CN104748689A - Train catenary height non-contact measuring system based on parallel laser radars - Google Patents
Train catenary height non-contact measuring system based on parallel laser radars Download PDFInfo
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Abstract
The invention discloses a train catenary height non-contact measuring system based on parallel laser radars, relates to the technical field of laser ranging, and solves the problems that existing ultrasonic radar sensors are easily interfered by other sound waves and are slow in response as compared with the laser radars, and the like. The train catenary height non-contact measuring system a laser radar array, a GPS solar altitude positioning module, a data collecting and processing module, a laser radar alignment angle adjusting structure and a catenary height output module. The train catenary height non-contact measuring system has the advantages that multiple levels of laser radars are used to perform equal-interval circulation scanning and measuring in a parallel pipeline manner, self-adaptive fast positioning can be performed on catenaries with different stagger values, and the limitation that a single laser radar is long in measuring cycle can be avoided; in addition, by the GPS solar altitude positioning module, the alignment angle of the laser radar system is adjusted according to the actual operation direction of a train to prevent the laser radar system from being affected by direct strong sunlight.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a rapid and high-precision measurement system for the height of a railway contact net lead based on a parallel laser radar and a solar altitude angle inverse tracking technology.
Background
In the running process of the electric locomotive, continuous electric energy is obtained from a contact net through a pantograph at the top end of the electric locomotive. However, in the running process of a train, due to the influences of external topographic relief, a wiring structure, external environmental factors and the like, the height of a contact net is changed to different degrees, and further, frequent arc discharge is caused due to untimely adjustment of the overlapping angle of a pantograph, and the energy efficiency utilization rate is influenced. Therefore, a certain technical means must be adopted to quickly predict the current height of the overhead line system in a short distance in the process of train moving and provide real-time feedback for the overlapping angle of the pantograph. The patent with publication number CN202229747U adopts a pull wire sensor to measure the height of the overhead line system. Because the method adopts contact type high indirect measurement, the following problems exist in the using process: firstly, long-term mechanical contact measurement is relatively serious in abrasion and aging of measurement equipment; secondly, the actual situation of the height of the contact net cannot be reflected by indirect measurement; thirdly, the measurement result can only be reversely deduced by using the result after the deformation of the stay wire sensor, and the short-term prediction of the height is difficult to achieve. Patent publication No. CN2300909, ultrasonic radar is adopted to measure the height of the contact net. Although the method adopts non-contact measurement, the ultrasonic radar sensor is easily interfered by other sound waves and has slower response compared with a laser radar. On the other hand, patent publication No. CN103852011A uses a laser radar for measurement, but does not fully consider the influence of other stray light, especially sunlight, on the measurement result.
Disclosure of Invention
The invention provides a train contact net height non-contact type measuring system based on parallel laser radar, which aims to solve the problems that an ultrasonic radar sensor is easy to be interfered by other sound waves, and a laser radar is easy to influence a measuring result by other stray light in the existing contact net lead measuring method.
The train catenary height non-contact measurement system based on the parallel laser radar is fixed at a specified distance in front of a pantograph device at the top of a train; the system comprises a laser radar array, a GPS solar altitude angle positioning module, a data acquisition and processing module, a laser radar alignment angle adjusting module and a contact net height output module;
the GPS solar altitude angle positioning module is used for acquiring the current position and time information of the train in real time and calculating the current solar altitude angle; meanwhile, the solar altitude angle information is transmitted to a data acquisition and processing module;
the data acquisition and processing module is used for sending the solar altitude angle information to the laser radar alignment angle adjusting module; the system is also used for sending a time sequence driving signal to the laser radar array, controlling each laser radar in the laser radar array to perform periodic measurement at equal intervals in sequence so as to realize continuous measurement of the height of the contact net lead, and sending the measured contact net height information to the contact net height output module after processing;
the laser radar array is used for receiving a time sequence driving signal sent by the data acquisition and processing module; carrying out rapid positioning scanning and height measurement on the current position of the contact network wire; the collected scanning data are sequentially transmitted to a data collecting and processing module;
the laser radar alignment angle adjusting module adjusts the supporting direction of the mechanical supporting arm of the laser radar array according to the solar altitude angle information sent by the received data collecting and processing module so as to control the alignment angle of the laser radar array;
the overhead line system height output module is used for receiving overhead line system height information of the data acquisition and processing module and feeding back the overhead line system height information to the pantograph control end in real time;
the formula of the height of the contact net from the upper surface of the train is as follows:
H＝Lcosαsinθ+d
in the formula, theta is an included angle between the laser radar and the upper surface of the train, and alpha is an included angle between the scanning position of the overhead line system and the position right in front of the radar scanning position; l is the distance of the contact net measured by the laser radar, d is the corrected value of the height of the target surface of the laser radar from the upper surface of the train, and H is the height of the contact net from the upper surface of the train.
