Electrified Railway Catenary Geometric Parameters Detection Method Based on a Propelled Trolley

A catenary geometry parameter detection system based on multi-sensors such as linear structured light binocular vision, inclinometers, and displacement meters installed on a trolley has been proposed. To address the issue of high target recognition error rates in complex background environments during the daytime, this system combines artificial laser features with the contour lines of the catenary to complement each other, enhancing the robustness of image target localization. To tackle the problem of low measurement ac-curacy caused by vibration during propelling, a prediction model for catenary geometric dimensions is established using the non-equiheight suspension curve equation of the contact wire. And then using Kalman filter to fuse the model prediction results and the measurements of binocular vision, accurate estimation of target position is achieved. Field test results show that the detection system designed in this paper meets the requirements for measuring geometric parameters, providing an effective means for intelligent railway inspection.