CN107401979B - Vehicle body vibration displacement compensation device and method for catenary detection - Google Patents
Vehicle body vibration displacement compensation device and method for catenary detection Download PDFInfo
- Publication number
- CN107401979B CN107401979B CN201710645089.0A CN201710645089A CN107401979B CN 107401979 B CN107401979 B CN 107401979B CN 201710645089 A CN201710645089 A CN 201710645089A CN 107401979 B CN107401979 B CN 107401979B
- Authority
- CN
- China
- Prior art keywords
- displacement
- vehicle body
- line
- laser
- relative
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Abstract
The utility model provides a car body vibration displacement compensation arrangement and method for contact net detects, the device uses the detection car as carrying platform, specifically includes: the laser measuring unit is arranged at the bottom of the detection vehicle and used for acquiring two-dimensional displacement data of the left and right steel rails of the detection vehicle; the position determining module, the compensation parameter determining module and the geometric parameter determining module are respectively arranged in the detection vehicle, and the position determining module is used for calculating and obtaining the vertical displacement and the transverse displacement of the left steel rail and the right steel rail relative to the laser measuring unit according to the two-dimensional displacement data; the compensation parameter determination module is used for calculating and obtaining body vibration displacement compensation parameters of the detection vehicle relative to the left and right steel rails according to the vertical displacement and the transverse displacement; the geometric parameter determination module is used for obtaining a geometric parameter measured value of the overhead contact system, and calculating to obtain a geometric parameter measured value of the overhead contact system of the detection vehicle relative to the rail plane according to the geometric parameter measured value of the overhead contact system and the vibration displacement compensation parameter measured value of the vehicle body.
Description
Technical Field
The invention relates to the field of vehicle detection, in particular to a vehicle body vibration displacement compensation device and method for catenary detection.
Background
With the continuous enlargement and the gradual improvement of the scale of the railway transportation network and the urban rail transportation network, the maintenance tasks of the contact network of the related operation and maintenance departments of railway and urban rail transportation are increasingly heavy. In order to effectively improve the railway transportation capacity and the transportation efficiency, the railway operation maintenance department must effectively improve the quality and the efficiency of maintenance operation while controlling the maintenance time, so that the railway operation maintenance department is required to adopt a more advanced detection technology and a more scientific analysis method, improve the efficiency of daily maintenance from the aspects of detection technology, detection precision and the like, and meet the requirements of the daily maintenance work of the existing line and the construction acceptance and takeover work of a newly-built line.
The contact net is an important device of a traction power supply system of the electrified railway and the rail transit. The electric locomotive is in sliding contact with the contact line through the pantograph and obtains electric energy. In order to ensure the safe operation of the electrified railway and the rail transit, the good contact and reliable flow taking of the pantograph-catenary, the contact network is required to be regularly detected in addition to meeting certain standard requirements in the aspects of contact network design, construction and operation, so that hidden dangers can be timely found and eliminated. The geometric parameters of the overhead line system, such as the pull-out value and the lead height, are important items for detecting the overhead line system, and the overhead line system needs to be detected regularly to confirm the technical state of the overhead line system.
The method for automatically detecting the geometric parameter of the contact network by adopting the special vehicle provided with the contact network geometric parameter detection system has incomparable advantages of high measurement precision and efficiency, good safety, no occupation of a maintenance skylight, capability of measuring at a constant speed to detect the technical state of the contact network in the real running state of the train and the like, and represents the development direction of the contact network detection technology. The contact net geometric parameter detection system measures geometric parameters such as a pull-out value, a lead height and mutual positions of double contact lines of a contact net, can be applied to joint debugging joint test of a newly-built contact net project, can also be applied to periodic dynamic detection of an operating contact net facility, and is an important component of the contact net detection system. The geometric parameters such as the pull-out value and the lead height are taken as the measurement reference, and the vehicle-mounted detection system needs to perform vehicle vibration displacement compensation measurement, namely, the space attitude of the vehicle relative to the rail top plane in the dynamic operation process is measured, so that the geometric parameter measurement result in the vehicle coordinate system is restored to the measurement result in the rail coordinate system.
Research on vehicle vibration displacement compensation technology is carried out by related scientific research institutions and companies at home and abroad, vehicle body vibration displacement measurement technologies such as a string pulling displacement sensor and a laser ranging sensor are developed, and a corresponding vehicle vibration displacement compensation mathematical model is established. However, in terms of practical application, the existing vehicle vibration displacement measurement technology still has the defects that the measurement result of the vehicle-mounted detection equipment has certain deviation from the field measurement result, the mechanical reliability of the string pulling displacement sensor is not high, and a mechanical device mounted on an axle box has certain potential safety hazard.
