WO2012175773A1 - Système et procédé de mesure de l'épaisseur de frotteurs de pantographe - Google Patents

Système et procédé de mesure de l'épaisseur de frotteurs de pantographe Download PDF

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Publication number
WO2012175773A1
WO2012175773A1 PCT/ES2012/070449 ES2012070449W WO2012175773A1 WO 2012175773 A1 WO2012175773 A1 WO 2012175773A1 ES 2012070449 W ES2012070449 W ES 2012070449W WO 2012175773 A1 WO2012175773 A1 WO 2012175773A1
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Prior art keywords
scrubber
image
laser
thickness
lines
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Ceased
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PCT/ES2012/070449
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English (en)
Spanish (es)
Inventor
Fernando VÁZQUEZ NUÑEZ
Ricardo SAMANIEGO LÓPEZ
Ícaro ÁLVAREZ GIMÉNEZ
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Universidade de Vigo
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Universidade de Vigo
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Definitions

  • the present invention is included in the field of inspections of rubbers of railway pantographs, where said inspection is carried out in real time and automatically, by artificial vision, without the need to stop the train or climb personnel to the roof of the same.
  • the pantograph consists of an articulated system that holds a skate or rub, pressing it against the catenary, under which it slides. It is located on the roof of the tractor unit and is automatically adjustable in height, in order to reach the catenary regardless of the height at which the aerial conductor wire is. To prevent e! The rubbing is worn at a single point, the trajectory of the catenary is arranged in a zigzag way, so that it is sweeping most of the rubbing causing a more or less uniform wear on its entire surface.
  • Pancam is a pantograph inspection system based on artificial vision, developed and marketed by the Australian company HameyVision. This system uses two cameras and a controlled lighting environment to obtain various images of the rubbers, which are subsequently analyzed using recognition algorithms. patterns in search of fractures, areas of excessive wear and other pathologies in their profile. The result of the analysis is presented to the operator on a computer through a web interface accessible by local network.
  • PCMS Panograph Carbon Monitoring System
  • the APIS system Automated Pantograph Inspection System
  • the APIS system uses a similar principle.
  • the main difference lies in the use of infrared lighting and in the fact that the algorithm used, instead of applying pattern recognition techniques, compares the images taken with other reference ones stored in a local database. In this way, the defects. they are detected by comparisons with pantograph images in good condition.
  • the use of infrared cameras makes artificial vision systems more robust to local lighting changes, although they are still very vulnerable to direct sunlight.
  • the APIS system is based on a totally different principle, as it does not provide quantitative measures of the quantities to be measured. Thus, it is limited to "marking" pantographs in possible bad condition, so that an operator can examine in detail the images taken of these and, if appropriate, the physical equipment.
  • Pantographs should be checked periodically to ensure the safety of vehicle operation. In many cases, these maintenance operations are carried out several times per week for each and every one of the machines in circulation.
  • the objective of the present invention is a system that is responsible for to inspect the pantographs while the train is in service; that is, without the need to divert the train to a special route! or immobilize it in a maintenance shop.
  • the main technology used is artificial vision.
  • inspection systems must have high reliability and not require complex and costly maintenance.
  • the precision achieved must comply with the requirements specified in the technical standard of maintenance of the trains to be inspected, the inspection being carried out at the speed of the train passing.
  • these systems must be able to be easily integrated on track, adapting to existing infrastructure in terms of fixing, power and communications; or they must resolve these aspects autonomously without requiring additional infrastructure.
  • the present invention allows the inspection of high value-added components for the railway sector, without the need to divert trains to special roads or maintenance workshops.
  • Artificial vision techniques are used to inspect pantograph rubbers.
  • the present invention is a device that measures the thickness of the graphite layer by triangulation with structured light as the train passes under the sensors (i.e. entering a workshop or a station). Subsequently a 3D model is composed with the information obtained and analyzed for excessive wear, cracks or impacts.
  • the exploration process takes a few seconds, the results being in the databases of the maintenance company and / or available to the workshop operators before even the train stops.
  • the results are provided in the form of a complete report, which includes:
  • the proposed autonomous system is capable of measuring the graphite surface with precision and sub-millimeter resolutions, storing the data of all the explorations performed and allowing comparisons between different rubbers of the same train, different trains, different routes, or any other set of ' Stored data as desired. This allows detecting, in addition to the wear and tear in the rubbers themselves, which trains are more prone to early wear, which travel lines produce greater wear, etc.
