CN106403899A - Pillar laser positioning device and method of overhead contact line suspension state detection monitoring system - Google Patents
Pillar laser positioning device and method of overhead contact line suspension state detection monitoring system Download PDFInfo
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- CN106403899A CN106403899A CN201610722878.5A CN201610722878A CN106403899A CN 106403899 A CN106403899 A CN 106403899A CN 201610722878 A CN201610722878 A CN 201610722878A CN 106403899 A CN106403899 A CN 106403899A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention discloses a pillar laser positioning device and method of an overhead contact line suspension state detection monitoring system, the pillar laser positioning device is provided with a pillar positioning control device (7), a rain and snow entrance-preventing system and temperature equipment, the temperature equipment is arranged in the rain and snow entrance-preventing system, the pillar positioning control device (7) is connected with the temperature equipment; the positioning method uses the pillar positioning control device (7), the rain and snow entrance-preventing system and the temperature equipment for overhead contact line pillar positioning, the pillar laser positioning device uses the rain and snow entrance-preventing system for system positioning, and can solve the problem that laser positioning methods in the prior art are influenced by rains and snows; and the positioning method is used for positioning based on the positioning device prevents rain and snow influence, so that positioning results are more accurate.
Description
Technical field
The technical field the present invention relates to high ferro is powered etc., specifically, is that overhead contact line state-detection monitoring system is propped up
Post laser locating apparatus and its method.
Background technology
According to Tie Zong shipping office《High ferro power supply safety detects monitoring system (6C system) general technical specification》Requirement, connect
Net-fault suspension status detects monitoring system, abbreviation 4C system, is arranged on operation vehicle for contact wire or special-purpose vehicle, runs certain
Under speed, high accuracy image checking is implemented to the parts of contact net suspension, in automatic identification and the analysis of detection data
On the basis of, form maintenance suggestion, instruct the defect elimination of contact net potential faults.
4C system needs accurately to shoot the fixing picture rich in detail supporting device such as bracket, and therefore premise is precise positioning contact
Net shore position.
Currently, catenary mast positioning mainly adopts two methods of the identification of intelligent image algorithm and one-dimensional laser positioning.
Intelligent image algorithm identifies：Affected larger by natural causes such as backgrounds it is easy to false triggering occur and leakage triggers；No
Energy automatic identification various standard contact net equipment, can not take into account high-speed railway and existing general speed railway simultaneously.
One-dimensional laser positioning：Scanned using laser range finder and support device, the high number of degrees that laser range finder is detected
According to setting window threshold, as long as the data in this window threshold is all considered the valid data detecting it is impossible to adapt to prop up
Hold the larger scene of device height change, false triggering and leakage triggering easily occur；Simultaneously because its valid data number of detecting
Not only with supporting device width relevant, also relevant with detection vehicle speed, and current detection method is not tied up with detection car speed
Fixed, leakage triggering and false triggering easily occur；Simultaneously because the impact of laser range finder characteristic, easily it is subject to rain, snow, icing, frosting
Impact, affects normal work.
Current state：
1. easily affected by rain, snow, cause whole system can not normally take pictures work；
2. do not adapt to support the situation that device changes greatly that false triggering and leakage triggering easily occur；
3. do not adapt to the situation that speed changes greatly, false triggering and leakage triggering easily occur；
4. at low temperatures, surface easily freezes laser sensor, frosting, affects normal work.
Currently, overhead contact line state-detection monitoring system laser pillar positioning mainly adopt the identification of intelligent image algorithm and
Two methods of one-dimensional laser positioning, due to intelligent image algorithm affected by natural causes such as backgrounds larger, so at present great majority
Using the method for one-dimensional laser positioning, and in the case of practice, one-dimensional laser positioning is easily subject to rain, snow, icing, frosting shadow
Ring, thus causing whole system can not normally be taken pictures completely work, simultaneously because algorithm incomplete it is impossible to adapt to support
Device change and detection car speed change, change greatly for support device, the scene that speed changes greatly, false touch easily
Send out and leakage triggering is it is impossible to correctly instruct the defect elimination of contact net potential faults.