Disclosure of Invention
The invention aims to provide a vehicle body vibration displacement compensation device for overhead contact system detection, which can accurately measure the space attitude of a vehicle relative to a rail plane in real time in a dynamic operation environment, realize the reduction of a geometric parameter measurement result in a vehicle coordinate system to a measurement result in a rail coordinate system, improve the measurement precision of the geometric parameters of an overhead contact system, and meet the requirements of overhead contact system construction quality inspection and overhead contact system operation state technical diagnosis.
In order to achieve the above object, the present invention provides a vehicle body vibration displacement compensation device for catenary detection, which uses a detection vehicle as a carrying platform, and specifically comprises: the device comprises a laser measuring unit, a position determining module, a compensation parameter determining module and a geometric parameter determining module; the laser measuring unit is arranged at the bottom of the detection vehicle and used for acquiring two-dimensional displacement data of the left and right steel rails of the detection vehicle; the position determining module, the compensation parameter determining module and the geometric parameter determining module are arranged in a detection vehicle, wherein the position determining module is used for calculating and obtaining the vertical displacement and the transverse displacement of the left steel rail and the right steel rail relative to the laser measuring unit according to the two-dimensional displacement data; the compensation parameter determination module is used for calculating and obtaining body vibration displacement compensation parameters of the detection vehicle relative to the left and right steel rails according to the vertical displacement and the transverse displacement; the geometric parameter determination module is used for obtaining a geometric parameter measured value of the overhead line system, and calculating to obtain a geometric parameter measured value of the overhead line system of the detection vehicle relative to the rail plane according to the geometric parameter measured value of the overhead line system and the vibration displacement compensation parameter measured value of the vehicle body.
In the above vehicle body vibration displacement compensation device for catenary detection, preferably, the laser measurement unit includes at least two laser measurement modules, and the laser measurement module includes a line laser and a two-dimensional imaging element.
In the above vehicle body vibration displacement compensation device for catenary detection, preferably, the laser measurement module is located above the inner sides of the left and right steel rails and forms a predetermined included angle with the vertical direction.
In the above vehicle body vibration displacement compensation device for catenary detection, preferably, the line laser of the laser measurement module and the two-dimensional imaging element are arranged in front and at back along the longitudinal center line of the line, and the line laser generated by the line laser of the laser measurement module is located on the same plane perpendicular to the longitudinal center line of the line.
In the above vehicle body vibration displacement compensation device for catenary detection, preferably, the laser measurement unit further includes a light shield, and the light shield is disposed above the steel rail and fixed to the bottom of the vehicle body, and is used for reducing or preventing interference of sunlight irradiating the steel rail on laser measurement.
In the above vehicle body vibration displacement compensation device for catenary detection, preferably, the laser measurement unit and the light shield are located on the same section perpendicular to the longitudinal center line of the line, and are fixed to the detection vehicle bottom or fixed to a horizontally arranged detection beam perpendicular to the longitudinal center line of the line.
In the above vehicle body vibration displacement compensation device for catenary detection, preferably, the position determination module includes a rotation conversion unit and a feature identification unit; the rotation conversion unit is used for rotationally converting the two-dimensional displacement data into two-dimensional displacement data relative to a vehicle bottom mounting plane according to the mounting inclination angle of the laser measurement module relative to the vertical direction; the characteristic identification unit determines the position of the top surface of the steel rail, the position of the gauge point and the position of the top point of the steel rail in sequence according to the profile characteristics of the steel rail, and obtains the vertical displacement and the transverse displacement of the steel rail relative to the laser measurement module according to the position of the top surface of the steel rail, the position of the gauge point and the position of the top point of the steel rail.
The invention also provides a vehicle body vibration displacement compensation method for catenary detection, which specifically comprises the following steps: acquiring two-dimensional displacement data of a left steel rail and a right steel rail of a detection vehicle; calculating and obtaining the vertical displacement and the transverse displacement of the left steel rail and the right steel rail relative to the laser measuring unit according to the two-dimensional displacement data; calculating to obtain a vehicle body vibration displacement compensation parameter of the detection vehicle relative to the left and right steel rails according to the vertical displacement and the transverse displacement; and calculating to obtain the contact net geometric parameter measured value of the detection vehicle relative to the rail plane according to the contact net geometric parameter measured value and the vehicle body vibration displacement compensation parameter measured value.
In the above method for compensating vehicle body vibration displacement for catenary detection, preferably, the vehicle body vibration displacement compensation parameters include a vehicle body side inclination angle, and lateral displacement and vertical displacement of the vehicle body relative to a rail plane.
