP in complex scenes in real-time with high accuracy.