CN107783147B - Contact net detection vehicle based on laser radar and laser radar leveling method - Google Patents
Contact net detection vehicle based on laser radar and laser radar leveling method Download PDFInfo
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- CN107783147B CN107783147B CN201710962398.0A CN201710962398A CN107783147B CN 107783147 B CN107783147 B CN 107783147B CN 201710962398 A CN201710962398 A CN 201710962398A CN 107783147 B CN107783147 B CN 107783147B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000007689 inspection Methods 0.000 claims abstract description 11
- 238000012937 correction Methods 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims description 31
- 238000004891 communication Methods 0.000 claims description 17
- 238000005259 measurement Methods 0.000 description 15
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The embodiment of the invention relates to a contact net detection vehicle based on a laser radar and a laser radar leveling method. The inspection vehicle comprises: the laser radar sensor is arranged in front of the top of the detection vehicle body, and the lifting rotary operation platform is arranged behind the top of the detection vehicle body in a lifting and rotating manner; the laser radar sensor is used for scanning the contact network to acquire data of geometric parameters of the contact network to be detected and sending the data to the processor; the at least three inclination angle sensors are used for acquiring and detecting the inclination angle of the vehicle body and sending the inclination angle to the processor; the processor is used for calculating the geometric parameter value of the tested overhead line system according to the data of the geometric parameters, the inclination angle and the speed of the detected vehicle body, and comparing the geometric parameter value with a preset value to obtain a comparison result; and leveling the laser radar sensor according to a preset error correction algorithm. The method can improve the accuracy of the detected geometric parameter values and improve the reliability of the operation of the contact network.
Description
Technical Field
the embodiment of the invention relates to the field of geometric parameter detection of railway or subway overhead contact networks, in particular to an overhead contact network detection vehicle based on a laser radar and a laser radar leveling method.
background
the existing railway system adopts an electric locomotive with high power, high traction and high speed to pull a train, so that the running speed and the bearing weight of the train can be improved, and the transportation capacity and the passing capacity of the railway are greatly improved. For providing reliable and stable electric power for the train, a transmission line net is laid along a railway line and called as a contact net, and a device for contacting the top of the train with the contact net and acquiring electric energy is a pantograph. The contact net is overhead equipment directly related to the safety operation of the electrified railway, and is erected along the line without standby. In a railway or a subway, in order to ensure the safety and the reliability of the power supply of a contact network, the geometric parameters of the contact network need to be periodically detected. The detection of the geometrical parameters of the contact network mainly comprises the height of the contact network (the distance from the bottom end of the contact network to the plane of the track, hereinafter referred to as the lead height), the pull-out value of the contact network (the distance from the contact network to the center of the pantograph, hereinafter referred to as the pull-out value) and the like.
the detection and maintenance of the contact net are arranged in a skylight period, the time is more at night, the time is short, and the detection task is heavy. The current railway or subway contact net geometric parameters's detection mode, personnel can divide into ground measurement personnel and railcar operation platform maintainer two parts, and the geometric parameters of contact net is responsible for measuring to ground measurement personnel, and maintainer maintains according to measurement personnel's instruction.
in order to improve the detection efficiency of maintenance personnel, the invention provides a detection vehicle for detecting a contact network in the prior art. Chinese utility model patent with the grant number of CN203037214U discloses a portable contact net geometric parameters detecting system, including detecting car, laser radar sensor, computer and power all set up on detecting the car, and laser radar sensor and computer all are connected with the power electricity, and the communication is connected between laser radar sensor and the computer, are equipped with laser automatic scanner on the laser radar sensor, and laser automatic scanner's scanning direction aligns the contact net that waits to detect.
However, in the process of implementing the technical solution of the present invention, the inventor finds that, in the above solution, the lidar sensor needs to be fixed on the detection vehicle, and there may be an inclination of the lidar sensor at the fixed position of the detection vehicle; alternatively, the lidar sensor may be installed at a predetermined level by reviewing the experience of the installer. When fixed position is not at ordinary times, perhaps when installer experience is not enough, the geometric parameter value that laser radar sensor measured has great error to the unusual department that can't discover the contact net makes the contact net have the potential safety hazard.