The invention has the beneficial effects that: the measuring system improves the wire positioning and measuring speed by parallelly working a plurality of laser radars in a time-sharing multiplexing mode; the following aspects are embodied:
1. by adopting non-contact measurement, the complexity of a measurement system and the abrasion of a measurement sensor can be reduced; the measuring result is fast, and has higher measuring accuracy.
2. The direct measurement of the height of the contact network is adopted, so that the measurement error condition caused by other factors in the measurement process of other indirect modes is avoided;
3. by adopting the parallel laser radar array with variable laser radar quantity, the measurement interval can be flexibly modified according to the real-time requirement of specific measurement.
4. By adopting the solar altitude angle tracking module, the angle can be adjusted by adjusting the laser radar array, and the influence of direct solar radiation on the measurement result is avoided.
Drawings
FIG. 1 is a block diagram of a train catenary height non-contact measurement system based on a parallel laser radar;
FIG. 2 is a schematic diagram of the installation position of a train overhead line system height non-contact measurement system based on a parallel laser radar in the invention;
FIG. 3 is a schematic diagram of a scanning profile curve of a laser radar in the non-contact measurement system for the height of the train contact network based on the parallel laser radar;
fig. 4 is a schematic diagram of adjustment of the alignment angle of the laser radar array along with the solar altitude angle in the train contact net height non-contact measurement system based on the parallel laser radar.
Detailed Description
In a first specific embodiment, the embodiment is described with reference to fig. 1 to 4, and the system for rapidly and highly accurately measuring the height of the overhead line system based on the parallel laser radar comprises a laser radar array, a GPS solar altitude angle positioning module, a data acquisition and processing module, a laser radar alignment angle adjusting structure and an overhead line system height output module.
The whole measuring device is fixed at a specified distance in front of the pantograph device at the top of the train. The specified distance is in the range of 1 m-2 m;
the laser radar array is fixed at the tail end of a laser radar alignment angle adjusting structure at the top of the measuring device, and the scanning field of the laser radar array is aligned with all possible distributed position ranges of zigzag wires of the contact net at a specified distance in front of the laser radar array. The device is used for carrying out rapid positioning scanning and height measurement on the current position of the contact net wire. And according to the time sequence driving signal, controlling each laser radar in the array to sequentially and circularly measure at equal intervals so as to shorten the integral single measurement time. The calculation expression is as follows:
wherein,the average scanning measurement time is T, the single scanning measurement time of the laser radar is T, and N is the number of cascaded laser radars. Taking the measurement system of two laser radars as an example, when the measurement interval of a single radar is 30ms, the overall average measurement time is shortened to 15 ms.
The GPS solar altitude angle positioning module calculates the current solar altitude angle by acquiring the current position and time information of the train in real time.
The data acquisition and processing module adopts a dual-processor mode of FPGA and DSP. The FPGA is used for generating a time sequence signal, driving a signal acquisition chip and receiving and transmitting a control command. The DSP is mainly used for extracting and processing high-speed data signals.
The laser radar alignment angle adjusting module is composed of a motor control panel, a mechanical arm and a transmission structure. The motor control board is arranged in the control box and used for receiving an adjusting instruction of the data acquisition and processing module in real time; the transmission structure is a connection structure of the motor control panel and the mechanical arm, and the mechanical arm is driven to rotate to the designated direction of the motor control panel through the transmission of the transmission structure. And adjusting the supporting direction of the mechanical supporting arm of the laser radar array according to the solar altitude angle obtained by calculation so as to control the alignment angle of the laser radar array and avoid the direct solar radiation influence.
And the contact net height output module is used for outputting contact net height information feedback to the pantograph control end in real time.
In the embodiment, the GPS solar altitude angle positioning module and the data acquisition and processing module are fixed in the measuring system, the laser radar alignment angle adjusting module is fixed at the top of the measuring system,
in the embodiment, the data acquisition and processing module adopts a GPS positioning module to read the current position and time information of the train and calculate the solar altitude angle of the current position according to a solar altitude angle calculation formula. According to the solar altitude angle range obtained by calculation, in combination with the figure 4, the GPS solar altitude angle positioning module, the data acquisition and processing module and the motor control board in the laser radar alignment angle adjusting module are used as the circuit control processing part of the whole measuring system and are placed in a control box on the upper surface of the train; and judging and adjusting the alignment angle of the laser radar array by using an angle adjusting module. After the angle adjustment is completed, the data acquisition and processing module sequentially performs equal-interval driving control on the laser radar array through the time sequence driving signal, and the operation is repeated in a circulating mode. And the laser radar array transmits the acquired scanning data to the data acquisition and processing module in sequence. And the data processing module extracts and calculates the scanning data to realize the continuous measurement of the height of the contact net wire.
The profile curve diagram composed of single frame scanning data is combined with fig. 3. Wherein, the minimum distance corresponding to the alpha angle away from the central line is the position corresponding to the contact net lead, and the calculation formula of the lead height at the position is as follows:
H＝L cosαsinθ+d
and theta is an included angle between the laser radar and the horizontal plane, and alpha is an included angle between the scanning position of the overhead line system and the position right in front of the radar scanning. L is the distance of the contact net measured by the laser radar, d is the corrected value of the height of the target surface of the laser radar from the upper surface of the train, and H is the height of the contact net from the upper surface of the train.