In the above method for compensating for vehicle body vibration displacement for catenary detection, preferably, the vehicle body side inclination angle and the vertical displacement of the vehicle body relative to the rail plane further include: and obtaining the body side inclination angle of the vehicle body and the vertical displacement of the vehicle body relative to the plane of the rail according to the vertical displacement of the laser measuring unit relative to the left and right steel rails respectively.
In the above method for compensating for vehicle body vibration displacement used for catenary detection, preferably, the lateral displacement of the vehicle body with respect to the rail plane further includes: and obtaining the transverse displacement of the vehicle body relative to the rail plane according to the transverse displacement of the laser measuring unit relative to the left and right steel rails respectively.
The measuring device is not limited by the running speed of the vehicle, not only can be used for carrying out low-speed static detection on the newly-built line contact network, but also can be used for carrying out constant-speed measurement on the operation line contact network including a high-speed railway, wherein the constant-speed measurement is consistent with the line operation speed so as to test the technical state of the contact network in the real running state of the train, the detection result is accurate, the detection efficiency is high, the time for maintaining a skylight is not occupied, a reliable vehicle body vibration displacement compensation means is provided for measuring the geometric parameters of the contact network, and the working efficiency of checking and maintaining power supply equipment is.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
fig. 1 is a block diagram of a vehicle body vibration displacement compensation device for catenary detection according to the present invention;
FIG. 2 is a schematic diagram of an apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle body vibration displacement compensation apparatus in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a laser measurement unit in an embodiment of the invention;
fig. 5 is a schematic flow chart of a vehicle body vibration displacement compensation method for catenary detection in an embodiment of the present invention;
FIG. 6 is a schematic flow chart of the vehicle body vibration displacement compensation detection software according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a vehicle body vibration displacement compensation detection software module in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is described in further detail below with reference to the embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The invention provides a vehicle body vibration displacement compensation device for catenary detection, which takes a detection vehicle as a carrying platform as shown in figure 1; the device includes: the device comprises a laser measuring unit 1, a position determining module 2, a compensation parameter determining module 3 and a geometric parameter determining module 4; the laser measuring unit 1 is arranged at the bottom of the detection vehicle; the position determining module 2, the compensation parameter determining module 3 and the geometric parameter determining module 4 are arranged in the detection vehicle;
as shown in fig. 2, the laser measuring unit 1 is configured to: the system comprises at least two laser measurement modules 11 and 12 which are respectively fixed at the left side and the right side of the bottom of a vehicle and respectively acquire two-dimensional displacement data of a left steel rail 8 and a right steel rail 9;
the position determination module 2 is configured to: respectively carrying out data analysis on the two-dimensional displacement data of the left and right steel rails 8 and 9 to extract the vertical displacement and the transverse displacement of the steel rails relative to the laser sensors 11 and 12;
the compensation parameter determination module 3 is configured to: determining vehicle body vibration displacement compensation parameters of the vehicle relative to the plane of the two rails according to the vertical and transverse displacements of the two laser measurement units 11 and 12 relative to the left and right rails 8 and 9 respectively;
the geometric parameter determination module 4 is configured to: and synthesizing and calculating the contact net geometric parameter measured value obtained by the roof sensor and the vehicle body vibration displacement compensation parameter measured value to obtain the contact net geometric parameter measured value relative to the rail plane.
As shown in fig. 2, the laser measuring unit 1 includes two laser measuring modules 11 and 12, the left laser measuring module 11 is composed of a line laser 111 and a two-dimensional imaging element 112, and the right laser measuring module 12 is composed of a line laser 121 and a two-dimensional imaging element 122.
The left and right laser measuring modules 11 and 12 are located above the inner sides of the left and right steel rails 8 and 9 and form a certain included angle theta with the vertical direction, and the included angle theta between the laser measuring modules and the vertical direction is usually set to be 45 degrees or 30 degrees.
As shown in fig. 2, the line lasers 111 and 121 of the laser measurement modules 11 and 12 and the two- dimensional imaging elements 112 and 122 are arranged in front of and behind the longitudinal center line of the line, and the line lasers generated by the line lasers 111 and 121 of the two laser measurement modules 11 and 12 are located on the same plane perpendicular to the longitudinal center line of the line, so that the spatial attitude parameters of the vehicle body relative to the rail plane can be measured in the same spatial cross section.
In order to effectively reduce or prevent the interference of sunlight on the steel rail to laser measurement, each laser measurement module 11 and 12 respectively adopts a light shield 6 and 7, the light shields are fixed at the bottom of the vehicle body and positioned above the left and right steel rails 8 and 9, and reliable optical measurement under various environmental conditions is effectively ensured.