Content of the invention
It is an object of the invention to provide overhead contact line state-detection monitoring system pillar laser locating apparatus and its side
Method, described positioner enters system using rain and snow and is positioned, and can solve the problem that current laser positioning method is affected by rain, snow
Problem；Described localization method is positioned based on the positioner that rain and snow affects, and enables to positioning result more accurate.
The present invention is achieved through the following technical solutions：Overhead contact line state-detection monitoring system pillar laser positioning fills
Put, be provided with pillar positioning control device, rain and snow enters system and temperature device, described temperature device is arranged on rain and snow and enters
Enter in system, and pillar positioning control device is connected with temperature device.
For preferably realizing positioner of the present invention further, especially adopt following set-up modes：In described rain-proof
It is provided with laser range finder, saturating laser glass, metal column, saturating laser glass is arranged on laser range finder in snow entrance system
Side, and metal column is arranged on the top of laser glass, one end bottom being connected with saturating laser glass in metal column is set
It is equipped with osculum；Described temperature device is arranged on inside metal column.
For preferably realizing positioner of the present invention further, especially adopt following set-up modes：Described temperature sets
The standby tubular electric heating including being arranged on described metal column inwall and be used for the temperature into temperature sensing in row metal column
Degree probe, described pillar positioning control device is connected with tubular electric heating and temperature probe respectively.
For preferably realizing positioner of the present invention further, especially adopt following set-up modes：Described pillar is fixed
Position control device is also connected with the power supply of laser range finder and communication interface.
For preferably realizing positioner of the present invention further, especially adopt following set-up modes：Described Laser Measuring
Distance meter, saturating laser glass, metal column are installed by mounting bracket and are fixed.
Carry out catenary mast localization method using overhead contact line state-detection monitoring system pillar laser locating apparatus,
Enter system using pillar positioning control device, rain and snow and temperature device carries out catenary mast positioning.
Catenary mast localization method, described localization method includes temperature-controlled process, and temperature-controlled process include with
Lower concrete steps：
1）Metal column internal temperature in rain and snow entrance system is detected by the temperature probe in temperature device, and temperature
Pillar positioning control device is given on data is real-time；
2）The temperature data that pillar positioning control device real-time reception temperature probe uploads, and be analyzed；
3）When temperature is detected in metal column and being less than 10 DEG C, the tubular electric heating in start-up temperature equipment is heated；
4）Through step 3）Afterwards, if temperature is detected in metal column be higher than 20 DEG C, close tubular electric heating, continue executing with step
Rapid 1）.
For preferably realizing localization method of the present invention further, especially adopt following set-up modes：Described positioning side
Method also includes detecting car speed computational methods, and detects that car speed computational methods include step in detail below：
A, detection car wheel often turn over a circle, and the velocity sensor that rain and snow enters in the laser range finder of system reports 200
Velocity pulse；
The velocity pulse number that B, pillar positioning control device real time record velocity sensor report；
C, every 200ms calculate detection car speed according to the velocity pulse number reporting and detection car wheel diameter.
For preferably realizing localization method of the present invention further, especially adopt following set-up modes：Described positioning side
Method also includes rising computational methods, and rises computational methods and include step in detail below：
（1）Under circumstance of initialization, detection car is on main track, now rises as 0, pillar positioning control device constantly receives laser
The altitude information of diastimeter scanning, judges detection car whether access tunnel according to height difference；
（2）After detecting that car sails tunnel into, the altitude information being scanned by laser range finder, calculate tunnel and rise, renewal is risen
Data；
（3）After detecting that car rolls tunnel away from, the altitude information being scanned by laser range finder, is recalculated and rises.
For preferably realizing localization method of the present invention further, especially adopt following set-up modes：Described positioning side
Method also includes supporting device detection method, and supports that device detection method includes step in detail below：
A. pillar positioning control device constantly updates test point number thresholding according to detection car speed；Determine that detection car exists first
Test point number thresholding under 80km/h is x, recalculates train speed every 200ms, thus recalculating according to speed
Test point number thresholding；The algorithm of described test point number thresholding is：Test point number thresholding=x*80/ train speed；Described
Detection car is the supporting body for loading overhead contact line state-detection monitoring system pillar laser locating apparatus；
B. pillar positioning control device is according to rising continuous adjustment detection window, and determined according to the detection window of continuous adjustment
Device is supported in position, eliminates the impact supporting device change；The described target supporting device to refer to described localization method needs positioning
Device, supports that device refers to support contact suspension in contact net, and its mechanical load is passed to the fixing part of pillar, support dress
Put including bracket, Horizontal Cantilever（Or girt, suspension insulator string）, the suspention part of rod insulator and contact suspension；
