CN108225181A - A kind of pantograph detection device and method based on laser triangulation - Google Patents
A kind of pantograph detection device and method based on laser triangulation Download PDFInfo
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- CN108225181A CN108225181A CN201810008596.8A CN201810008596A CN108225181A CN 108225181 A CN108225181 A CN 108225181A CN 201810008596 A CN201810008596 A CN 201810008596A CN 108225181 A CN108225181 A CN 108225181A
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- pantograph
- line
- crank
- digital camera
- scan digital
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- 238000001514 detection method Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 60
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 36
- 229910052799 carbon Inorganic materials 0.000 claims description 33
- 241001125292 Balaena mysticetus Species 0.000 claims description 30
- 230000003137 locomotive effect Effects 0.000 claims description 14
- 238000009413 insulation Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 239000011810 insulating material Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 229910002804 graphite Inorganic materials 0.000 claims description 3
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- 239000007788 liquid Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims 1
- 238000005299 abrasion Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
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- 238000000429 assembly Methods 0.000 description 2
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- 238000007619 statistical method Methods 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
Abstract
The invention discloses a kind of pantograph detection devices and method based on laser triangulation, device is by power receiving device, bracket, transmission gear, crank block device, rotary conductive device, linear array diode laser, line-scan digital camera, PLC controller and host computer composition, power receiving device is engaged with transmission gear, crank block can be driven to move by PLC controller, power receiving device is caused to rotate, PLC controller sends the motion state of the transmission device of monitoring to host computer, show configuration picture, host computer also receives linear array diode laser and the power receiving device surface image of line-scan digital camera scanning, host computer can be passed through, the abrasion condition of the tubular contact surface of video camera observation net-fault power receiving device.
Description
Technical field
Slide plate adjustment and tourelle and side the present invention relates to the pantograph used in-orbit electrically-driven car roof
Method.
Background technology
Pantograph is a kind of mounted on electric traction machine roof, to obtain the electrical equipment of electric energy from contact net.Its
It is usually made of bow head part, hinge fraction, chassis and transmission mechanism, bow head part includes slide plate frame, on frame
Slide plate and frame both sides goat's horn, flowed by slide plate and contact line sliding contact.In order to ensure pantograph traction current
Smoothly circulate, the slide plate at the top of pantograph and necessary reliable contacts between the contact line of contact net, and have certain contact.
It advances however, pantograph is random overall height speed, contact line is slided always with respect to the slide plate at the top of pantograph during locomotive is advanced
It is dynamic, in the opposite sliding process of contact line and slide plate, friction can be generated to slide plate, be worn the conductive material on slide plate,
Once excessive wear, the contact between slide plate and contact line is insufficient, it is possible to generate accident between pantograph.In order to avoid bow net thing
Therefore generation, it is necessary to often the slide plate of pantograph is checked, once excessive wear, carry out in time drop bow enable it is spare by electricity
Bow.
At present, to the detection of pantograph abrasion situation, the method for use is also more original, first, by manually daily in locomotive
It is estimated when outbound and storage, efficiency is low, low precision.Second is that using the ultrasonic sensor being fixed on overhead
Send ultrasonic wave, by air transmit and be sent to low speed by pantograph carbon slide on, then ultrasonic reflections back to biography
On sensor, then according to the transmission time of ultrasonic wave and velocity of wave at that time, slide plate thickness is obtained after being computed, detects sled surface
Bumps and groove；Or be fixed on laser measurement system on overhead and send laser scanning beam, to low speed by pantograph
Carbon slipper is scanned or takes a picture, and then can check that slide plate transfinites and stepped mill, notch, warpage automatically by image procossing
Etc. abnormal phenomenon：Or be fixed on camera on overhead, camera system, to low speed by pantograph carbon slide taken a picture,
Then camera shooting can check that slide plate transfinites and the abnormal phenomenon such as stepped mill, notch, warpage automatically by image procossing.More than
Measuring device, which is mounted on, fixes on overhead, and the situation that can not be worn away to train pantograph slide plate carries out real-time, whole, dynamic monitoring.