  • the development set forth in the present invention in addition to providing qualitative and quantitative data of the graphite layer thickness, is a compact system, located only at the top of the path to be measured and respecting not only the gauges of this one, but also those of any adjacent roads that exist.
  • the technique of triangulation with structured laser light it does not require complexes of controlled lighting systems or screens as a neutral background, with which it can be installed virtually anywhere, including outdoors, by simply adding an opaque cover as a parasol.
  • the thickness measuring system of pantograph rubbers object of the invention comprises:
  • main laser lighting means configured to, in the face of the scrubber, illuminate the upper face of the scrubber according to a plane parallel thereto to project a horizontal laser line on said upper face;
  • auxiliary laser lighting means configured to, in the face of the scrubber, obliquely illuminate the scrubber according to two transverse planes thereto, to project two auxiliary laser lines on the scrubber;
  • image capturing means configured to, at the passage of the scrubber, capture at least one image of the scrubber that includes the auxiliary laser lines and at least the portion of the horizontal laser line comprised between said auxiliary laser lines;
  • data processing means responsible for analyzing the at least one image taken by the image capture means for, in each image:
  • the system comprises presence detection means to detect the passage of the scrubber and thus activate / deactivate the chamber.
  • the system may include:
  • the image collection means preferably comprise a camera with an optical filter tuned to the wavelength of the laser illuminators.
  • the baseline is the intersection of the illumination plane of the main laser with the underside of the rubbing plate.
  • the data processing means are configured to calculate said baseline from the positions of the lower points of the auxiliary laser lines and depending on the perspective of the image.
  • Another aspect of the present invention is a method of measuring the thickness of pantograph rubbers, the measurement of the thickness of the scrubber being performed while the train is running.
  • the procedure includes:
  • ⁇ Detect taking as reference the position of said auxiliary laser lines, the horizontal laser line;
  • the method preferably comprises detecting the passage of the scrubber.
  • the method comprises a process of correcting the image distortions produced by the optics.
  • the procedure may include:
  • threshold the image, obtaining a black and white image, so that the pixels whose value exceeds the average of those in their immediate environment plus a threshold are saturated while the rest are desaturated;
  • the method preferably comprises thinning the horizontal laser line by calculating the center of gravity of the intensity curve performed on the original image on which the final image is applied as a mask with the horizontal laser line.
  • the method may comprise a correction of the thickness measurement of the scrubber obtained as a function of the curvature of the lower face of the scrubber plate.
  • Figure 1 represents the principle of operation of a triangulation laser sensor.
  • FIG. 2 shows a complete pantograph
  • Figure 3 shows a front view of a scrubber.
  • Figure 4 shows the track assembly of the system object of the invention.
  • Figure 5 shows a logical scheme of the interconnection of System Components.
  • Figure 6 shows the laser lines on the surface of the scrubber, as they are captured by the camera.
  • Figure 7 shows the elevation differences between the actual baseline and the bottom line of the deck that can be obtained from the camera's point of view.
  • Figures 8A and 8B show the distortion in the image obtained before and after, respectively, of applying keystone correction.
  • Figure 9 shows the adjustment of the base of the plate.
  • Figure 10 shows a scheme of a typical image obtained in operation by the camera.
  • Figure 11 shows the image of Figure 10 once the catenary has been removed.
  • Figure 12 shows the adaptive filtering of the image of Figure 11.
  • Figure 13 shows a crop of the image of Figure 12.
  • Figure 14 shows the mask to be applied to the laser line, which is calculated by the system in real time.
  • Figure 15 shows the procedure for calculating the coordinate origin of the measurement.
  • Figure 16 shows the method of correcting the thickness measurements to take into account the curvature of the base of the plate.
  • Figure 17 shows the 3D graphic representation of the point cloud obtained.
  • the system object of the invention is responsible for making thickness measurements of the graphite layer of pantograph rubbers.
  • Said graphite profile thickness measurement is carried out by laser triangulation (Bibliographic reference [1]).
  • This 3D laser triangulation technique represented in Figure 1, allows to obtain the vertical coordinate of each point (height) measured from the deviation produced in a laser line projected on it.
  • a laser emitter 1 emits a beam that is reflected in the object to be measured 2 and hits a sensor 3 through an optics 4.
  • Objects or parts of the initial object at different height 5 will reflect the laser beam at different points of the sensor.
  • This position difference in the sensor is proportional to the height of the object and the relative positions of illuminator 1, optics 4 and sensor 3 (known).
  • This technique is called triangulation because the laser point reflected in the object 2, the sensor 3 and the laser emitter 1 form a triangle.