Further, as shown in fig. 2, the two laser measurement modules 11 and 12 and the two light shields 6 and 7 are located on the same cross section perpendicular to the longitudinal centerline of the line, and may be respectively fixed to the bottom of the vehicle body or uniformly fixed to one horizontally disposed detection beam 5 perpendicular to the longitudinal centerline of the line. In this embodiment, the detection beam 5 is used as an installation reference for the two laser measurement modules 11 and 12 and the two light shields 6 and 7, so that the measurement requirement that the line lasers generated by the line lasers 111 and 121 are located on the same plane perpendicular to the longitudinal center line of the line is easily met. The optical beam 5 is mechanically connected with the train bottom through a mechanical assembly and a fastener at the top, and can be suitable for various vehicles such as a motor train unit, a single-section contact net detection vehicle and a contact net operation vehicle.
A detailed block diagram of the vehicle body vibration displacement compensation device for catenary detection according to the embodiment is shown in fig. 3. First, two laser measurement modules 11 and 12 respectively acquire two-dimensional displacement data of the left and right rails 8 and 9, and the principle thereof is shown in fig. 4. Taking the right laser measurement module 12 to obtain the two-dimensional displacement data of the steel rail 9 as an example, the line laser 121 of the right laser measurement module 12 projects a line-structured light beam perpendicular to the longitudinal centerline of the line onto the upper surface and the inner side surface of the right steel rail 9, the line-structured light beam is a narrow laser plane, and when the line-structured light beam intersects with the surface of the right steel rail 9, a bright light bar is generated on the surface of the right steel rail 9, and the light bar is modulated by the surface shape of the measured object, i.e., the right steel rail 9, so that a three-dimensional image of the light bar of the right steel rail 9 is. The three-dimensional image is detected by a two-dimensional imaging element 122 arranged back and forth along the longitudinal centerline direction of the line with the line laser 121 and at a distance from the line laser 121, thereby obtaining a two-dimensional distorted image of the light bar. The distortion map of the light bar depends on the relative position between the line laser 121 and the two-dimensional imaging component 122 and the profile of the right rail 9 surface. When the relative position between the line laser 121 and the two-dimensional imaging component 122 is fixed and the line laser 121 projects perpendicularly to the surface of the right-side steel rail 9, two-dimensional displacement data of the right-side steel rail 9 relative to the line laser 121 can be obtained from the two-dimensional light bar image through optical calibration.
As shown in fig. 3, two laser measurement modules 11 and 12 respectively acquire two-dimensional displacement data of the left and right rails 8 and 9, the two-dimensional displacement data are acquired by a data acquisition card 21 of the position determination module 2 and transmitted to a rotation conversion unit 22, and the rotation conversion unit 22 rotates and converts the two-dimensional displacement data of the left and right rails 8 and 9 into two-dimensional displacement data relative to a vehicle bottom mounting plane according to a mounting inclination angle θ of the laser measurement modules 11 and 12 relative to a vertical direction. The feature recognition unit 23 analyzes the rotated two-dimensional displacement data, sequentially determines the position of the top surface of the rail, the position of the gauge point and the position of the top point of the rail according to the profile features of the rail, and extracts the vertical displacement and the transverse displacement of the left and right rails 8 and 9 relative to the laser measurement modules 11 and 12.
The compensation parameter determining module 3 determines vehicle body vibration displacement compensation parameters of the vehicle relative to the two rail planes according to the vertical displacement and the transverse displacement output by the position determining module 2, wherein the vehicle body vibration displacement compensation parameters comprise a vehicle body side inclination angle, and a vehicle body transverse displacement and a vertical displacement relative to the rail planes. The side inclination angle and the vertical displacement of the vehicle body relative to the rail plane are obtained according to the vertical displacement of the two laser measurement modules relative to the left and right steel rails respectively; and obtaining the transverse displacement of the vehicle body relative to the rail plane according to the transverse displacement of the two laser measurement modules relative to the left and right steel rails respectively.
The geometric parameter determining module 4 performs synthesis calculation according to the vehicle vibration displacement compensation data output by the compensation parameter determining module 3 and the contact network geometric parameter measured value obtained by the roof sensor 10, and obtains the contact network geometric parameter measured value relative to the rail plane.