Third, using the thang-kng performance of optical fiber, optical fiber type abrasion sensor is installed on pantograph carbon slide abrasion area, when
When abrasion generate, cause optical fiber breakdown, thang-kng performance impairment disappears, by the statistical analysis to multifiber break-make situation, gives
Go out the wearing valve of pantograph carbon slide.Cannot check slide plate transfinites and the abnormal phenomenon such as stepped mill, notch, warpage, can not
Do wear trend discriminatory analysis.
If if monitoring system is installed with vehicle, since pantograph pan contacts upward with contact line, it is difficult to from contact surface top
Monitor the abrasion condition of sled surface.
Invention content
More than the deficiencies in the prior art are based on, technical problem solved by the invention is to provide a kind of based on laser triangulation
The pantograph detection device and method of mensuration.For the main contact site for rotating pantograph with touching net, convenient for detection on locomotive carbon
Slide plate abrasion condition, and pantograph and the contact surface of net-fault line are changed by rotation, avoid accident between pantograph.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：It is a kind of based on laser triangulation
Pantograph detection method installs crank block device, linear array diode laser and line-scan digital camera on pantograph bracket, allows the linear array
The transmitting terminal of laser and the receiving terminal of line-scan digital camera are towards the pantograph lower surface, by the way that crank block device is allowed often to move
The m negative direction rotation for making the pantograph towards motor sport direction is primary, and the receiving terminal of the line-scan digital camera is saturating by receiving
Mirror receives pantograph lower surface and reflects linear laser image, generate enlarged drawing, line-scan digital camera to pantograph following table Surface scan
Collected enlarged drawing is transmitted to host computer, host computer obtains pantograph lower surface by carrying out analytic operation to enlarged drawing
Section wear data simultaneously carries out pantograph rotation control by PLC controller；Pantograph every revolution interlude T is：(by
Every section of radian rotational time t2 on the residence time t1+ pantograph rotation round of every section of radian on pantograph rotation round)=(locomotive
Total move distance S/ pantograph rotation rounds on average speed v of radian number the n)/locomotive in total move distance that divides equally；Line
Array camera sampling condition is：Every section of radian rotational time t2 is on pantograph rotation round：(m/n) × crank block device is often transported
Dynamic primary period t3；Whenever the radian number n=m/n divided equally on crank block device times of exercise/pantograph rotation round,
The line-scan digital camera sampling is primary.
Further, pantograph lower surface section wear data is collected more than the c after threshold values apart from the line-scan digital camera
After × T time, the pantograph every revolution interlude T is：Every section of radian rotational time t2 on pantograph rotation round；
C is rotated for the pantograph lower surface to the radian number needed for the contact surface of pantograph and contact line.
The present invention also provides a kind of pantograph detection device based on laser triangulation, including towards the pantograph
The linear array diode laser and line-scan digital camera of lower surface；The crank block that the negative direction for making the pantograph towards motor sport direction rotates
Device and transmission gear；The bracket of crank block device, linear array diode laser and line-scan digital camera is installed；Pantograph lower surface is analyzed to cut
The host computer of surface wear data；Control the PLC controller of the pantograph rotation and line-scan digital camera sampling；And power receiving device and rotation
Transduction electric installation；
Bracket include a pair of bow head for being equipped with jack, a pair of of the strut for connecting bow head, at least three of connection a pair of strut
Horizontal axis, the first conducting wire is connected with the metal spring leaf arranged in the jack in the bow head；
A pair of of transmission gear is mounted on by shaft on the strut, and the transmission gear is engaged with the power receiving device；
Crank block device is rotatablely connected by the first crank being rotatablely connected with transmission gear and the end of the first crank
Second crank, the V-baffle being fixed on a horizontal axis, the guide rod on another horizontal axis, socket second
The sliding block of crank and guide rod forms, and the connecting portion of first crank and transmission gear is not or not transmission gear center, and described second
Crank is flexibly connected the V-baffle vertex by hinge shaft, and the sliding block includes the casing and set that are slidably connected with the second crank
The moving portion of guide rod, moving portion are rotatablely connected with casing by hinge shaft, and stepper motor is equipped on the guide rod or sliding block, are used
