CN103149568B - Radar-imaging-based wobbling state monitoring system for overhead line system - Google Patents
Radar-imaging-based wobbling state monitoring system for overhead line system Download PDFInfo
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- CN103149568B CN103149568B CN201310075687.0A CN201310075687A CN103149568B CN 103149568 B CN103149568 B CN 103149568B CN 201310075687 A CN201310075687 A CN 201310075687A CN 103149568 B CN103149568 B CN 103149568B
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Abstract
The invention provides a radar-imaging-based wobbling state monitoring system for an overhead line system. Data acquired by a wind speed sensor is processed by a central control unit, and is compared with a preset wind speed threshold value; a laser radar is started to give a response if a wind speed value exceeds the threshold value, and performs down-looking measurement on the overhead line system; measured overhead line system data obtained by scanning of each time is compared with a standard value; an early warning device is started by the central control unit to give an alarm when the wobbling amplitude of the overhead line system exceeds a preset threshold value; and a wireless communication unit packages all the wind speed data measured by the wind speed sensor and all the direction data, detected by the radar, of the overhead line system, and transmits the packaged data to a monitoring center. According to the monitoring system, the wobbling state of the overhead line system can be visually monitored in real time, and monitoring data is metrizable, more accurate and higher in sensitivity.
Description
Technical field
The present invention relates to the monitoring field of electrification railway contact net line, be specifically applied to electrification railway contact net swing state monitoring under strong wind weather.
Background technology
Electrification railway contact net is the special transmission line of electricity of one that provides electric power to support for the operation of electric locomotive.Its locomotive that accurately whether will be directly connected to of arranging orientation is subject to electricity quality, and then affects the safe operation of locomotive.Although the two ends of each section of osculatory have specific compensation system that it is tight fixing, still produce and swing and flexural deformation than the impact that is easier to be subject to strong wind weather, cause and the pantograph loose contact of locomotive initiation accident between pantograph.
Although China has set up a set of strict standard for layout and the maintenance of contact net at present, in view of there is no a set of perfect monitoring means, testing still rests on to be maked an inspection tour the sampling observation stage.Traditional detection method is the top that checkout equipment is placed on to inspection vehicle, along with advancing of inspection vehicle detects and record every state index of contact net, what this method can detect when detected contact net under environment accurately leads the electrical technology parameters such as high and stagger.But this measuring method has taken the passage of normal locomotive driving on the one hand, may affect the normal current of other locomotives; It can not monitor out the continuous coverage data of contact net within a period of time on the other hand, especially in extreme weathers such as strong wind, cannot provide the description of contact net at mal-condition lower swing state.
" electrification railway contact net wireless monitor system " patent of invention of now having applied for can realize long-range contact net wireless visual monitoring, but the data such as the result of monitoring is video image, can not quantize, and not obvious for the swing reacting condition that contact net is tiny, finally still need to judge whether contact net breaks down by artificial observation.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of based on radar imagery contact net swing state monitoring system, solve the problem in real time contact swing state being detected under strong wind extreme condition, can either carry out Real-Time Monitoring to contact net swing state, can quantize monitoring result again.
The technical solution adopted for the present invention to solve the technical problems is: comprise multiple monitoring terminals and a monitoring center.Each monitoring terminal has unique identification code, can determine the accurate location in monitoring place; Described monitoring terminal comprises solar cell, air velocity transducer, laser radar, central controller and radio communication unit;
Solar cell is to air velocity transducer, laser radar, central controller and radio communication unit power supply; Air velocity transducer is responsible for monitoring the size of current wind speed, the data that collect are carried out analog to digital conversion via central controller, and periodically to the digital signal samples obtaining, obtain air speed value, compare with prefabricated wind speed threshold values, if air speed value exceedes threshold values, start laser radar; Laser radar be positioned at two rail center positions directly over, be fixed on and hang the shaft tower side arm of osculatory, measurement, higher than contact net and lower than carrier cable, is overlooked to contact net in position; Laser radar periodically sends one group of pulse-burst signals being made up of single frequency pulse, wherein each individual pulse frequency is than previous height, and the frequency-splitting of each individual pulse is identical, from the shaft tower at its place, towards one end of rail, till the next shaft tower adjacent with its place shaft tower, along the osculatory run-down between two shaft towers; After a pulse train transmitting, air line distance and the measurement of angle numerical value of each point of one group of contact net to laser radar will directly be returned to, the derivation of process geometric relationship obtains each point and departs from the distance of the position of rail center apart from the height on ground and its, leads height and stagger; Scanning obtains each time contact net measuring data and standard value are compared, the difference obtaining can be described the size of the current osculatory amplitude of oscillation, in the time that the amplitude of the swing of contact net exceedes default threshold values, startup prior-warning device is sent warning by central controller, the air speed data that radio communication unit can record air velocity transducer and detections of radar to the bearing data of contact net all encapsulate, send to Surveillance center by radio communication unit; Monitoring center is by receiving the alarm of transmitting from monitoring terminal, understand the roughly situation at monitoring terminal contact net, by receiving the data that transmit from monitoring terminal, usage data decoding and imaging technique reproduce the simulated scenario that monitoring terminal contact net swings on computers.