The invention also provides a vehicle body vibration displacement compensation method for catenary detection, which specifically comprises the following steps: acquiring two-dimensional displacement data of a left steel rail and a right steel rail of a detection vehicle; calculating and obtaining the vertical displacement and the transverse displacement of the left steel rail and the right steel rail relative to the laser measuring unit according to the two-dimensional displacement data; calculating to obtain a vehicle body vibration displacement compensation parameter of the detection vehicle relative to the left and right steel rails according to the vertical displacement and the transverse displacement; and calculating to obtain the contact net geometric parameter measured value of the detection vehicle relative to the rail plane according to the contact net geometric parameter measured value and the vehicle body vibration displacement compensation parameter measured value. The vehicle body vibration displacement compensation parameters comprise a vehicle body side inclination angle, lateral displacement and vertical displacement of the vehicle body relative to a rail plane, and the side inclination angle and the vertical displacement of the vehicle body relative to the rail plane are obtained according to the vertical displacement of the laser measurement unit relative to the left steel rail and the right steel rail respectively; and obtaining the transverse displacement of the vehicle body relative to the rail plane according to the transverse displacement of the laser measuring unit relative to the left and right steel rails respectively.
The specific implementation flow of the above embodiment is shown in fig. 5:
(1) two-dimensional displacement data of a left steel rail and a right steel rail are respectively acquired by two laser sensors fixed at the bottom of a vehicle;
(2) respectively carrying out data analysis on the two-dimensional displacement data of the left and right steel rails to extract the vertical displacement of the top point of the steel rail relative to the laser sensor and the transverse displacement of the gauge point of the steel rail relative to the laser sensor;
(3) determining vehicle body vibration displacement compensation parameters of the vehicle relative to the plane of the two rails according to the vertical and transverse displacements of the two laser sensors relative to the left and right rails respectively;
(4) and synthesizing and calculating the contact net geometric parameter measured value obtained by the roof sensor and the vehicle body vibration displacement compensation parameter measured value to obtain the contact net geometric parameter measured value relative to the rail plane.
The flow of detecting the vehicle body vibration displacement compensation parameters of the present embodiment is shown in fig. 6, and fig. 7 is a schematic diagram of a software module for detecting the vehicle body vibration displacement compensation parameters of the present embodiment.
In fig. 6, data in the vehicle body vibration displacement compensation device is initialized, then the left laser measurement module, the right laser measurement module and the speed mileage data are collected, the position of the steel rail is determined according to the three groups of data, the compensation parameter and the geometric parameter are further determined according to the position of the steel rail, the data effectiveness in the current compensation work is judged, if the data effectiveness is achieved, the data collection is stopped, and the vehicle body vibration displacement compensation is carried out through the compensation parameter and the geometric parameter.
In fig. 7, a detection element is used to control a data acquisition module, a data real-time processing module and a user interaction module to cooperate to perform vehicle body vibration displacement compensation, wherein the data acquisition module mainly controls the acquisition of left and right laser measurement modules and speed mileage data, then transmits the acquired data to the data real-time processing module, the data real-time processing module performs rail position analysis, compensation parameter analysis and geometric parameter analysis, and finally, the user interaction module, such as a display screen, is used to display and output vehicle body vibration displacement compensation data obtained by analysis for a user to perform device monitoring or operation.
The vehicle body vibration displacement compensation device for the contact network detection of the embodiment utilizes the laser measurement technology to perform optical non-contact spatial displacement measurement. Compared with the traditional measuring mode of the pull string type displacement sensor, which is based on the premise that the wheel rails are in close contact, the displacement of the vehicle body relative to the steel rails is indirectly reflected by measuring the displacement of the vehicle body relative to the axle boxes. The measuring device does not comprise an under-vehicle mechanical movable part, so that the failure risks of breakage and the like caused by repeated stretching of the pull string of the traditional pull string type displacement sensor are avoided, the suspension point for mounting the pull string type displacement sensor by modifying the axle box structure of the vehicle is avoided, and the driving safety risk is reduced. The measuring device provided by the invention directly obtains continuous two-dimensional displacement data of the partial outline of the steel rail, and can accurately extract the vertical displacement and the transverse displacement of the steel rail relative to the laser sensor through analysis, thereby overcoming the defects that the traditional point type laser distance measuring sensor cannot accurately position the characteristic point of the steel rail and obtain accurate displacement information.