In making second crank transmission gear rotation is driven around V-baffle vertex rotation；
Rotary conductive device is plugged on by fixed conductive contact in the jack in the bow head, and rotary conductive device is also set
There is the rotary conductive connector being connected to each other with the power receiving device；
Power receiving device is rotated or stopped automatically by the transmission gear between a pair of rotary conductive device to be plugged on
Roller only, by metallic core, connection metallic core both ends is a pair of by electric gear, the carbon shell group of socket metallic core respectively
Be equipped with the polygonal blind hole being connected to each other with the rotary conductive connector into, metallic core both ends of the surface, it is described by electric gear with
Transmission gear engagement is had a carbon item by adhesion on the rack of electric gear, and described by electric gear and the transmission gear number of teeth is n,
Pantograph rotation round is divided into n sections of radians；
Linear array diode laser and line-scan digital camera are separately fixed on two in three horizontal axis, the transmitting of linear array diode laser
The receiving terminal of end and line-scan digital camera is towards the power receiving device periphery, for scanning the power receiving device, the linear array laser
The intersection of the transmitting terminal of device and the receiving terminal of line-scan digital camera on power receiving device periphery is pushed up away from power receiving device periphery upper surface
The radian of point is c × 2 π/n；
PLC controller is used to monitor and control the position of sliding block in the crank block device, and the PLC controller is also controlled
Make the linear array diode laser and line-scan digital camera, the PLC controller also signal connection host computer；Host computer is described for showing
The configuration picture of PLC controller and the image of affiliated line-scan digital camera acquisition.
Further, the bow head is made of insulating materials, in the bow head back adhesion carbon brush item, the bow head end face
Equipped with the jack being connected to each other with the fixed conductive contact, the first conducting wire in the bow head leads to be formed outside bow head and be connect by electricity
Head.
Further, the transmission gear is made of insulating materials, and the transmission gear is socketed in shaft, the shaft
It is fixed on the strut, transmission gear is rotated for driving by electric gear.
It is described as a kind of preferred embodiment of the pantograph detection device of the present invention based on laser triangulation
Guide rod is connect with the stepper motor being fixed on a horizontal axis, and guide rod is positive and negative tooth ball screw；Stepper motor is used
It is rotated in drive leader, the moving portion of the socket guide rod is made to be moved along guide rod, causes be flexibly connected with described sleeve pipe second
Crank is rotated around V-baffle vertex.
By upper, the moving portion on the guide rod in one direction on shift motion be divided into m/2 sections, stepping electricity
For each revolution, the moving portion mobile m/2 on the guide rod is saved machine, the time cycle of the stepper motor for each revolution
For t3.
It is described as a kind of preferred embodiment of the pantograph detection device of the present invention based on laser triangulation
Stepper motor is installed in moving portion, and stepper motor causes to connect with described sleeve pipe activity for moving portion to be driven to move along guide rod
The second crank connect is rotated around V-baffle vertex.
Further, the rotary conductive device at least further include the fixed rotary conductive connector insulated rotary body,
The insulation crust of the fixed fixed conductive contact, sticks in the insulation at the bearing for being socketed in the insulated rotary external week
The graphite shell of shell periphery forms annular seal space, rotary conductive in the junction of insulated rotary body and insulation crust by sealing ring
Connector and fixed conductive contact are extended in annular seal space, are electrically connected by the liquid conduction medium in annular seal space, outside the insulation
Shell is fixed by bearing and insulated rotary body, and the rotary conductive connector and fixed conductive contact are polygon.
By upper, the stepper motor is equipped with grating encoder, and guide rod is equipped with grating scale, the PLC controller signal
Grating encoder and stepper motor are connected, for monitoring and controlling position of the moving portion on guide rod, is changed described by electricity
The scanned face of device.
Compared with prior art, the present invention it has an advantageous effect in that：
1. power receiving device is engaged with transmission gear, crank block device can be driven by PLC controller, lead moving portion edge
Bar moves, and casing is slided along the second crank, and the second crank of driving is rotated around V-baffle vertex, and the first crank is made to push driving cog
Wheel causes to be rotated by electric gear.