Disclosure of Invention
aiming at the defects in the prior art, the invention provides a laser radar-based contact net detection vehicle and a laser radar leveling method, and aims to solve the problem that potential safety hazards exist in a contact net due to large installation errors of laser radar sensors or large measurement errors caused by improper installation in the prior art.
In a first aspect, the invention provides a contact network detection vehicle based on a laser radar, which comprises: the device comprises a detection vehicle body, a laser radar sensor, at least three tilt angle sensors, a speed sensor, a lifting rotary operation platform, a processor and a display panel;
the laser radar sensor, the at least three tilt sensors, the speed sensor, the GPS positioning unit, the LKJ data acquisition circuit and the display panel are in communication connection with the processor; the laser radar sensor is arranged in front of the top of the detection vehicle body, the lifting rotary operation platform is arranged behind the top of the detection vehicle body in a lifting and rotating manner, and the display panel is arranged on the lifting rotary operation platform;
The laser radar sensor is used for scanning the contact network to acquire data of geometric parameters of the contact network to be detected and sending the data to the processor;
The at least three inclination angle sensors are used for acquiring and detecting the inclination angle of the vehicle body and sending the inclination angle to the processor;
The speed sensor is used for acquiring the speed of the detected vehicle body and sending the speed to the processor;
The processor is used for calculating the geometric parameter value of the tested overhead line system according to the data of the geometric parameters, the inclination angle and the speed of the detected vehicle body, and comparing the geometric parameter value with a preset value to obtain a comparison result; leveling the laser radar sensor according to a preset error correction algorithm;
the display panel is used for displaying the geometric parameter value and the comparison result.
Optionally, the overhead line system inspection vehicle includes: the GPS positioning unit and the LKJ data acquisition circuit are in communication connection with the processor;
the GPS positioning unit is used for acquiring the position information of the position of the detected vehicle body;
The LKJ data acquisition circuit is used for acquiring LKJ data of the power supply section;
Correspondingly, the processor is further used for matching the support column number of the corresponding overhead line system according to the position information and the LKJ data so as to determine the position of the support column.
optionally, the at least three tilt sensors are mounted at any three positions of the detection vehicle body which are not located on the same plane.
in a second aspect, an embodiment of the present invention provides a leveling method for a lidar on a detection vehicle for a catenary, where the leveling method includes:
S1, positively measuring a first geometric parameter value of a preset standard overhead line system by using a detection vehicle;
S2, reversely measuring a second geometric parameter value of the preset standard overhead line system by using the detection vehicle;
S3, calculating the absolute difference value of the first geometric parameter value and the second geometric parameter value;
S4, if the absolute difference value exceeds a preset difference value, adjusting the installation horizontal angle of the laser radar sensor;
And S5, repeating the steps S1-S4 until the absolute difference is smaller than the preset difference.
Optionally, the first and second geometric parameter values include catenary lead height, pull out value, and rail height.
Optionally, the absolute difference in the pull-out values is between (-3, 3) millimeters, or the absolute difference in the track super-height is between (-0.02, 0.02) degrees.
optionally, in S4, if the absolute difference exceeds a preset difference, the step of adjusting the installation horizontal angle of the lidar sensor includes:
calculating an average of the first geometric parameter value and the second geometric parameter value;
calculating a target horizontal angle corresponding to the laser radar sensor according to the average value;
Adjusting the laser radar sensor from a current installation horizontal angle to the target horizontal angle.
Optionally, the leveling method further comprises:
Acquiring the inclination angle of the detection vehicle body and the installation horizontal angle of the laser radar sensor by utilizing at least three inclination angle sensors which are arranged on any three positions of the detection vehicle body and are not positioned on the same plane;
comparing the inclination angles of the at least three inclination angle sensors with a preset reference plane;
And when the inclination angles of the at least three inclination angle sensors are consistent with the preset reference plane, the installation horizontal angle of the laser radar sensor meets the preset requirement.