Claims (4)
1. The train catenary height non-contact measurement system based on the parallel laser radar is fixed at a specified distance in front of a pantograph device at the top of a train; the system is characterized by comprising a laser radar array, a GPS solar altitude angle positioning module, a data acquisition and processing module, a laser radar alignment angle adjusting module and a contact net height output module;
the GPS solar altitude angle positioning module is used for acquiring the current position and time information of the train in real time and calculating the current solar altitude angle; meanwhile, the solar altitude angle information is transmitted to a data acquisition and processing module;
the data acquisition and processing module is used for sending the solar altitude angle information to the laser radar alignment angle adjusting module; the system is also used for sending a time sequence driving signal to the laser radar array, controlling each laser radar in the laser radar array to perform periodic measurement at equal intervals in sequence so as to realize continuous measurement of the height of the contact net lead, and sending the measured contact net height information to the contact net height output module after processing;
the laser radar array is used for receiving a time sequence driving signal sent by the data acquisition and processing module; carrying out rapid positioning scanning and height measurement on the current position of the contact network wire; the collected scanning data are sequentially transmitted to a data collecting and processing module;
the laser radar alignment angle adjusting module adjusts the supporting direction of the mechanical supporting arm of the laser radar array according to the solar altitude angle information sent by the received data collecting and processing module so as to control the alignment angle of the laser radar array;
the overhead line system height output module is used for receiving overhead line system height information of the data acquisition and processing module and feeding back the overhead line system height information to the pantograph control end in real time;
the formula of the height of the contact net from the upper surface of the train is as follows:
H＝Lcosαsinθ+d
in the formula, theta is an included angle between the laser radar and the upper surface of the train, and alpha is an included angle between the scanning position of the overhead line system and the position right in front of the radar scanning position; l is the distance of the contact net measured by the laser radar, d is the corrected value of the height of the target surface of the laser radar from the upper surface of the train, and H is the height of the contact net from the upper surface of the train.
2. The train catenary height non-contact measurement system based on the parallel laser radar of claim 1, wherein the laser radar alignment angle adjustment module is composed of a motor control board, a mechanical arm and a transmission structure; the motor control board is arranged in the control box and used for receiving an adjusting instruction of the data acquisition and processing module in real time; the transmission structure is a connection structure of the motor control panel and the mechanical arm, and the mechanical arm is driven to rotate to the designated direction of the motor control panel through the transmission of the transmission structure.
3. The system for measuring the height of the train catenary in a non-contact manner based on the parallel laser radar as claimed in claim 1, wherein the laser radar array is fixed at the tail end of the laser radar alignment angle adjusting module, and the scanning field of view is aligned with all distributed position ranges of zigzag wires of the catenary at a specified distance in front.
4. The parallel lidar based train catenary height non-contact measurement system according to claim 1 or 3, wherein the specified distance is in a range of 1-2 m.
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| CN106080212A (en) * | 2016-06-08 | 2016-11-09 | 中车唐山机车车辆有限公司 | For the control method of pantograph in rail vehicle and control system |
| CN106813579A (en) * | 2017-01-05 | 2017-06-09 | 宁波福瑟尔物联网科技有限公司 | A kind of distant-range high-precision detects displacement system |
| CN108181313A (en) * | 2018-02-07 | 2018-06-19 | 中铁电气化局集团有限公司 | A kind of device and method suitable for the detection of contact net running environment safe condition |
| CN110187361A (en) * | 2019-05-23 | 2019-08-30 | 中国科学技术大学 | Laser radar atmospheric seeing system based on railway network |
| CN110333662A (en) * | 2019-08-16 | 2019-10-15 | 中车青岛四方车辆研究所有限公司 | Pantograph bow net adaptive control system and method |
| CN115657067A (en) * | 2022-12-26 | 2023-01-31 | 中国铁路设计集团有限公司 | Multi-scale array type laser radar measuring system and method for acquiring track boundary conditions |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106080212A (en) * | 2016-06-08 | 2016-11-09 | 中车唐山机车车辆有限公司 | For the control method of pantograph in rail vehicle and control system |
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| CN108181313A (en) * | 2018-02-07 | 2018-06-19 | 中铁电气化局集团有限公司 | A kind of device and method suitable for the detection of contact net running environment safe condition |
| CN110187361A (en) * | 2019-05-23 | 2019-08-30 | 中国科学技术大学 | Laser radar atmospheric seeing system based on railway network |
| CN110333662A (en) * | 2019-08-16 | 2019-10-15 | 中车青岛四方车辆研究所有限公司 | Pantograph bow net adaptive control system and method |
| CN115657067A (en) * | 2022-12-26 | 2023-01-31 | 中国铁路设计集团有限公司 | Multi-scale array type laser radar measuring system and method for acquiring track boundary conditions |
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