  • the laser emitters used in the system set forth herein are provided with heads containing cylindrical optics, so that they project a line instead of a single point. This allows to extract complete profiles in each image taken, that is, a set of points instead of just one.
  • an optical filter tuned to the wavelength of the laser illuminators, so as to prevent the arrival of most of the light coming from the sensor.
  • pantographs such as that of Figure 2, which represents a typical pantograph 6.
  • the pantograph is an articulated system that supports in its upper part a bedside table 7 that has two rubbers 8, on which the catenary 9 slides.
  • These rubbers whose front view is represented in Figure 3, consist in turn of a layer of graphite 10, a metal clamping plate 1 1 and lateral horns 12.
  • the central area of the lower face 13 of said metal clamping plate 11 is not really straight, but has a slight quasi-parabolic curvature.
  • the main problem of the exposed triangulation technique is obtaining the origin of coordinates for thickness measurements; that is, the height of the lower face 13 of the metal clamp plate 11 of the scrubber (which we will call “zero level”).
  • This problem is due to the fact that the rubbers 8 can be placed at different heights depending on the force exerted on the catenary 9. They can also be tilted laterally due to the force exerted by the catenary or misalignment produced during installation.
  • Another important problem is the thinning of the laser line. That is, obtaining the coordinates of each laser point on the camera sensor.
  • the laser does not provide a single pixel line of thickness, but rather produces a "spot" of varying thickness and intensity. This diffuse figure has to be thinned until a single pixel line is thick.
  • the variable lighting conditions to which the device may be subjected cause, despite the optical filter that the camera is equipped with, an appreciable amount of light not coming from the laser emitters reaches the sensor, producing a fine image ! in which the signal to be obtained is mixed with a large amount of noise. Therefore, a previous segmentation stage is necessary to obtain the diffuse laser line to lose weight.
  • the arrangement of the track elements of the system object of the invention can be seen in Figure 4.
  • the scrubbers 8 are inspected as they pass under the system (with an arrow v the direction of advance of the scrubber is shown), in which a metal frame 14 supports the different electronic equipment: presence and exit presence sensors (15.15 ') of the scrubber; main laser illuminator!
  • the main laser illuminator 17 illuminates with a certain opening angle the upper face of the scrubber according to a plane 22 parallel to the plane of the scrubber.
  • the intensity and wavelength of the laser illuminators there is no specific requirement regarding the intensity and wavelength of the laser illuminators, as long as they have sufficient intensity so that their light can be captured by the camera chosen at the exposure time being used, although it is It is advisable to select lasers whose wavelength is in the area where the sensitivity of the camera sensor is maximum.
  • the auxiliary laser illuminators (18,18 ') illuminate the scrubber obliquely according to two transverse planes (23,23') thereto, preferably vertical, said planes separated by a certain distance L. It is considered in the previous explanation that the The plane of the scrubber is the one formed by the scrubber assuming width 0 (ie the plane that shows the front view of the scrubber of Figure 3).
  • the assembly can be attached to the structure of a workshop or to an archway located on the track by means of a metal column 21, which positions it at the appropriate height above the catenary 9 (not shown in the figure).
  • the entire assembly with the exception of the clamping column 21, is enclosed in a metal cage not shown in the figure for reasons of clarity.
  • This cage connected to ground, fulfills the double function of protecting the equipment located inside it and providing the electromagnetic insulation necessary to work in the vicinity of a high voltage electrified catenary.
  • the laser illuminators (17, 18, 8 ') and the camera 20 are turned on when the presence sensors (15.15') detect the arrival of a 8 rub and turn off when its output is detected.
  • the direction and speed of the train can be obtained.
  • the input presence sensor would be sensor 15 while the output presence sensor would be sensor 15 ', being the other way around (input sensor 15', output sensor 15) in the event that the direction of advance of the scrubber is the opposite.
  • the system object of the invention consists of camera 20, laser illuminators (17,18,18 '), presence detectors (15,15') and data processing means 19 (for for example, a computer or any device capable of handling camera images), connected by auxiliary power supply and signal adaptation 24.
  • the projection of the laser lines on the scrubber 8 is captured by the camera in the manner shown in Figure 6, where it is observed that the three laser illuminators (17,18,18 ') are arranged so that a horizontal laser line 25 on the upper face of the scrubber and two auxiliary laser lines (26,26 '), preferably vertical.
  • said auxiliary lines (26,26 ') are vertical, but could form different angles with the horizontal (for example, 45 °) so that the lowest point of the line can be detected and the patterns used to detect them in step S2 described below coincide with the position of the lasers, said patterns being generated from reference images taken with rubbers in perfect condition.
