CN108181313A - A kind of device and method suitable for the detection of contact net running environment safe condition - Google Patents
A kind of device and method suitable for the detection of contact net running environment safe condition Download PDFInfo
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Abstract
The invention discloses a kind of device and methods suitable for the detection of contact net running environment safe condition, using laser radar matrix design, laser radar matrix sends out pulse laser, can by contact net range all standing, by echo-signal can accurate measure go out contact net scanning cross-section away from laser radar matrix distance.Then by a large amount of ranging datas generation 3D point cloud, contact net three-dimensional information is reappeared in a computer, is compared according to contact net architectural characteristic into row information thereafter, find to invade limit object in contact net running environment in time, such as situations such as danger tree, bird's nest.The present invention can be permanently fixed aboard, not need to install and dismantle temporarily, and avoid using vision collecting equipment, to exclude the influence of Changes in weather.
Description
Technical field
The present invention relates to contact net technical fields, and in particular to one kind is suitable for contact net running environment safe condition and detects
Device and method.
Background technology
At present, electric railway train running is still used pantograph to be obtained from contact net in a manner of sliding friction and continued
Electric energy.Contact net running environment safe condition directly affects train operational safety.
Existing contact net running environment detection is based primarily upon image vision technology, as railway parent company promulgates《High ferro supplies
Electric safety detection monitors system (6C systems) general technical specification》.Wherein 2C parts are to complete contact net inspection using vision technique
It surveys, vision collecting equipment is mainly erected in train driver cabin by 2C systems, and sensor receives the external world by train vehicle window
Picture signal, with the operation of train, image collecting device contact net situation will can shoot with video-corder, and be stored in local along the line
Hard disk.Since train driver cabin is narrow, harvester dismounting and installation are all not convenient enough.Also interference driver drives vehicle is pacified simultaneously
Entirely, when encounter the environment such as backlight, sleet influence Image Acquisition quality.
Invention content
In view of the deficiencies of the prior art, the present invention is intended to provide a kind of contact net running environment safe condition that is suitable for detects
Device and method, can be permanently fixed aboard, not need to install temporarily and dismounting, and avoid setting using vision collecting
It is standby, to exclude the influence of Changes in weather.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of device suitable for the detection of contact net running environment safe condition is mainly adopted by laser radar matrix, data
Collection and processing module, point cloud generation module, invade limit object identification module and GPS positioning mould at contact net range data output module
Block forms；All laser radars of the laser radar matrix, which communicate, is connected to the data acquisition and processing module, described
Contact net range data output module communicates respectively is connected to the data acquisition and processing module and point cloud generation module, described
It invades limit object identification module communication and is connected to described cloud generation module；
In the laser radar matrix, often capable transversely arranged laser radar makes with horizontal plane respectively in the angle of setting
Often go the scanning ranges of transversely arranged all laser radars and add up and can cover contact net scanning cross-section；Each column is longitudinally arranged
All laser radars of row are identical with the angle of horizontal plane；
Data acquisition and processing module for acquire in laser radar matrix the transmitting signal of each laser radar with
Echo-signal, and the distance of contact net scanning cross-section and laser radar matrix is calculated accordingly；
The contact net range data output module is used for data acquisition and processing module calculated distance data
It is transmitted to a cloud generation module；
The range data that described cloud generation module is used to be transmitted according to contact net range data output module carries out a cloud
Generation, the contact net 3-D effect rebuild；
Limit object identification module is invaded for storing including the common big data invaded including limiting object features, and according to reconstruction
Contact net 3-D effect and big data comparison invade limit object type identification.
Further, GPS positioning module has been further included, GPS positioning module communication is connected to described invade and limits object identification mould
Block, for positioning current geographical location information, and the result with invading limit object identification exports together.
Further, the laser radar matrix is 5 × 5 laser radar matrixes.
Further, often go transversely arranged five laser radars and horizontal plane angle be followed successively by 30 °, 60 °, 90 °,
120°、150°。
Further, data acquisition and processing module use the bis- processing structures of FPGA+DSP, wherein, FPGA believes for sequential
Number generation, the driving of signal acquisition chip, the transmitting-receiving of control command；And DSP be then mainly used for high speed signal extraction and
Processing.