C. test point number thresholding and detection window positioning is used to support device.
The present invention compared with prior art, has advantages below and beneficial effect：
Positioner of the present invention enters system using rain and snow and is tested, and can solve the problem that current laser positioning method is subject to
Rain, the problem of snow impact；Described localization method is positioned based on the positioner that rain and snow affects, and enables to positioning result
More accurate.
Overhead contact line state-detection monitoring system pillar laser locating apparatus of the present invention, solve laser ranging and prop up
Post positioning is affected by rain, snow, icing, frosting, increased support device-adaptive algorithm and speed adaptive algorithm, solution simultaneously
Laser distance measurement method of having determined can not meet the problem supporting device change and detection car speed change, has evaded overhead contact line shape
State detection monitoring system can only be in the big problem of night operation and maintenance workload.
The present invention solves the problems, such as that current laser positioning method is affected by rain, snow；Do not adapt to support asking of device change
Topic；Do not adapt to detect the problem of car speed change；And solve easily icing and the frosting of prior art laser range finder upper surface,
The problem of impact operation.
Brief description
Fig. 1 is the structural representation of overhead contact line state-detection monitoring system pillar laser locating apparatus of the present invention
Figure.
Fig. 2 is described temperature-controlled process flow chart.
Fig. 3 is that described detection car speed calculates method flow diagram.
Fig. 4 rises computational methods flow chart for described.
Fig. 5 is described support device detection method flow chart.
Wherein, 1- laser range finder RS-422 order wire and power line, 2- mounting bracket, 3- laser range finder, 4- swashs thoroughly
Light glass, 5- osculum, 6- tubular electric heating, 7- pillar positioning control device, 8- temperature sensor connecting line, 9- tubulose electricity
Heater connecting line, 10- temperature probe, 11- metal column.
Specific embodiment
With reference to embodiment, the present invention is described in further detail, but embodiments of the present invention not limited to this.
Embodiment 1：
Overhead contact line state-detection monitoring system pillar laser locating apparatus, enter system with rain and snow and are positioned, can
Solve the problems, such as that current laser positioning method is affected by rain, snow, as shown in figure 1, being provided with pillar positioning control device 7, rain-proof
Snow entrance system and temperature device, described temperature device is arranged in rain and snow entrance system, and pillar positioning control device 7 with
Temperature device is connected.
When design uses, rain and snow entrance system is carried out rain and snow and enters design, and using temperature device to rain-proof
The temperature of snow entrance system is controlled so that positioner is when being positioned, and positioning will not because of sleet reason not
Accurately, so that the situation of detection car maloperation occurs.
Embodiment 2：
The present embodiment is to optimize further on the basis of above-described embodiment, for preferably realizing positioning of the present invention further
Device, as shown in figure 1, especially adopt following set-up modes：Be provided with described rain and snow entrance system laser range finder 3,
Laser glass 4, metal column 11 thoroughly, saturating laser glass 4 is arranged on above laser range finder 3, and metal column 11 is arranged on
The top of laser glass 4, one end bottom being connected with saturating laser glass 4 in metal column 11 is provided with osculum 5；Described temperature
Degree equipment is arranged on inside metal column 11.
When design uses, saturating laser glass 4 is sticked at the laser exit of laser range finder 3, and in saturating laser glass
The top of glass 4 is provided with a bottom and is provided with the metal column 11 of osculum 5 so that the laser beam that sent of laser range finder 3
Light path can be formed through saturating laser glass 4 and metal column 11, in design, exist with saturating laser glass 4 and metal column 11
Top seals to laser range finder 3, can reduce rain, snow is directly entered；Osculum in the setting of the bottom of metal column 11
5, the rain of entrance, water can be made directly to exclude by osculum 5 such that it is able to reduce rain, the impact of snow.