The measuring device of this embodiment does not receive vehicle operating speed's restriction, both can carry out low-speed static detection to newly-built circuit contact net, also can carry out the constant velocity measurement unanimous with circuit operating speed to the operation line contact net including high-speed railway in order to inspect the contact net technical state under the real operating condition of train, and the testing result is accurate, and detection efficiency is high, does not occupy the maintenance skylight time, provides a reliable automobile body vibration displacement compensation means for contact net geometric parameters measures, has promoted the work efficiency of power supply unit inspection and maintenance.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a automobile body vibration displacement compensation arrangement for contact net detects, the device is with detecting the car as carrying on the platform, its characterized in that, the device contains: the device comprises a laser measuring unit, a position determining module, a compensation parameter determining module and a geometric parameter determining module;
the laser measuring unit is arranged at the bottom of the detection vehicle and used for acquiring two-dimensional displacement data of the left and right steel rails of the detection vehicle;
the position determining module, the compensation parameter determining module and the geometric parameter determining module are respectively arranged in the detection vehicle;
the position determining module is used for calculating and obtaining the vertical displacement and the transverse displacement of the left steel rail and the right steel rail relative to the laser measuring unit according to the two-dimensional displacement data;
the compensation parameter determination module is used for calculating and obtaining body vibration displacement compensation parameters of the detection vehicle relative to the left and right steel rails according to the vertical displacement and the transverse displacement;
the geometric parameter determination module is used for obtaining a geometric parameter measurement value of the overhead line system, and calculating to obtain a geometric parameter measurement value of the overhead line system of the detection vehicle relative to a rail plane according to the geometric parameter measurement value of the overhead line system and a vibration displacement compensation parameter measurement value of the vehicle body;
the laser measuring unit comprises at least two laser measuring modules, and each laser measuring module comprises a line laser and a two-dimensional imaging element;
the position determining module comprises a rotation transformation unit and a feature identification unit;
the rotation conversion unit is used for rotationally converting the two-dimensional displacement data into two-dimensional displacement data relative to a vehicle bottom mounting plane according to the mounting inclination angle of the laser measurement module relative to the vertical direction;
the characteristic identification unit determines the position of the top surface of the steel rail, the position of a gauge point and the position of a rail top point in sequence according to the profile characteristics of the steel rail, and obtains the vertical displacement and the transverse displacement of the steel rail relative to the laser measurement module according to the position of the top surface of the steel rail, the position of the gauge point and the position of the rail top point;
the laser measuring modules are arranged on two sides of the vehicle body, wherein a line laser of the right laser measuring module projects a beam of line structure light perpendicular to the longitudinal center line of the line to the upper surface and the inner side surface of the right steel rail, and the line structure light and the surface of the right steel rail generate a bright light bar to form a three-dimensional light bar image of the right steel rail;
the three-dimensional image is detected by a two-dimensional imaging element which is arranged in the longitudinal central line direction of the line, is arranged in front of and behind the line laser and is at a certain distance from the line laser, and a two-dimensional distortion image of the light bar is obtained;
two-dimensional displacement data of the right steel rail relative line laser can be obtained through the two-dimensional distortion image through optical calibration.
2. The vehicle body vibration displacement compensation device for catenary detection according to claim 1, wherein the laser measurement module is positioned above the inner sides of the left and right rails and forms a predetermined included angle with the vertical direction.
3. The vehicle body vibration displacement compensation device for overhead line system detection according to claim 1, wherein the line laser of the laser measurement module and the two-dimensional imaging element are arranged in front and behind along a longitudinal center line of the line, and the line laser generated by the line laser of the laser measurement module is located on the same plane perpendicular to the longitudinal center line of the line.
4. The vehicle body vibration displacement compensation device for overhead line system detection of claim 1, wherein the laser measurement unit further comprises a light shield, and the light shield is arranged above the steel rail and fixed at the bottom of the vehicle body.
5. The vehicle body vibration displacement compensation device for catenary detection according to claim 4, wherein the laser measurement unit and the light shield are positioned on the same section perpendicular to the longitudinal centerline of the line, and are fixed to the bottom of the detection vehicle or a horizontally arranged detection beam perpendicular to the longitudinal centerline of the line.
6. A vehicle body vibration displacement compensation method for catenary detection is characterized by comprising the following steps:
acquiring two-dimensional displacement data of a left steel rail and a right steel rail of a detection vehicle;
calculating and obtaining the vertical displacement and the transverse displacement of the left steel rail and the right steel rail relative to the laser measuring unit according to the two-dimensional displacement data;
calculating to obtain a vehicle body vibration displacement compensation parameter of the detection vehicle relative to the left and right steel rails according to the vertical displacement and the transverse displacement;
the method comprises the steps of obtaining a contact network geometric parameter measured value, and calculating to obtain a contact network geometric parameter measured value of a detection vehicle relative to a rail plane according to the contact network geometric parameter measured value and a vehicle body vibration displacement compensation parameter measured value;
the two-dimensional displacement data are rotationally converted into two-dimensional displacement data relative to a vehicle bottom mounting plane according to the mounting inclination angle of the laser measuring unit relative to the vertical direction;
determining the position of the top surface of a steel rail, the position of a gauge point and the position of a rail top point in sequence according to the profile characteristics of the steel rail, and obtaining the vertical displacement and the transverse displacement of the steel rail relative to the laser measuring module according to the position of the top surface of the steel rail, the position of the gauge point and the position of the rail top point;
the laser measuring modules are arranged on two sides of the vehicle body, wherein a line laser of the right laser measuring module projects a beam of line structure light perpendicular to the longitudinal center line of the line to the upper surface and the inner side surface of the right steel rail, and the line structure light and the surface of the right steel rail generate a bright light bar to form a three-dimensional light bar image of the right steel rail;
the three-dimensional image is detected by a two-dimensional imaging element which is arranged in the longitudinal central line direction of the line, is arranged in front of and behind the line laser and is at a certain distance from the line laser, and a two-dimensional distortion image of the light bar is obtained;
two-dimensional displacement data of the right steel rail relative line laser can be obtained through the two-dimensional distortion image through optical calibration.