2. opposite contact line is slided after being contacted due to power receiving device with contact line, frictional force is generated therebetween, the friction
Power can also make the trend that the negative direction of the oriented pantograph direction of motion of power receiving device rolls, but due to driving power receiving device rotation
The moving portion of crank block device is socketed on guide rod, especially when guide rod is positive and negative nip drum ballscrew, when guide rod does not rotate,
Moving portion can not be moved freely along guide rod, play the role of self-locking power receiving device, without installing additional brake assemblies, will not be gone out
Existing brake assemblies abrasion, it is difficult to which the problem of braking enables power receiving device slightly to rotate, and accurately adjusts rotational angle.
3. for power receiving device under the indirect driving of stepper motor, running accuracy is high, stepper motor often rotates m/n circles, mobile
Portion mobile m/2 sections, power receiving device and transmission gear on guide rod just rotate 2 π/n degree, are equivalent to the radian for having rotated a tooth,
If the joint number m/2 that moving portion on guide rod moves in a single direction to be arranged to the multiple of transmission gear number of teeth n, control can be passed through
The rotating cycle of stepper motor processed accurately controls the rotation angle of power receiving device.
4.PLC controllers only monitor that position and driving moving portion of the moving portion on guide rod are moved along guide rod, feedback regulation
Circuit is simple, and without extra adjusting reaction time, the precision for making moving portion displacement is high.
5. rotary conductive device is used to being spread for pantograph being directed on locomotive conducting wire as locomotive power supply, PLC controller
Send the motion state of the transmission device of monitoring to host computer, show configuration picture, host computer also receive linear array diode laser and
The power receiving device surface enlarged drawing of line-scan digital camera scanning can observe the tubular of net-fault power receiving device by host computer, video camera
The abrasion condition of contact surface.
6.PLC controllers control battle array laser and line-scan digital camera scanning power receiving device surface, reduce data redundancy amount.
7. crank block device includes V baffles, in the direction of rotation by electric gear and crank block device around transmission gear
When the track of movement is opposite, i.e. the negative direction in pantograph towards motor sport direction rotates, and crank block device will not be in dead point card
Firmly.
8. when power receiving device wear extent is normal, PLC controller pantograph every revolution interval as described in claim 1
Time T Driving Stepping Motor intermittent rotary, control the uniform wear in locomotive total travel time of pantograph periphery.
9. when the power receiving device wear extent of certain section of radian is more than threshold values, collected under pantograph apart from the line-scan digital camera
After surface sections wear data is more than c × T time after threshold values, the frayed abnormal radian section of the pantograph rotate to
Contact line contacts, at this point, PLC controller pantograph every revolution interlude T drivings stepping electricity as described in claim 1
Machine intermittent rotary controls the uniform wear in locomotive total travel time of pantograph periphery, every section on T=pantograph rotation rounds
Radian rotational time t2=2 × t3；C is rotated for the pantograph lower surface to the arc needed for the contact surface of pantograph and contact line
The number of degrees, t3 are the time cycle of the stepper motor for each revolution.
Description of the drawings
Fig. 1 is a kind of structure diagram of the pantograph detection device based on laser triangulation of the present invention；
Fig. 2 is in a kind of structural representation enlarged drawing figure of the pantograph detection device based on laser triangulation of the present invention
Show power receiving device, rotary conductive device, bow head, transmission gear partial sectional view；
Fig. 3 is the A-A faces left view sectional view of Fig. 1 of the present invention；
Fig. 4 is the present invention a kind of transmission gear and crank block of the pantograph detection device based on laser triangulation
The motion state diagram of device；
Fig. 5 is the present invention a kind of transmission gear and song of pantograph detection device and method based on laser triangulation
The motion state diagram of handle slide block device；
Fig. 6 is a kind of controling circuit structure block diagram of the pantograph detection device based on laser triangulation of the present invention；
Fig. 7 is the present invention a kind of line-scan digital camera and linear array laser of the pantograph detection method based on laser triangulation
Device measures the schematic diagram of power receiving device；
Fig. 8 is the present invention a kind of line-scan digital camera and linear array laser of the pantograph detection method based on laser triangulation
Device measures the outline drawing of other objects.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained without making creative work
Example is applied, shall fall within the protection scope of the present invention.