Embodiment 3：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, of the present invention for preferably realizing further
Positioner, as shown in figure 1, especially adopt following set-up modes：Described temperature device includes being arranged on described metal column 11
Tubular electric heating 6 on inwall and the temperature probe 10 being used for into temperature detection in row metal column 11, described pillar positioning
Control device 7 is connected with tubular electric heating 6 and temperature probe 10 respectively.
When design uses, pillar positioning control device 7 is connected with temperature probe 10 by temperature sensor connecting line 8
Connect, pillar positioning control device 7 is connected with tubular electric heating 6 by tubular electric heating connecting line；In metal column
11 inwall is furnished with tubular electric heating 6, using pillar positioning control device, it is carried out with temperature control, keeps metal column 11
Interior temperature is more than 10 DEG C, makes to amass rain, accumulated snow, icing, frosting in metal column 11, it can be avoided that rain, snow, icing, knot
The impact of frost.
Embodiment 4：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, of the present invention for preferably realizing further
Positioner, as shown in figure 1, especially adopt following set-up modes：Described pillar positioning control device 7 also with laser range finder 3
Power supply and communication interface be connected, design use when, pillar positioning control device 7 is communicated by laser range finder RS-422
Line is connected with the power supply of laser range finder 3 and communication interface with power line 1.
Embodiment 5：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, of the present invention for preferably realizing further
Positioner, as shown in figure 1, especially adopt following set-up modes：Described laser range finder 3, saturating laser glass 4, metal column
11 pass through mounting bracket 2 installs fixation.
Embodiment 6：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, monitors system using overhead contact line state-detection
System pillar laser locating apparatus carry out catenary mast localization method, as Figure 1-4, especially adopt following set-up modes：Profit
Enter system with pillar positioning control device 7, rain and snow and temperature device carries out catenary mast positioning.
Saturating laser glass 4 is sticked at the laser exit of laser range finder 3, and arranges above saturating laser glass 4
A bottom is had to be provided with the metal column 11 of osculum 5 so that the laser beam that laser range finder 3 is sent can be through saturating laser glass
Glass 4 and metal column 11 form light path, in design, with saturating laser glass 4 and metal column 11 up to laser ranging
Instrument 3 is sealed, and can reduce rain, snow is directly entered；The bottom of metal column 11 setting osculum 5, can make entrance rain,
Water is directly excluded by osculum 5 such that it is able to reduce rain, the impact of snow.
Further, pillar positioning control device 7 is connected with temperature probe 10 by temperature sensor connecting line 8,
Pillar positioning control device 7 is connected with tubular electric heating 6 by tubular electric heating connecting line；In metal column 11
Inwall is furnished with tubular electric heating 6, using pillar positioning control device, it is carried out with temperature control, keeps metal column 11 interior temperature
Spend for more than 10 DEG C, make to amass rain, accumulated snow, icing, frosting in metal column 11, it can be avoided that rain, snow, icing, frosting
Impact.
The concept that method of the present invention introduction simultaneously is risen, when detecting that car is on main track, rises as 0, works as detection
When car is in tunnel, rise as tunnel height, to detect support device with the mutation difference supporting device and rise, can be very
Good avoids support device change to the impact supporting device detection；Described support device refers to that described localization method needs to position
Destination apparatus, support that device refers to support contact suspension in contact net, and its mechanical load passed to the fixing part of pillar,
Support that device includes bracket, Horizontal Cantilever（Or girt, suspension insulator string）, the suspention zero of rod insulator and contact suspension
Part.
And localization method shown in the present invention is associated laser positioning and detection car speed, with the inspection of speed real-time update
Survey number thresholding, avoided the false triggering that speed change causes to trigger with leakage completely.
Embodiment 7：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, catenary mast localization method, as Fig. 1-4 institute
Show, described localization method includes temperature-controlled process, and temperature-controlled process use temperature probe 10 real-time detection temperature first,
Secondly use control device analysis temperature data, finally carry out stability contorting, specifically include following steps：
1）Metal column 11 internal temperature in rain and snow entrance system is detected by the temperature probe 10 in temperature device, and handle
Pillar positioning control device 7 is given on temperature data is real-time；
2）The temperature data that pillar positioning control device 7 real-time reception temperature probe 10 uploads, and be analyzed；
3）When temperature is detected in metal column 11 and being less than 10 DEG C, the tubular electric heating 6 in start-up temperature equipment carry out plus
Heat；
4）Through step 3）Afterwards, if temperature is detected in metal column 11 be higher than 20 DEG C, close tubular electric heating 6, continue to hold
Row step 1）.
Embodiment 8：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, of the present invention for preferably realizing further
Localization method, as Figure 1-4, especially adopts following set-up modes：Described localization method also includes detecting car speed calculating side
Method, and detect that car speed computational methods use velocity sensor to detect vehicle wheel rotational speed first, secondly use control device record car
Wheel speed data, finally calculates detection car speed, specifically includes following steps：
A, detection car wheel often turn over a circle, and the velocity sensor that rain and snow enters in the laser range finder 3 of system reports 200
Velocity pulse；
The velocity pulse number that B, pillar positioning control device 7 real time record velocity sensor report；
C, every 200ms calculate detection car speed according to the velocity pulse number reporting and detection car wheel diameter.
Embodiment 9：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, of the present invention for preferably realizing further
Localization method, as Figure 1-4, especially adopts following set-up modes：Described localization method also includes rising computational methods, and pushes up
High computational methods use laser range finder 3 scanning height data first, secondly analyze the high number of degrees with pillar positioning control device 7
According to, carry out detect car access tunnel judge, finally calculate rise, specifically include following steps：
（1）Under circumstance of initialization, detection car is on main track, now rises as 0, pillar positioning control device 7 constantly receives laser
The altitude information of diastimeter 3 scanning, judges detection car whether access tunnel according to height difference；
（2）After detecting that car sails tunnel into, the altitude information being scanned by laser range finder 3, calculate tunnel and rise, renewal is risen
Data；
（3）After detecting that car rolls tunnel away from, the altitude information being scanned by laser range finder 3, is recalculated and rises.
Embodiment 10：
The present embodiment is to optimize further on the basis of any of the above-described embodiment, of the present invention for preferably realizing further
Localization method, as Figure 1-4, especially adopts following set-up modes：Described localization method also includes supporting device detection method,
And support that device detection method uses laser range finder 3 scanning height data first, secondly update and rise data, update inspection again
Measuring car speed, uses control device to analyze altitude information, device is supported in finally detection, specifically includes following steps again：
A. pillar positioning control device 7 constantly updates test point number thresholding according to detection car speed；
B. pillar positioning control device 7 is according to rising continuous adjustment detection window, and determined according to the detection window of continuous adjustment
Device is supported in position, eliminates the impact supporting device change；
C. test point number thresholding and detection window positioning is used to support device.
Adaptive algorithm：In the case that calculating is risen in introducing, pillar positioning control device 7 is examined according to rising continuous adjustment
Survey window, and support device is positioned according to the detection window of continuous adjustment, thus avoiding for the line supporting device change
Road, needs artificial to adjust detection threshold to detect the problem supporting device it is achieved that for the self adaptation supporting device change.
Speed adaptive algorithm：Determine that detection detection number thresholding under 80km/h for the car is x, every 200ms first
Recalculate detection car speed, thus test point number thresholding is recalculated according to detection vehicle speed, and calculate test point number
The algorithm of thresholding is：Test point number thresholding=x*80/ train speed.
The above, be only presently preferred embodiments of the present invention, and not the present invention is done with any pro forma restriction, every according to
Any simple modification above example made according to the technical spirit of the present invention, equivalent variations, each fall within the protection of the present invention
Within the scope of.
Claims (10)
1. overhead contact line state-detection monitoring system pillar laser locating apparatus it is characterised in that：It is provided with pillar positioning control
Control equipment（7）, rain and snow enter system and temperature device, described temperature device is arranged in rain and snow entrance system, and pillar
Positioning control device（7）It is connected with temperature device.
2. overhead contact line state-detection monitoring system pillar laser locating apparatus according to claim 1, its feature exists
In：It is provided with laser range finder in described rain and snow entrance system（3）, saturating laser glass（4）, metal column（11）, thoroughly swash
Light glass（4）It is arranged on laser range finder（3）Top, and metal column（11）It is arranged on laser glass（4）Top, in gold
Belong to column（11）With saturating laser glass（4）One end bottom being connected is provided with osculum（5）；Described temperature device is arranged on gold
Belong to column（11）Internal.
3. overhead contact line state-detection monitoring system pillar laser locating apparatus according to claim 2, its feature exists
In：Described temperature device includes being arranged on described metal column（11）Tubular electric heating on inwall（6）Be used for carrying out gold
Belong to column（11）The temperature probe of interior temperature sensing（10）, described pillar positioning control device（7）Respectively with tubular electric heating
（6）And temperature probe（10）It is connected.
4. the overhead contact line state-detection monitoring system pillar laser locating apparatus according to Claims 2 or 3, its feature
It is：Described pillar positioning control device（7）Also with laser range finder（3）Power supply and communication interface be connected.
5. the overhead contact line state-detection monitoring system pillar laser locating apparatus according to Claims 2 or 3, its feature
It is：Described laser range finder（3）, saturating laser glass（4）, metal column（11）By mounting bracket（2）Install and fix.
6. using the overhead contact line state-detection monitoring system pillar laser locating apparatus as described in any one of claim 1-5
Carry out catenary mast localization method it is characterised in that：Using pillar positioning control device（7）, rain and snow enter system and temperature
Degree equipment carries out catenary mast positioning.
7. catenary mast localization method according to claim 6 it is characterised in that：Described localization method includes temperature control
Method processed, and temperature-controlled process includes step in detail below：
1）By the temperature probe in temperature device（10）Metal column in detection rain and snow entrance system（11）Internal temperature,
And giving pillar positioning control device on real-time for temperature data（7）；
2）Pillar positioning control device（7）Real-time reception temperature probe（10）The temperature data uploading, and be analyzed；
3）When metal column is detected（11）When interior temperature is less than 10 DEG C, the tubular electric heating in start-up temperature equipment（6）Enter
Row heating；
4）Through step 3）Afterwards, if metal column is detected（11）When interior temperature is higher than 20 DEG C, close tubular electric heating（6）, continue
Continuous execution step 1）.
8. catenary mast localization method according to claim 6 it is characterised in that：Described localization method also includes detecting
Car speed computational methods, and detect that car speed computational methods include step in detail below：
A, detection car wheel often turn over a circle, and rain and snow enters the laser range finder of system（3）Interior velocity sensor reports 200
Individual velocity pulse；
B, pillar positioning control device（7）The velocity pulse number that real time record velocity sensor reports；
C, every 200ms calculate detection car speed according to the velocity pulse number reporting and detection car wheel diameter.
9. catenary mast localization method according to claim 6 it is characterised in that：Described localization method also includes rising
Computational methods, and rise computational methods and include step in detail below：
（1）Under circumstance of initialization, detection car is on main track, now rises as 0, pillar positioning control device（7）Constantly receive and swash
Optar（3）The altitude information of scanning, judges detection car whether access tunnel according to height difference；
（2）After detecting that car sails tunnel into, by laser range finder（3）The altitude information of scanning, calculates tunnel and rises, update top
High data；
（3）After detecting that car rolls tunnel away from, by laser range finder（3）The altitude information of scanning, recalculates and rises.
10. catenary mast localization method according to claim 6 it is characterised in that：Described localization method also includes propping up
Hold device detection method, and support that device detection method includes step in detail below：
A. pillar positioning control device（7）Test point number thresholding is constantly updated according to detection car speed；
B. pillar positioning control device（7）According to rising continuous adjustment detection window, and according to the detection window of continuous adjustment Lai
Positioning supports device, eliminates the impact supporting device change；
C. test point number thresholding and detection window positioning is used to support device.
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| CN201610722878.5A CN106403899B (en) | 2016-08-25 | 2016-08-25 | Strut laser positioning device and method for contact net suspension state detection and monitoring system |
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|---|---|---|---|
| CN201610722878.5A CN106403899B (en) | 2016-08-25 | 2016-08-25 | Strut laser positioning device and method for contact net suspension state detection and monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109257568A (en) * | 2018-10-15 | 2019-01-22 | 北京航天控制仪器研究所 | A kind of online cruising inspection system circuit control device of contact net geometric parameter |
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