According to the technical scheme, the laser radar sensor and the at least three inclination angle sensors are arranged on the detection vehicle body, the laser radar sensor scans a contact network, and the at least three inclination angle sensors acquire the inclination angles of the detection vehicle body; the processor calculates the geometric parameter value of the overhead line system, and the processor levels the laser radar sensor according to a preset error correction algorithm so as to compensate the problem of overlarge error caused by improper installation of the laser radar sensor, thereby improving the accuracy of the detected geometric parameter value and the reliability of the operation of the overhead line system.
drawings
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a structural block diagram of a contact network detection vehicle based on a laser radar provided by an embodiment of the invention;
FIG. 2 is a schematic view of the detection principle of the detection vehicle;
fig. 3 is a schematic flow chart of a leveling method for a laser radar on a contact line detection vehicle according to an embodiment of the present invention.
Detailed Description
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a structural block diagram of a contact network detection vehicle based on a laser radar according to an embodiment of the invention. Referring to fig. 1, the contact line detection vehicle based on the laser radar provided by the embodiment of the invention comprises: the device comprises a detection vehicle body (not shown in the figure), a processor 1, a laser radar sensor 2, at least three tilt angle sensors 3, a speed sensor 4, a GPS positioning unit 5, an LKJ data acquisition circuit 6, a lifting and rotating operation platform (not shown in the figure) and a display panel 7. Wherein,
The laser radar sensor 2, the at least three tilt sensors 3, the speed sensor 4, the GPS positioning unit 5, the LKJ data acquisition circuit and the display panel 7 are in communication connection with the processor 1; the laser radar sensor 2 is arranged in front of the top of the detection vehicle body, the lifting rotary operation platform is arranged behind the top of the detection vehicle body in a lifting and rotating manner, and the display panel 7 is arranged on the lifting rotary operation platform;
The laser radar sensor 2 is used for scanning the contact network to acquire data of geometric parameters of the contact network to be detected and sending the data to the processor 1;
the at least three inclination sensors 3 are used for acquiring and detecting the inclination of the vehicle body and sending the inclination to the processor 1;
The speed sensor 4 is used for acquiring the speed of the detected vehicle body and sending the speed to the processor 1;
the processor 1 is used for calculating a geometric parameter value of the tested catenary according to the data of the geometric parameters, the inclination angle and the speed of the detected vehicle body, and comparing the geometric parameter value with a preset value to obtain a comparison result; leveling the laser radar sensor 2 according to a preset error correction algorithm;
The display panel 7 is used for displaying the geometric parameter values and the comparison results so as to enable maintenance personnel to find problems and make supporting schemes in time.
in practical application, as shown in fig. 2, in the embodiment of the present invention, the laser radar sensor 2 is installed in front of the top of the detection vehicle body (not shown in the figure), the laser radar sensor 2 is provided with an automatic laser scanner, and the scanning direction of the automatic laser scanner is aligned to the contact net 8 to be detected. Detecting that the vehicle body 10 runs on the track 6, wherein the scanning angle range of the laser automatic scanner is-5 degrees to 185 degrees; the scanning frequency of the laser automatic scanner is between 25 and 50 times/second. The lidar sensor 2 can scan and detect the data of the geometric parameters of the overhead line system 8 and send the data to the processor 1.
the at least three tilt angle sensors 3 are fixed at any three positions of the detection vehicle body, and the any three positions are not positioned on the same plane. For example, in the embodiment of the present invention, one of the tilt sensors 3 is fixed on the installation plane of the lidar sensor 2, and is used for installing the horizontal tilt angle of the lidar sensor; the rest tilt angle sensors 3 are respectively arranged at different positions of the detection vehicle body and are used for acquiring tilt angles of corresponding positions; the processor 1 receives the inclination angle data of the plurality of inclination angle sensors and compares the inclination angle data with a preset reference plane, and if the inclination angle data is consistent with the preset reference plane, that is, the included angle formed by the detection plane formed by the inclination angle and the preset reference plane is the same or similar (the difference value is within a preset range), it indicates that the installation horizontal angle of the laser radar sensor meets the preset requirement.
in the process of comparing the inclination angle data with the preset reference plane by the processor 1, if the inclination angle data is inconsistent with the preset reference plane, it indicates that the laser radar sensor 2 is not installed properly or has an excessive error, and at the moment, the processor 1 generates an alarm signal or an excessive error signal. For this reason, in the embodiment of the present invention, the adjusting, by the processor 1, the installation position of the laser radar sensor 2 includes:
The detection vehicle positively measures a first geometric parameter value of a preset standard contact network. The preset standard contact net is a contact net which is installed on the basis of a preset reference plane and is installed according to the standard of the contact net. The forward measurement refers to a process of running measurement from the first end to the second end of the preset standard overhead line system. And the detection vehicle reversely measures a second geometric parameter value of the preset standard contact network. The reverse measurement refers to a process of running measurement from the second end to the first end of the preset standard overhead line system. Then, the processor 1 in the inspection vehicle calculates an absolute difference between the first geometric parameter value and the second geometric parameter value. And if the absolute difference value exceeds a preset difference value, adjusting the installation horizontal angle of the laser radar sensor. For example, the preset angle may be adjusted each time, for example, 0.01 degrees each time, and then the forward measurement and the reverse measurement are repeated once, and the absolute difference between the first geometric parameter value and the second geometric parameter value is calculated. If the absolute difference value is larger, the adjustment is invalid, the adjustment angle is opposite, and the adjustment in the opposite direction is needed. If the absolute difference value becomes smaller, the adjustment is effective, and the adjustment is continued on the basis until the absolute difference value is smaller than the preset difference value.
In order to improve the calculation efficiency, in the embodiment of the present invention, the adjusting, by the processor 1, the installation position of the laser radar sensor 2 by using an average value method includes:
The detection vehicle positively measures a first geometric parameter value of a preset standard contact network. And the detection vehicle reversely measures a second geometric parameter value of the preset standard contact network. Then, the processor 1 in the inspection vehicle calculates an absolute difference between the first geometric parameter value and the second geometric parameter value. And if the absolute difference value exceeds a preset difference value, adjusting the installation horizontal angle of the laser radar sensor. The processor 1 calculates an average value of the first geometric parameter value and the second geometric parameter value, so that a target horizontal angle corresponding to the laser radar sensor can be obtained.
and after the laser radar sensor is adjusted to a target horizontal angle, forward measurement and reverse measurement are carried out again, and the absolute difference value of the first geometric parameter value and the second geometric parameter value is calculated. If the absolute difference value is larger, the adjustment is invalid, the adjustment angle is opposite, and the adjustment is required to be carried out in the opposite direction. If the absolute difference value becomes smaller, the adjustment is effective, and the adjustment is continued on the basis until the absolute difference value is smaller than the preset difference value or the absolute difference value becomes larger again.
in the embodiment of the invention, after the laser radar sensor is adjusted, the detection work of the contact net can be carried out.
it should be noted that, in the embodiment of the present invention, when the installation horizontal angle of the laser radar sensor is adjusted, the execution mechanism may be a stepping motor or manually adjusted by a maintenance worker, and a person skilled in the art may set the execution mechanism according to needs, which is not limited in the present invention.