The invention has the beneficial effects as follows: not only can the achieve a butt joint real-time visual monitoring of net-fault swing state of system, can also realize the metrizability of Monitoring Data, without adding artificial micro-judgment, result is more accurate, and susceptibility is higher; Be arranged on the monitoring system of the top of contact net on shaft tower, can locomotive is normal to be detected contact net current in the situation that not affecting, whether real-time judge contact net is arranged in correct region; What adopt is secondary alarm mode, increases capacity utilization, reduces manual operation, and reliability is stronger.
Brief description of the drawings
Fig. 1 is high and the stagger schematic diagram of leading of lidar measurement contact net of the present invention;
Fig. 2 is the principle assumption diagram of monitoring terminal of the present invention;
Fig. 3 is secondary modes of warning process flow diagram of the present invention;
Fig. 4 is scheme of installation of the present invention;
In figure, 1-contact net, 2-air velocity transducer, 3-laser radar, 4-electricity cabinet, 5-shaft tower, 6-rail, 7-is by rail center line plane perpendicular to the ground.
Embodiment
Native system adopts secondary modes of warning: first order early warning is that wind speed starts radar while reaching threshold values; Second level early warning is that the wobble data that detects gives the alarm while reaching threshold values.As shown in Figure 3, when on-the-spot wind speed reaches some strength, can threaten to the safe operation of contact net time, one-level early warning starts its observation process, and laser radar is opened the real-time swing situation of monitoring contact net; By following the tracks of and record the contact net attitude information obtaining through radar detection, the moment is monitored the variation of these data, the Real-Time Monitoring of the net-fault that achieves a butt joint swing state.In the time that the normal data gap under real time data and the calm status of criterion reaches reservation threshold, prove that contact net amplitude of fluctuation is excessive, the safety that threatens locomotive is normally travelled.At this moment, secondary early warning is opened, and sends and reports to the police and transmit corresponding radar detection data to Surveillance center, notifies staff to carry out in advance scheduling prevention work, to reduce the generation of accident.
The present invention, taking radar range finding principle as basis, utilizes radar imagery technology; Adopt secondary modes of warning, respectively taking wind speed, contact net amplitude of fluctuation as alarm foundation, the utilizing the energy and reduce human intervention of maximum; Adopt multiple spot monitoring technology, comprise multiple monitoring terminals and a monitoring center.Each monitoring terminal has unique identification code, can determine the accurate location in monitoring place; Monitoring terminal is for detection of the contact net swing state under the certain wind friction velocity in scene, and monitoring center is used for managing and presenting the Monitoring Data that monitor terminal collection comes.
The technical scheme of system is as follows:
Solar cell is to air velocity transducer, and the embedded system of laser radar, central controller and radio communication unit are powered.Air velocity transducer is responsible for monitoring the size of present wind speed.The data that collect, through the processing of central control unit, are converted to by simulating signal the digital signal that computing machine can be identified.Central controller is periodically to by the digital signal samples obtaining, and compares with prefabricated wind speed threshold values, if air speed value exceedes threshold values, startup laser radar responded.
Laser radar is placed on the shaft tower of fixing osculatory, directly over two rail center positions, on the position of distance H perpendicular to the ground, as shown in Figure 1.Known electromagnetic velocity of propagation is c, receives the signal that transmitting is returned after the Δ t time.According to the principle radar of radar range finding to the distance between testee be
when laser radar becomes the angle of depression of θ with level, one section of osculatory is carried out to non-contact measurement, pulse runs into electromagnetic wave that on osculatory, certain sample point returns and the angle of rail is denoted as δ, and that can derive this sample point on osculatory leads high h and stagger a respectively:
Radar is less at interval of a period of time T(T, and real-time is higher) transmitting a group pulse signal, from the shaft tower at its place, till towards its aerial position the next shaft tower that is adjacent, the osculatory run-down supporting along two shaft towers.Scanning result is transferred in central controller and transforms computing, obtains leading high and stagger data.Once complete contact net measuring data and the standard value of finally obtaining after the end of scan each time compared, the difference obtaining can be described the size of the current osculatory amplitude of oscillation again.That is, difference is larger, and the swing Shaoxing opera of osculatory is strong.In the time that the amplitude of the swing of contact net or frequency exceed default threshold values, startup prior-warning device is sent warning by central controller.