  • a section of the central part of a scrubber is shown in Figure 7, in which the horizontal laser 25 and the auxiliary laser lines (26, 26 ') are appreciated.
  • FIG. 1 the trapezoidal distortion of the image taken is corrected, which is produced by the geometric arrangement of the system elements ( Figure 1).
  • Figures 8A and 8B show, respectively, the image obtained from the calibration grid before and after applying the keystone correction. It can be seen that after correction, both vertical and horizontal lines are parallel to each other.
  • the useful length in pixels of the horizontal laser line projected on the camera sensor and the sensor coordinates (that is, in pixels) of the vanishing point of the longitudinal lines of the scene is the horizontal distance between crossings of laser lines, as shown in Figure 6 (crossing of line 25 with 26 and line 25 with 26 '). In Figure 7 this distance coincides with that which separates points 33 and 33 'when the horizontal laser line 25 coincides with the front edge of the scrubber 35.
  • the second data is the point 39 observed in Figure 15, which is will explain in detail later, in e! that all longitudinal lines are crossed according to the perspective of the camera. It is possible to obtain this point from an image taken at the installation point of the system where the railway tracks are appreciated, prolonging them to obtain their crossing point.
  • the first step is to obtain the points of the horizontal laser line 25 in sensor coordinates (that is, in pixels) from the final images of rubbers obtained by the camera once corrected distortions These images are similar to that shown in Figure 10.
  • a black and white camera is used, which are more economical and usually have greater sensitivity.
  • a black and white camera presents an image in shades of gray, with Figure 10 being a schematic representation in black and white of what you see in the camera (which actually captures intermediate shades of gray, which are not represented for a simplification and greater clarity in the image).
  • auxiliary laser lines 26,26 '
  • pattern recognition techniques are applied, abundantly described in the bibliographic reference [7], in which a known pattern is compared pixel by pixel with all the possible areas of the original image to obtain the position of greatest coincidence. The coincidence errors of all the pixels of the image are added and if the total error in this position is below a given threshold, it is assumed that the operation has been successful. If not, it is assumed that the processed image does not contain the desired pattern (the vertical laser line) and is discarded, assuming that there will not be a valid profile to measure either.
  • Figure 7 shows the section of the central part of a scrubber, with the perspective with which it is captured by the chamber 20 of the system.
  • the line 30 ' is the one that marks the height of the zero dimension, since it is the intersection between the lower face 13 and the plane 22 that contains the main laser beam We will call this line 30 '"baseline".
  • one possibility to obtain the graphite thickness is to subtract the height of this line from the vertical coordinate of each point of the laser line 25.
  • this line remains hidden for the camera except in the case where the plane that It contains the main laser beam 22 coincides with the front face of the scrubber, at which point line 30 coincides with line 30 '.
  • Line 30, which we will call “apparent baseline” can be obtained through the two auxiliary laser lines (26,26 '), from which their lower points (33,33') are extracted.
  • the apparent baseline 30 is that which joins these two points when the horizontal laser line 25 coincides with the upper front edge 35 of the scrubber.
  • the first presence sensor that detects a scrubber activates the chamber, which is done before the horizontal laser line 25 coincides with the upper front edge 35 of the scrubber. The camera then takes pictures continuously until the scrubber passes by, which is detected by the other presence sensor.
  • the vertical position of these points 33 and 33 'after the trapezoidal correction already described depends only on the horizontal distance at which the scrubber 8 of the chamber 20 is located.
  • knowing the geometry of the installation and measuring the distance between auxiliary lines in the image it is possible to determine the horizontal distance at which the scrubber is in relation to the camera. With this distance, the installation data and the height of these lines in the image, it is possible to determine the height of the scrubber, which will give us the baseline of our measurement.
  • the position of the baseline 30 'of the measurements can be calculated from the positions of the lower points (33.33' ) of the auxiliary laser lines ⁇ 16,16 ') and of the perspective data previously obtained during the system calibration stage. To do this, as shown in Figure 15, these two points (33.33 ') are joined with the leakage point 39 of the longitudinal lines (ie of the horizontal sections, in perspective in the image, of the auxiliary laser lines (26.26 ')).
  • the baseline 30 'sought (that is, the one that marks the zero level) will be that parallel to the apparent baseline 30 that joins the lower points (33.33') of the auxiliary laser lines (26.26 ') and whose Horizontal length between these leakage lines is equal to the reference length calculated during the equipment calibration.
  • the average of the lines 30 'obtained in all the images of that scrubber can be taken as the baseline for each scrubber.