7. The vehicle body vibration displacement compensation method for overhead line system detection according to claim 6, wherein the vehicle body vibration displacement compensation parameters comprise a vehicle body side inclination angle, a vehicle body lateral displacement and a vehicle body vertical displacement relative to a rail plane.
8. The method for compensating for vibration and displacement of the catenary vehicle body according to claim 7, wherein the roll angle and the vertical displacement of the catenary vehicle body relative to the rail plane further comprise: and obtaining the body side inclination angle of the vehicle body and the vertical displacement of the vehicle body relative to the plane of the rail according to the vertical displacement of the laser measuring unit relative to the left and right steel rails respectively.
9. The vehicle body vibration displacement compensation method for catenary detection according to claim 7, wherein the lateral displacement of the vehicle body relative to the rail plane further comprises: and obtaining the transverse displacement of the vehicle body relative to the rail plane according to the transverse displacement of the laser measuring unit relative to the left and right steel rails respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645089.0A CN107401979B (en) | 2017-08-01 | 2017-08-01 | Vehicle body vibration displacement compensation device and method for catenary detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645089.0A CN107401979B (en) | 2017-08-01 | 2017-08-01 | Vehicle body vibration displacement compensation device and method for catenary detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107401979A CN107401979A (en) | 2017-11-28 |
| CN107401979B true CN107401979B (en) | 2020-06-05 |
Family
ID=60402639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710645089.0A Active CN107401979B (en) | 2017-08-01 | 2017-08-01 | Vehicle body vibration displacement compensation device and method for catenary detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107401979B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827204A (en) * | 2018-08-09 | 2018-11-16 | 东莞市诺丽电子科技有限公司 | A kind of contact net geometric parameter method for compensating vibration |
| CN109238149B (en) * | 2018-09-25 | 2019-12-13 | 北京华开领航科技有限责任公司 | Vehicle body attitude detection device and contact line dynamic offset detection system |
| CN109341573A (en) * | 2018-09-30 | 2019-02-15 | 中国铁建重工集团有限公司 | A kind of tunnel-liner profile Clearance Detection |
| CN112843633A (en) * | 2021-01-09 | 2021-05-28 | 吉首大学 | Body training balance ball and control method thereof |
| CN113009456B (en) * | 2021-02-22 | 2023-12-05 | 中国铁道科学研究院集团有限公司 | Vehicle-mounted laser radar data calibration method, device and system |
| CN114088434A (en) * | 2021-11-18 | 2022-02-25 | 南京铁道职业技术学院 | System and method for detecting wheel axle vibration of urban rail vehicle based on laser ranging |
| CN115236682A (en) * | 2022-07-09 | 2022-10-25 | 江苏新绿能科技有限公司 | Improved contact net vehicle-mounted limit measurement method based on machine vision |
| CN116147489B (en) * | 2023-04-04 | 2023-07-04 | 成都弓网科技有限责任公司 | Detachable self-compensating line intrusion detection method and device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08327336A (en) * | 1995-06-02 | 1996-12-13 | Technol Res Assoc Of Medical & Welfare Apparatus | Three dimensional shape-measuring apparatus |
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| CN104296682A (en) * | 2014-10-28 | 2015-01-21 | 电子科技大学 | Contour registration method used in train guide rail contour measurement based on machine vision |
| CN106080661A (en) * | 2016-05-27 | 2016-11-09 | 电子科技大学 | Train guide rail profile undulatory wear measuring method |
| JP6027480B2 (en) * | 2013-03-29 | 2016-11-16 | 株式会社日立ハイテクノロジーズ | Trajectory inspection method and apparatus |
| CN106643545A (en) * | 2016-10-09 | 2017-05-10 | 湖南大学 | Calibration method for steel rail profile measured by adopting laser displacement technology |
| CN107187464A (en) * | 2017-05-18 | 2017-09-22 | 武汉汉宁轨道交通技术有限公司 | Track plates detection car, system and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006137294A (en) * | 2004-11-12 | 2006-06-01 | Hitachi Ltd | Vibration control device for railway vehicle |
| CN102175219B (en) * | 2011-01-31 | 2013-01-23 | 中国铁道科学研究院基础设施检测研究所 | High-speed contact network locator gradient detection method and apparatus thereof based on video analysis |