The contact net sample point bearing data that the air speed data that radio communication unit can collect air velocity transducer and laser radar record all encapsulates, and sends to Surveillance center by 3G network.Monitoring center receives the alarm of transmitting from monitoring terminal, start application program, receive the data that transmit from monitoring terminal, by data decode and imaging technique, reduce according to time sequencing, the contact net sample information that laser radar is scanned at every turn connects, and can reproduce on computers the simulated scenario that monitoring terminal contact net swings.
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figure 2, monitoring terminal of the present invention comprises: supply module, air velocity transducer, laser radar, central controller, precaution device and wireless telecommunications system form.Whole system is placed in the shaft tower top of railway both sides, as shown in Figure 4.Wherein laser radar 3 is placed on the centre of rail top, and level altitude is higher than the place of osculatory 1, and to become certain angle of depression to carry out scan-type non-contact measurement to one section of osculatory with level.It is supported fixing by two ends shaft tower, prevent that strong wind from causing that radar swing affects measuring accuracy.Embedded system and the source of early warning of the accumulator of supply module, power-supply controller of electric, wireless telecommunications system, central control unit are placed in an electric cabinet 4.Solar panel, air velocity transducer 2 is placed on electric cabinet outside.
Supply module is made up of solar panels, accumulator and power-supply controller of electric.By the air velocity transducer of monitor terminal, central controller, laser radar and wireless telecommunications system are connected to the load end of power-supply controller of electric in plug-in mode.
Air velocity transducer is for detection of on-the-spot wind conditions.The wind speed simulation signal that it receives enters central controller and completes analog to digital conversion after a series of modulate circuits such as overdischarge, filtering, sampling maintenance, becomes the signal that computing machine can be identified.
Laser radar is outwards exported electromagnetic wave and is accepted to run into the electromagnetic wave signal that the solids such as contact net reflect by antenna, this signal is the function of Distance Time, by can judgment object to echoed signal analysis and radar directly apart from S and angle information (with the angle σ of rail), determine the locus of contact net with this.Laser radar can reduce the demand to electric energy on the one hand in closed condition in the time not running into strong wind weather; Reduce on the other hand the operand of central control unit, reduce heating, thereby make central control unit keep for a long time relative good working order.
Central controller adopts Embedded System Structure, has the unique identifier that can record the residing more specific location information of monitoring terminal.Its main function has: the duty of being responsible for controlled wind speed sensor, laser radar, prewarning unit and wireless telecommunications system; Data-switching, the computing of being responsible for air velocity transducer and the laser radar to collect, be transferred to wireless telecommunications system and be transmitted into 3G network; The field condition of being responsible for notifying source of early warning to exceed threshold values to operation result sends warning.
Concrete, the signal that central controller periodically comes in air velocity transducer collection is sampled also, compares with prefabricated wind speed threshold values, if do not exceed threshold values, proves that on-the-spot weather conditions are good; If wind speed exceedes threshold values, prove that on-the-spot strong wind weather may threaten the safe operation of contact net, now, central controller controls laser radar starts operation.
Laser radar scans the contact net of its monitoring at interval of a period of time transmitting a group pulse signal.In each pulse train, the frequency of each pulse is than the large Δ f of the frequency of its previous pulse, distinguishes the distance and bearing of difference on osculatory with this.Each pulse is accepted the poor Δ t of life period by the receiver of radar
iangle δ with close echo
i.After the processing such as amplification, demodulation, orthogonal mixing, analog to digital conversion, be transferred to central controller.Echoed signal is carried out pre-service by central controller, and go out the height of leading of each sample point on contact net by algorithm development
with stagger length
after pulse train is launched and returned each time, the set of all sample points that collect is exactly the sample of an osculatory locus.
Central controller compares the sample of standard under each such sample and windless condition, if deviation is greater than predetermined threshold values, the instantaneous amplitude of oscillation that proves contact net is excessive, departs from normal position and threatened the safe passing of electric locomotive, need to take measures to be repaired.At this moment, central controller is opened built-in prior-warning device, and the type of the fault of generation and geography information are sent to monitoring center.
Central controller can encapsulate compression by all contact net sample points certificates and the air speed data that edit, is sent in wireless network and is gone by wireless telecommunications system.
Monitoring center by Web service to monitoring terminal request msg.Receive after the sample information of the contact net position that radar collects, according to time sequencing reduction, and the data of collecting are carried out to image processing, and finally obtain the in real time dynamic profile image of a contact net.
Claims (1)
1. based on a radar imagery contact net swing state monitoring system, comprise multiple monitoring terminals and a monitoring center, it is characterized in that: each monitoring terminal has unique identification code, can determine the accurate location in monitoring place; Described monitoring terminal comprises solar cell, air velocity transducer, laser radar, central controller and radio communication unit; Solar cell is to air velocity transducer, laser radar, central controller and radio communication unit power supply; Air velocity transducer is responsible for monitoring the size of current wind speed, the data that collect are carried out analog to digital conversion via central controller, and periodically to the digital signal samples obtaining, obtain air speed value, compare with prefabricated wind speed threshold values, if air speed value exceedes threshold values, start laser radar; Laser radar be positioned at two rail center positions directly over, be fixed on and hang the shaft tower side arm of osculatory, measurement, higher than contact net and lower than carrier cable, is overlooked to contact net in position; Laser radar periodically sends one group of pulse-burst signals being made up of single frequency pulse, wherein each individual pulse frequency is than previous height, and the frequency-splitting of each individual pulse is identical, from the shaft tower at its place, towards one end of rail, till the next shaft tower adjacent with its place shaft tower, along the osculatory run-down between two shaft towers; After a pulse train transmitting, air line distance and the measurement of angle numerical value of each point of one group of contact net to laser radar will directly be returned to, the derivation of process geometric relationship obtains each point and departs from the distance of the position of rail center apart from the height on ground and its, leads height and stagger; Scanning obtains each time contact net measuring data and standard value are compared, the difference obtaining is described the size of the current osculatory amplitude of oscillation, in the time that the amplitude of the swing of contact net exceedes default threshold values, startup prior-warning device is sent warning by central controller, the air speed data that radio communication unit can record air velocity transducer and detections of radar to the bearing data of contact net all encapsulate, send to monitoring center by radio communication unit; Monitoring center is by receiving the alarm of transmitting from monitoring terminal, understand the roughly situation at monitoring terminal contact net, by receiving the data that transmit from monitoring terminal, usage data decoding and imaging technique reproduce the simulated scenario that monitoring terminal contact net swings on computers.
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| CN201310075687.0A CN103149568B (en) | 2013-03-11 | 2013-03-11 | Radar-imaging-based wobbling state monitoring system for overhead line system |
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| CN201310075687.0A CN103149568B (en) | 2013-03-11 | 2013-03-11 | Radar-imaging-based wobbling state monitoring system for overhead line system |
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| CN103344170A (en) * | 2013-06-26 | 2013-10-09 | 西安工程大学 | High voltage transmission conductor sag measuring device and method |
| CN107399338A (en) * | 2016-05-18 | 2017-11-28 | 北京华兴致远科技发展有限公司 | Train contact network detection means and method |
| CN107786646A (en) * | 2017-10-16 | 2018-03-09 | 北京天格高通科技有限公司 | A kind of Long-Distance Monitoring System About and method for being adapted for contact with net detection tool car |
| CN108181313B (en) * | 2018-02-07 | 2024-07-09 | 中铁电气化局集团有限公司 | Device and method suitable for detecting safety state of contact net operation environment |
| CN110808800B (en) * | 2018-07-18 | 2021-06-08 | 中国移动通信有限公司研究院 | Control method of reflection device, service request method, device and equipment |
| CN111289996A (en) * | 2018-12-06 | 2020-06-16 | 安徽站乾科技有限公司 | Multipurpose early warning system based on radar imaging |
| CN110285762A (en) * | 2019-07-08 | 2019-09-27 | 四川艾德瑞电气有限公司 | Contact net dynamic characteristic real-time monitoring system |
| CN110244320A (en) * | 2019-07-08 | 2019-09-17 | 四川艾德瑞电气有限公司 | Overhead contact line operating status intelligent checking system |
| CN113253237B (en) * | 2021-07-13 | 2021-09-17 | 中国人民解放军国防科技大学 | Railway contact net measuring method and system based on radar system |
| CN114577325B (en) * | 2022-03-01 | 2022-12-23 | 西南交通大学 | On-line monitoring and early warning system and method for contact suspension operation state in strong wind area |
| CN115754941B (en) * | 2022-11-14 | 2023-08-29 | 扬州宇安电子科技有限公司 | Distributed radar running state monitoring system and method based on artificial intelligence |
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| US5930904A (en) * | 1997-06-17 | 1999-08-03 | Mualem; Charles | Catenary system measurement apparatus and method |
| US6873746B2 (en) * | 2001-08-02 | 2005-03-29 | Electric Power Research Institute, Inc. | Apparatus and method for monitoring a cable |
| CN201388155Y (en) * | 2009-04-16 | 2010-01-20 | 哈尔滨瑞雷电气科技发展有限责任公司 | Railway triphase signal power supply system directly electrified by using contact net |
| CN102707196A (en) * | 2012-06-08 | 2012-10-03 | 东华理工大学 | Novel single-ended travelling wave distance measuring system of fault of high-speed railway traction network |
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