The speed sensor 4 is fixed to the detection vehicle body, and the speed sensor 4 can measure the actual running speed of the detection vehicle body. The GPS positioning circuit 5 is fixed to the detection vehicle body, and can measure the current position information of the detection vehicle body. The LKJ data acquisition circuit 6 can acquire LKJ data of a power supply section issued by a railway bureau. The processor determines a strut number according to the LKJ data, then positions the accurate position of the strut according to the current position and the strut number, and calculates the time for driving to the strut according to the actual driving speed.
above-mentioned display panel 7 and 1 communication connection of treater, the geometric parameter data of the contact net that 2 acquireed of real-time display laser radar sensor, the inclination data of at least three inclination sensor collection, the actual speed of traveling of speed sensor collection, current position information and the LKJ data acquisition circuit that the current position information that GPS positioning circuit gathered acquire, the pillar number, data such as deviation at laser radar sensor installation horizontal inclination, maintainer can be according to the timely accurate understanding contact net condition of above-mentioned data like this, in time find the problem and formulate the maintenance plan when the discovery problem. The display panel 7 may be implemented by an LCD display, an LED display or a CRT display, and the displayed content may also be selected according to a specific scene, which is not limited in the present invention.
in practical application, the contact net detection vehicle provided by the embodiment of the invention further comprises an alarm 8. The alarm 8. When the geometric parameter value of contact net surpassed the default, treater 1 can generate alarm signal, and alarm 8 can sound according to above-mentioned alarm signal this moment and remind maintainer. If the alarm 8 further comprises a warning lamp, the warning lamp can prompt maintenance personnel in a stroboscopic mode.
as shown in fig. 1, the overhead line system inspection vehicle provided by the embodiment of the invention further comprises a communication module 9. The communication module 9 may employ a 4G/3G/2G communication circuit, a CDMA communication circuit, a GPRS communication circuit, a radio frequency circuit, and other communication circuits. For example, in an embodiment of the present invention, a 4G/3G/2G communication circuit is selected for implementation. Those skilled in the art can select an appropriate communication circuit according to the actual situation of the specific use scenario, such as the distance between the communication receiving devices corresponding to the communication module, and the actual use environment of the detection vehicle, which is not limited in the present invention.
in a second aspect, an embodiment of the present invention provides a leveling method for a lidar on a catenary inspection vehicle according to the first aspect, as shown in fig. 3, the leveling method includes:
S1, positively measuring a first geometric parameter value of a preset standard overhead line system by using a detection vehicle;
s2, reversely measuring a second geometric parameter value of the preset standard overhead line system by using the detection vehicle;
s3, calculating the absolute difference value of the first geometric parameter value and the second geometric parameter value;
S4, if the absolute difference value exceeds a preset difference value, adjusting the installation horizontal angle of the laser radar sensor;
and S5, repeating the steps S1-S4 until the absolute difference is smaller than the preset difference.
In step S1, the vehicle is detected to measure forward, the laser radar sensor 2, the at least three tilt sensors 3, the speed sensor 4, the GPS positioning circuit 5, and the LKJ data acquisition circuit 6 are used to respectively acquire corresponding parameters and send the parameters to the processor 1, and the processor 1 calculates the parameters to obtain a first geometric parameter value. The first geometric parameter values include at least catenary lead height, pull-out value, and track ride height (i.e., track inclination). Those skilled in the art can obtain the corresponding parameter value according to actual requirements, and the invention is not limited.
in step S2, the detection vehicle performs reverse measurement, and acquires corresponding parameters by using the laser radar sensor 2, the at least three tilt sensors 3, the speed sensor 4, the GPS positioning circuit 5, and the LKJ data acquisition circuit 6, and sends the parameters to the processor 1, and the processor 1 calculates a first geometric parameter value. The first geometric parameter values include at least catenary lead height, pull-out value, and track ride height (i.e., track inclination).
In step S3, the processor 1 calculates an absolute difference between the first geometric parameter value and the second geometric parameter value. The processor 1 may calculate the absolute difference of one or more of the geometric parameter values, for example, the processor 1 may calculate only the absolute difference of the catenary pull-out value, which may reduce the calculation amount and improve the calculation efficiency. Of course, the skilled person can select the parameters and the number of the parameters according to the actual needs, and the invention is not limited.
in step S4, the processor 1 compares the absolute difference value with a preset difference value. The absolute difference of the pull-out values in the embodiment of the invention is (-3, 3) mm, or the absolute difference of the track super-height is (-0.02, 0.02) degree. If the absolute difference is smaller than the preset difference, the installation horizontal angle of the laser radar sensor is within the error range, and at the moment, adjustment is not needed. If the absolute difference exceeds the preset difference, the installation horizontal angle of the laser radar sensor exceeds the error range, and the laser radar sensor needs to be adjusted. Processor 1 adjustment laser radar sensor installation horizontal angle increases the angle of predetermineeing promptly on the basis of current installation horizontal angle, makes the adjustment of laser radar sensor do: the current installation horizontal angle + the preset angle.