| CN106114553B (en) * | 2016-06-28 | 2018-01-30 | 中国人民解放军国防科学技术大学 | The photoelectricity dynamic measurement method that a kind of railway detection car platform rocks |
-
2017
- 2017-08-01 CN CN201710645089.0A patent/CN107401979B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08327336A (en) * | 1995-06-02 | 1996-12-13 | Technol Res Assoc Of Medical & Welfare Apparatus | Three dimensional shape-measuring apparatus |
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| JP6027480B2 (en) * | 2013-03-29 | 2016-11-16 | 株式会社日立ハイテクノロジーズ | Trajectory inspection method and apparatus |
| CN104296682A (en) * | 2014-10-28 | 2015-01-21 | 电子科技大学 | Contour registration method used in train guide rail contour measurement based on machine vision |
| CN106080661A (en) * | 2016-05-27 | 2016-11-09 | 电子科技大学 | Train guide rail profile undulatory wear measuring method |
| CN106643545A (en) * | 2016-10-09 | 2017-05-10 | 湖南大学 | Calibration method for steel rail profile measured by adopting laser displacement technology |
| CN107187464A (en) * | 2017-05-18 | 2017-09-22 | 武汉汉宁轨道交通技术有限公司 | Track plates detection car, system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107401979A (en) | 2017-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107401979B (en) | Vehicle body vibration displacement compensation device and method for catenary detection | |
| CN101666716B (en) | Railway locomotive running attitude measuring method | |
| CN107678036B (en) | Vehicle-mounted non-contact type contact net geometric parameter dynamic detection system and method | |
| CN103552579B (en) | Comprehensive detection train for freight heavy haul railway | |
| CN201622065U (en) | Automatic dynamic overall dimension measuring device for vehicles | |
| CN102607439A (en) | System and method for carrying out on-line monitoring on railway wheel-rail contact relationship on basis of structured light | |
| CN110615017A (en) | Rail transit automatic detection system and method | |
| CN206781779U (en) | Laser scanning rail gauge measuring apparatus under a kind of track checking car | |
| CN102914290A (en) | Metro gauge detecting system and detecting method thereof | |
| CN210719028U (en) | Contact net geometric parameters detection device based on three-dimensional point cloud | |
| CN110806193A (en) | Subway tunnel deformation detection system | |
| CN204286406U (en) | Use the portable railway Geometrical Parameter Testing system of MEMS gyro instrument | |
| CN202853580U (en) | Apparatus for dynamic measurement of vehicle outer contour dimension and weight | |
| CN109334708B (en) | Wheel polygon test analysis method and system | |
| CN104567783A (en) | System and method for detecting geometric quantity of portable track through MEMS gyroscope | |
| CN106091951A (en) | A kind of municipal rail train wheel rim parameter on-line detecting system and method | |
| CN103207097A (en) | Dynamic detection method of track stiffness | |
| Liu et al. | A real-time posture monitoring method for rail vehicle bodies based on machine vision | |
| CN203651812U (en) | Freight heavy railway comprehensive detection train | |
| CN104005324B (en) | A kind of detection system of pavement structure information | |
| CN109334706A (en) | Satellite positioning and the integrated track detection car of inertial navigation | |
| CN204944427U (en) | A kind of contact net geometric parameter detection of dynamic dolly | |
| CN205426068U (en) | Online dynamic monitoring system of track transportation vehicles wheel pair | |
| CN206787495U (en) | Multi-angle two dimensional laser scanning gage measurement instrument under track checking car | |
| CN110926417A (en) | Vehicle-mounted railway tunnel detection system based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 2, Da Liu Shu Road, Haidian District, Beijing Applicant after: China Railway Scientific Research Institute Group Co., Ltd. Applicant after: Institute of infrastructure inspection, China Railway Research Institute Group Co., Ltd. Applicant after: Beijing IMAP Technology Co., Ltd. Address before: No. 2, Da Liu Shu Road, Haidian District, Beijing Applicant before: China Academy of Railway Sciences Applicant before: Infrastructure Testing Institute of China Academy of Railway Sciences Applicant before: Beijing IMAP Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |