期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：3
DOI：10.1177/1729881418773943
语种：English
出版社：SAGE Publications
摘要：Maintenance of catenary system is a crucial task for the safe operation of high-speed railway systems. Catenary system malfunction could interrupt railway service and threaten public safety. This article presents a computer vision algorithm that is developed to automatically detect the defective rod-insulators in a catenary system to ensure reliable power transmission. Two key challenges in building such a robust inspection system are addressed in this work, the detection of the insulators in the catenary image and the detection of possible defects. A two-step insulator detection method is implemented to detect insulators with different inclination angles in the image. The sub-images containing cantilevers and rods are first extracted from the catenary image. Then, the insulators are detected in the sub-image using deformable part models. A local intensity period estimation algorithm is designed specifically for insulator defect detection. Experimental results show that the proposed method is able to automatically and reliably detect insulator defects including the breakage of the ceramic discs and the foreign objects clamped between two ceramic discs. The performance of this visual inspection method meets the strict requirements for catenary system maintenance.
关键词：Catenary system; deformable part models; local period estimation; rod-insulator
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