In step S5, steps S1 to S4 are repeated, and the absolute difference value is calculated again. If the absolute difference is larger than the last absolute difference, the adjustment is invalid, the adjustment angle is opposite, and adjustment in the opposite direction is needed (since the adjustment in the last time is opposite, the adjustment in the current time is reduced by the preset angle of 2 times from the installation horizontal angle). If the absolute difference value becomes smaller, the adjustment is effective, and the adjustment is continued on the basis until the absolute difference value is smaller than the preset difference value or the absolute difference value becomes larger again.
Of course, the steps S1 to S3 of the processor 1 according to the embodiment of the present invention may also adjust the installation position of the laser radar sensor 2 by using an average value method, which are the same as the above method, except that:
And if the absolute difference value exceeds a preset difference value, adjusting the installation horizontal angle of the laser radar sensor. The processor 1 calculates an average value of the first geometric parameter value and the second geometric parameter value, so that a target horizontal angle corresponding to the laser radar sensor can be obtained.
And after the laser radar sensor is adjusted to a target horizontal angle, forward measurement and reverse measurement are carried out again, and the absolute difference value of the first geometric parameter value and the second geometric parameter value is calculated. If the absolute difference value is larger, the adjustment is invalid, the adjustment angle is opposite, and the adjustment is required to be carried out in the opposite direction. If the absolute difference value becomes smaller, the adjustment is effective, and the adjustment is continued on the basis until the absolute difference value is smaller than the preset difference value or the absolute difference value becomes larger again.
it should be noted that the laser radar leveling method provided in the embodiment of the present invention is implemented based on the contact network detection vehicle based on the laser radar in the first aspect, and includes all technical features of the contact network detection vehicle embodiment, so that the same technical problems can be solved, the same technical effects can be achieved, and the content can be referred to the content of the above embodiment, which is not described herein again.
in summary, according to the contact net detection vehicle based on the laser radar and the laser radar leveling method provided by the embodiment of the invention, the laser radar sensor and the at least three tilt sensors are arranged on the detection vehicle body, the laser radar sensor scans the contact net, and the at least three tilt sensors acquire the tilt angle of the detection vehicle body; the processor calculates the geometric parameter value of the overhead line system, and the processor levels the laser radar sensor according to a preset error correction algorithm so as to compensate the problem of overlarge error caused by improper installation of the laser radar sensor, thereby improving the accuracy of the detected geometric parameter value and the reliability of the operation of the overhead line system.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (7)
1. The leveling method suitable for the laser radar on the contact network detection vehicle is characterized in that the contact network detection vehicle comprises the following steps: the system comprises a detection vehicle body, a laser radar sensor, at least three tilt sensors, a speed sensor, a GPS (global positioning system) positioning unit, an LKJ (LKJ) data acquisition circuit, a lifting and rotating operation platform, a processor and a display panel; the laser radar sensor, the at least three tilt sensors, the speed sensor, the GPS positioning unit, the LKJ data acquisition circuit and the display panel are in communication connection with the processor; the laser radar sensor is arranged in front of the top of the detection vehicle body, the lifting rotary operation platform is arranged behind the top of the detection vehicle body in a lifting and rotating manner, and the display panel is arranged on the lifting rotary operation platform; the laser radar sensor is used for scanning the contact network to acquire data of geometric parameters of the contact network to be detected and sending the data to the processor; the at least three inclination angle sensors are used for acquiring and detecting the inclination angle of the vehicle body and sending the inclination angle to the processor; the speed sensor is used for acquiring the speed of the detected vehicle body and sending the speed to the processor; the processor is used for calculating the geometric parameter value of the tested overhead line system according to the data of the geometric parameters, the inclination angle and the speed of the detected vehicle body, and comparing the geometric parameter value with a preset value to obtain a comparison result; leveling the laser radar sensor according to a preset error correction algorithm; the display panel is used for displaying the geometric parameter value and the comparison result; accordingly, the leveling method comprises the following steps:
S1, positively measuring a first geometric parameter value of a preset standard overhead line system by using a detection vehicle;
s2, reversely measuring a second geometric parameter value of the preset standard overhead line system by using the detection vehicle;
S3, calculating the absolute difference value of the first geometric parameter value and the second geometric parameter value;
S4, if the absolute difference value exceeds a preset difference value, adjusting the installation horizontal angle of the laser radar sensor;
And S5, repeating the steps S1-S4 until the absolute difference is smaller than the preset difference.