Contact net running environment safety is carried out using the above-mentioned device suitable for the detection of contact net running environment safe condition
The method of state-detection, includes the following steps：
Radar on S1 laser radar matrixes quickly scans train overlying contact net position that may be present；
Data acquisition and processing module described in S2 receive the transmitting signal of each laser radar on laser radar matrix and return
Wave signal, calculates the distance of contact net scanning cross-section and laser radar matrix, and judges the contact net scanning cross-section and laser
Whether the distance of radar matrix is within the scope of normally, if it is not, then illustrating the contact net running environment abnormal phenomenon
There is probability；
S3 data acquire and the distance of the contact net scanning cross-section that is calculated of processing module and laser radar matrix is by connecing
Net-fault range data output module is transmitted to a cloud generation module；
The current contact net scanning cross-section that cloud generation module is transmitted according to contact net range data output module is put described in S4
A cloud is carried out with the distance of laser radar matrix to generate, the contact net 3-D effect rebuild；
S5 invades limit object identification module and compares the contact net 3-D effect of reconstruction with the big data stored, identifies
Go out to invade the type of limit object and output.
It should be noted that in step S5, also it is sent to by GPS positioning module positioning current geographic position information and invades limit
Object identification module, the limit kind of object of invading obtained with identification export together.
It should be noted that step S2 is as follows：
2.1) it is modulating frequency to assume f, and N is the number of cycles of light wave two-way process,For total phase difference, then it is spaced
Time, t was also denoted as：
Then contact net scanning cross-section and the distance D of laser radar matrix are：
2.2) it definesFor measurement ruler or scale,For remaining ruler；
Then：
D=L (N+ Δ N)
Because L is known, only need that N and Δ N is obtained, so that it may learn target range D；Δ N can pass through measurement
It obtains, N=0, distance measurement result is unique at this time：
2.3) by above measuring and calculating, distance D has uniqueness, because railway contact running environment is relatively fixed, contact net
Distance with train is under normal circumstances should be in fixed position section, when measured with the distance of laser radar matrix
D values occur apparent abnormal, you can judge that contact net running environment abnormal phenomenon has probability.
The beneficial effects of the present invention are：
1st, the present invention can directly be erected at train top, and contact net running environment detection is carried out with vehicle, easy to use, real
Existing no worker monitor, unmanned detection, laser matrix arrangement is orderly, and modularized design substantially reduces difficulty of construction.
2nd, laser radar matrix realizes sampling without interval, and repeated data is proofreaded mutually, and serious forgiveness is extremely low.
Description of the drawings
Fig. 1 is the apparatus structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the arrangement schematic diagram of the laser radar matrix of the embodiment of the present invention；
Fig. 3 is the operating diagram of the laser radar matrix of the embodiment of the present invention；
Fig. 4 is the laser radar matrix sequence diagram of the embodiment of the present invention；
Fig. 5 is the cantilever structure anomaly analysis schematic diagram of the embodiment of the present invention；
Fig. 6 is the phase measurement principle schematic diagram of the embodiment of the present invention.
Specific embodiment
Below with reference to attached drawing, the invention will be further described, it should be noted that following embodiment is with this technology
Premised on scheme, detailed embodiment and specific operating process are given, but protection scope of the present invention is not limited to this
Embodiment.
A kind of device suitable for the detection of contact net running environment safe condition of the present embodiment, using laser radar matrix
Design, laser radar matrix send out pulse laser, can be by contact net range all standing, being capable of accurate measure by echo-signal
Go out distance of the contact net scanning cross-section away from laser radar matrix.Then a large amount of ranging datas are generated into 3D point cloud, in a computer
Contact net three-dimensional information is reappeared, is compared according to contact net architectural characteristic into row information thereafter, finds contact net running environment in time
In invade limit object, such as danger tree, bird's nest situations such as.Specially：
As shown in Figure 1, a kind of device suitable for the detection of contact net running environment safe condition, mainly by laser radar square
Battle array, data acquisition and processing module, contact net range data output module, point cloud generation module, invade limit object identification module and
GPS positioning module forms.
As in Figure 2-4, in the present embodiment, the laser radar matrix is made of 5 × 5 laser radars, and often row is lateral
Five laser radars of arrangement and the angle of horizontal plane are followed successively by 30 °, 60 °, 90 °, 120 °, 150 °；The five of each column longitudinal arrangement
A laser radar is identical with the angle of horizontal plane.Five transversely arranged laser radars of often going project laser scanning signal and go forward side by side
Row splicing enables to cover contact net scanning cross-section.Laser radar is to train overlying contact net position that may be present
Quickly scanned, obtain echo-signal after be sent to data acquisition and processing module, data acquisition and processing module according to
The transmitting signal of laser radar and the comparison of echo-signal, calculate current contact net contact net scanning cross-section away from laser radar square
The distance of battle array, and the distance of the contact net scanning cross-section and laser radar matrix is judged whether within the scope of normal, such as
Fruit is not then to illustrate that the contact net running environment abnormal phenomenon has probability.
180 ° of lidar measurement range selected by the present embodiment can work, and scan angle under 100000lx light intensity
For high resolution up to 0.1 °, frequency is up to 600-800Hz, and when train is run with 250km, 80mm is divided between single sweep operation, improves
Frequency is detected, the laser radar of longitudinal arrangement can be realized carries out timesharing circulating sampling at equal intervals to current contact net distance, simultaneously
Measurement frequency is further improved, the point cloud picture for making generation is complete, no leakage gathered data.
Data acquire and processing module is as the data of whole device and the core of timing control, using FPGA+DSP
Double processing structures, wherein, FPGA is for the generation of clock signal, the driving of signal acquisition chip, the transmitting-receiving of control command；And
DSP is then mainly used for the extraction and processing of high speed signal.Data acquire and processing module calculates current contact net contact net
After distance of the scanning cross-section away from laser radar matrix, judge the contact net scanning cross-section and laser radar matrix distance whether
Within the scope of normal, if it is not, then illustrating that the contact net running environment abnormal phenomenon has probability.At this time by connecing
Net-fault range data output module is output to a cloud generation module by RS485 serial line interfaces and carries out a cloud generation, is rebuild
Contact net 3-D effect, then by invading limit object identification module invade the category identification of limit object.
When finding to invade limit object, position current geographic position information by GPS positioning module and be transmitted to and invade limit object
It is exported together in body identification module with invading the information of limit object, it is accurate to arrive at so that railroader positions in time, soon
Speed discharge failure.
As shown in fig. 6, using laser radar transmitting modulation light and be reflected receive light between light intensity phase
The range information that difference includes realizes the measurement of tested distance.The delay of echo produces the delay of phase, measures phase difference
Target range is just obtained.
Wherein, t represents interval time, and D represents target range, and c is phase difference.
Assuming that f is modulating frequency, N is the number of cycles of light wave two-way process,For total phase difference.Then interval time t
It is also denoted as：
Then：
DefinitionFor measurement ruler or scale,For remaining ruler；
Then：
D=L (N+ Δ N)
Because L is known, only need that N and Δ N is obtained, so that it may learn target range D.Δ N can pass through measurement
It obtains, N=0, distance measurement result is unique at this time.
Gained ranging D values have uniqueness because railway contact running environment be relatively fixed, i.e., contact net and train away from
From (i.e. with a distance from laser radar matrix) normal condition should in fixed position section, when measured D values occur it is apparent
It is abnormal, you can to judge that contact net running environment abnormal phenomenon has probability；It can repeat repeatedly to test at this time, it is final true
Determine whether event occurs.As shown in Figure 6.
When carrying out invading the identification of limit kind of object, specifically by the contact net 3-D effect of reconstruction and limit object identification mould is invaded
Big data (including the various common features for invading limit object) in the block carries out intelligent comparison, is judged according to common limit object features of invading
Go out to invade limit kind of object.
For those skilled in the art, it can be provided various corresponding according to above technical solution and design
Change and deform, and all these change and deformation, should be construed as being included within the protection domain of the claims in the present invention.