  • the actual thickness of the graphite layer would be calculated as the difference between vertical coordinates of the horizontal laser line 25 and the base line 30 'minus the maximum thickness of the metal plate 11, although the measure really interesting for technicians Maintenance is the measurement of the thickness from the underside of the metal plate, which is as indicated in the technical regulations of manufacturers maintenance. The objective is therefore to obtain the full thickness of the scrubber, including the metal plate, hence the need for correction.
  • S12.- Preparation and sending of reports All the information obtained in the process is included in one or several reports to be saved a. disk, database storage and / or sending to interested parties.
  • a series of alarm conditions that a! be fulfilled generate one or more events: sending SMS or emails, acting on railway traffic signals, triggering visual / auditory alerts, etc.
  • the alarm conditions can be multiple: presence / magnitude of chipping, excessive train speed, excessive rubbing wear, tilting them above a certain range, system failure, etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Geometry (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système et un procédé de mesure de l'épaisseur de frotteurs de pantographe. Le système comprend un moyen d'éclairage laser principal (17) qui projettent une ligne laser horizontale (25) sur la face supérieure du frotteur (8) selon un plan (22) parallèle au frotteur; des moyens d'éclairage laser auxiliaires (18, 18') qui éclairent obliquement le frotteur (8) selon deux plans transversaux (23, 23') par rapport à celui-ci, projetant ainsi deux lignes laser auxiliaires (26, 26') sur le frotteur (8); des moyens de capture d'images (20) qui capturent des images du frotteur (8), y compris les lignes laser auxiliaires (26, 26') et la ligne laser horizontale (25); des moyens de traitement de données (19) qui analysent les images pour: - détecter les lignes laser auxiliaires (26, 26'); - détecter la ligne laser horizontale (25); - calculer une ligne de base (30') utilisée comme origine pour les mesures de l'épaisseur; - obtenir l'épaisseur du frotteur à partir de la différence en coordonnées verticales entre la ligne laser horizontale (25) et la ligne de base (30').
PCT/ES2012/070449 2011-06-20 2012-06-18 Système et procédé de mesure de l'épaisseur de frotteurs de pantographe Ceased WO2012175773A1 (fr)

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ESP201100703 2011-06-20
ES201100703A ES2394902B2 (es) 2011-06-20 2011-06-20 Sistema y procedimiento de medición del espesor de frotadores de pantógrafo.

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CN104567729A (zh) * 2014-12-31 2015-04-29 苏州华兴致远电子科技有限公司 受电弓运行状态监测方法及装置
CN105627931A (zh) * 2015-12-31 2016-06-01 成都铁安科技有限责任公司 一种受电弓偏移检测方法及系统
JP2016191650A (ja) * 2015-03-31 2016-11-10 シャープ株式会社 計測システム
JP2016191649A (ja) * 2015-03-31 2016-11-10 シャープ株式会社 摩耗量計測装置、摩耗量計測方法、および摩耗量計測プログラム
FR3047451A1 (fr) * 2016-02-09 2017-08-11 Sncf Reseau Procede, dispositif et systeme de detection de defaut(s) d’un pantographe d’un vehicule en mouvement sur une voie ferree
CN109584238A (zh) * 2018-12-07 2019-04-05 北京航空航天大学 一种基于立体视觉的弓网运行状况在线检测系统及方法

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Publication number Priority date Publication date Assignee Title
CN104567729A (zh) * 2014-12-31 2015-04-29 苏州华兴致远电子科技有限公司 受电弓运行状态监测方法及装置
JP2016191650A (ja) * 2015-03-31 2016-11-10 シャープ株式会社 計測システム
JP2016191649A (ja) * 2015-03-31 2016-11-10 シャープ株式会社 摩耗量計測装置、摩耗量計測方法、および摩耗量計測プログラム
CN105627931A (zh) * 2015-12-31 2016-06-01 成都铁安科技有限责任公司 一种受电弓偏移检测方法及系统
FR3047451A1 (fr) * 2016-02-09 2017-08-11 Sncf Reseau Procede, dispositif et systeme de detection de defaut(s) d’un pantographe d’un vehicule en mouvement sur une voie ferree
EP3205528A1 (fr) * 2016-02-09 2017-08-16 Sncf Reseau Procede, dispositif et systeme de detection de defaut(s) d'un pantographe d'un vehicule en mouvement sur une voie ferree
CN109584238A (zh) * 2018-12-07 2019-04-05 北京航空航天大学 一种基于立体视觉的弓网运行状况在线检测系统及方法

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