2. the leveling method according to claim 1, wherein the overhead line system inspection vehicle comprises: the GPS positioning unit and the LKJ data acquisition circuit are in communication connection with the processor;
the GPS positioning unit is used for acquiring the position information of the position of the detected vehicle body;
the LKJ data acquisition circuit is used for acquiring LKJ data of the power supply section;
Correspondingly, the processor is further used for matching the support column number of the corresponding overhead line system according to the position information and the LKJ data so as to determine the position of the support column.
3. The leveling method according to claim 1 or 2, wherein the at least three tilt angle sensors are mounted at any three positions of the inspection vehicle body which are not located on the same plane.
4. The leveling method of the lidar on the overhead line system inspection vehicle of claim 1 or 2, wherein the first geometric parameter value and the second geometric parameter value comprise overhead line system lead height, pull-out value and track superelevation.
5. the leveling method of the laser radar on the overhead line system inspection vehicle according to claim 4, wherein the absolute difference of the pull-out values is between (-3, 3) millimeters, or the absolute difference of the track superelevation is between (-0.02, 0.02) degrees.
6. The leveling method for the laser radar on the overhead line system inspection vehicle according to claim 1, wherein the step of adjusting the installation horizontal angle of the laser radar sensor if the absolute difference value exceeds a preset difference value at S4 comprises:
Calculating an average of the first geometric parameter value and the second geometric parameter value;
Calculating a target horizontal angle corresponding to the laser radar sensor according to the average value;
adjusting the laser radar sensor from a current installation horizontal angle to the target horizontal angle.
7. The leveling method of the laser radar on the detection vehicle of the overhead line system according to any one of claims 1, 2, 5 or 6, wherein the leveling method further comprises the following steps:
Acquiring the inclination angle of the detection vehicle body and the installation horizontal angle of the laser radar sensor by utilizing at least three inclination angle sensors which are arranged on any three positions of the detection vehicle body and are not positioned on the same plane;
comparing the inclination angles of the at least three inclination angle sensors with a preset reference plane;
and when the inclination angles of the at least three inclination angle sensors are consistent with the preset reference plane, the installation horizontal angle of the laser radar sensor meets the preset requirement.
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| CN109584726A (en) * | 2019-01-21 | 2019-04-05 | 南京达斯琪数字科技有限公司 | A kind of rotational display system |
| CN112389497A (en) * | 2019-08-12 | 2021-02-23 | 天津泰恒电气科技有限公司 | Device for continuously scanning and detecting railway |
| CN110737224A (en) * | 2019-10-30 | 2020-01-31 | 中铁隧道局集团有限公司 | Automatic detection control device for rail state of earth pressure balance shield tunnel storage battery locomotive and corresponding detection method |
| CN113504545A (en) * | 2021-09-09 | 2021-10-15 | 成都中轨轨道设备有限公司 | Contact network data detection method based on laser radar |
| CN113965992B (en) * | 2021-11-25 | 2022-10-28 | 中国人民解放军32654部队 | Security guard based on laser radar |
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