Claims (8)
1. a kind of device suitable for the detection of contact net running environment safe condition, which is characterized in that mainly by laser radar square
Battle array, data acquisition and processing module, contact net range data output module, point cloud generation module, invade limit object identification module and
GPS positioning module forms；All laser radars of the laser radar matrix, which communicate, is connected to the data acquisition and processing
Module, the contact net range data output module communicates respectively is connected to the data acquisition and processing module and point cloud generation
Module, it is described invade limit object identification module communication be connected to described cloud generation module；
In the laser radar matrix, often capable transversely arranged laser radar and horizontal plane are respectively in the angle of setting so that every
The scanning range of the transversely arranged all laser radars of row, which adds up, can cover contact net scanning cross-section；Each column longitudinal arrangement
All laser radars are identical with the angle of horizontal plane；
The data acquisition and processing module are used to acquire the transmitting signal and echo of each laser radar in laser radar matrix
Signal, and the distance of contact net scanning cross-section and laser radar matrix is calculated accordingly；
The contact net range data output module is used for data acquisition and processing module calculated distance data transmission
To a cloud generation module；
The range data that described cloud generation module is used to be transmitted according to contact net range data output module carries out a cloud generation,
The contact net 3-D effect rebuild；
Limit object identification module is invaded for storing including the common big data invaded including limiting object features, and connecing according to reconstruction
The comparison of net-fault 3-D effect and big data invade the identification of the type of limit object.
2. the device according to claim 1 suitable for the detection of contact net running environment safe condition, which is characterized in that also
Include GPS positioning module, GPS positioning module communication be connected to it is described invade limit object identification module, for positioning current ground
Location information is managed, and the result with invading limit object identification exports together.
3. the device according to claim 1 suitable for the detection of contact net running environment safe condition, which is characterized in that institute
Laser radar matrix is stated as 5 × 5 laser radar matrixes.
4. the device according to claim 3 suitable for the detection of contact net running environment safe condition, which is characterized in that every
The angle of five transversely arranged laser radars of row and horizontal plane is followed successively by 30 °, 60 °, 90 °, 120 °, 150 °.
5. the device according to claim 1 suitable for the detection of contact net running environment safe condition, which is characterized in that number
According to acquisition and processing module using the bis- processing structures of FPGA+DSP, wherein, FPGA is used for the generation of clock signal, signal acquisition core
The driving of piece, the transmitting-receiving of control command；And DSP is then mainly used for the extraction and processing of high speed signal.
6. it is connect using the device for being suitable for the detection of contact net running environment safe condition described in any of the above-described claim
The method of net-fault running environment safe condition detection, which is characterized in that include the following steps：
Radar on S1 laser radar matrixes quickly scans train overlying contact net position that may be present；
Data acquisition and processing module described in S2 receive the transmitting signal of each laser radar and echo letter on laser radar matrix
Number, the distance of contact net scanning cross-section and laser radar matrix is calculated, and judge the contact net scanning cross-section and laser radar
Whether the distance of matrix is within the scope of normally, if it is not, then illustrating that the contact net running environment abnormal phenomenon has generally
Rate occurs；
The contact net scanning cross-section and the distance of laser radar matrix that S3 data acquire and processing module is calculated are by contact net
Range data output module is transmitted to a cloud generation module；
Cloud generation module is put described in S4 according to the current contact net scanning cross-section that contact net range data output module transmits with swashing
The distance of optical radar matrix carries out a cloud generation, the contact net 3-D effect rebuild；
S5 invades limit object identification module and compares the contact net 3-D effect of reconstruction with the big data stored, identifies and invades
Limit the type of object and output.
7. according to the method described in claim 6, it is characterized in that, in step S5, current position is also positioned by GPS positioning module
Reason location information, which is sent to, invades limit object identification module, and the limit kind of object of invading obtained with identification exports together.
8. according to the method described in claim 6, it is characterized in that, step S2 is as follows：
2.1) it is modulating frequency to assume f, and N is the number of cycles of light wave two-way process,For total phase difference, then interval time t
It is also denoted as：
Then contact net scanning cross-section and the distance D of laser radar matrix are：
2.2) it definesFor measurement ruler or scale,For remaining ruler；
Then：
D=L (N+ Δ N)
Because L is known, only need that N and Δ N is obtained, so that it may learn target range D；Δ N can be obtained by measuring,
N=O, distance measurement result is unique at this time：
2.3) by above measuring and calculating, distance D has uniqueness, because railway contact running environment is relatively fixed, contact net and row
The distance of vehicle is under normal circumstances should be in fixed position section, when measured D values with the distance of laser radar matrix
Occur apparent abnormal, you can judge that contact net running environment abnormal phenomenon has probability.
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| CN110244320A (en) * | 2019-07-08 | 2019-09-17 | 四川艾德瑞电气有限公司 | Overhead contact line operating status intelligent checking system |
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| CN108181313B (en) | 2024-07-09 |
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