Embodiment 1, as shown in Figs. 1-5, a kind of pantograph detection device and method based on laser triangulation, by by
Electric installation 1, bracket 3, transmission gear 41, crank block device 5, rotary conductive device 2, linear array diode laser 6, line-scan digital camera 9,
PLC controller 7 and host computer 8 form, bracket 3 include a pair of bow head 30 for being equipped with jack 39, a pair of of the strut 33 for connecting bow head,
At least three horizontal axis (36,37,38) of a pair of of strut 33 are connected, the first conducting wire 32 in the jack 39 with arranging in the bow head
Metal spring leaf 31 be connected, bow head 30 is made of insulating materials, at the bow head back adhesion carbon brush item 34, the bow head end
Face is equipped with the jack 39 that is connected to each other with the fixed conductive contact 22, and the first conducting wire 32 in the bow head leads to bow head shape
Into by electric connection 35.
Transmission gear 41 is mounted on by shaft 42 on the strut 33, the transmission gear 41 and the power receiving device 1
Engagement, transmission gear are made of insulating materials, and the transmission gear is socketed in shaft 42, and the shaft is fixed on the strut
On 33, transmission gear is rotated for driving by electric gear 11.The number of teeth of transmission gear is n=17, and transmission gear circumference is divided into
17 sections of radians.
Crank block device 5 by be rotatablely connected with transmission gear the first crank 51 (such as Fig. 2 hinge shafts of the present invention (61,
62,63,64), transmission gear passes through hinge shaft 61 and connects the first crank 51), be rotatablely connected with the end of the first crank it is second bent
Handle 52 (end of the first crank 51 connects the second crank 52 by hinge shaft 62), the V-type being fixed on a horizontal axis 37 are kept off
Plate 53, the guide rod 54 on another horizontal axis 36, the sliding block composition for being socketed the second crank and guide rod, described first is bent
For the connecting portion of handle and transmission gear not at transmission gear center, the second crank midpoint is flexibly connected the V by hinge shaft 63
Type baffle vertex 55, the sliding block include the casing 56 being slidably connected with the second crank 52 and cover the moving portion 57 of guide rod, move
Dynamic portion is rotatablely connected with casing by hinge shaft 64, described 54 one end of guide rod and the stepper motor being fixed on a horizontal axis 36
58 connections, guide rod are positive and negative tooth ball screw, and stepper motor rotates for drive leader, makes the moving portion 57 of the socket guide rod
It is moved along guide rod, the second crank 52 being flexibly connected with described sleeve pipe 56 is caused to be rotated around 53 vertex 55 of V-baffle.In Fig. 4-5
In, moving portion moves back and forth once on guide rod, and transmission gear rotates a circle, and guide rod is positive and negative tooth ball screw, if moving portion
The beginning and end moved on guide rod includes m/2 sections of screw threads, and the beginning and end that moving portion moves on guide rod is divided into m/2
It saves, m=34, then stepper motor rotates a circle per drive leader, and moving portion mobile 1 section, stepper motor on guide rod often drive and lead
Bar rotates 34 weeks, and transmission gear rotates a circle, then transmission gear often rotates one section in 17 sections of radians, and stepper motor need to rotate 2
Week=34/17.
Stepper motor 58 can also be arranged in moving portion 57, and moving portion 57 is being led grating scale by guide rod 54 last time straight line
Round-trip distance on bar is divided into m/2 sections, m=34.
Rotary conductive device 2 is plugged on by fixed conductive contact 22 in the jack 39 in the bow head 30, rotary conductive
Device is additionally provided with the rotary conductive connector 21 being connected to each other with the power receiving device, and rotary conductive device is at least further included described in fixation
The insulated rotary body 24 of rotary conductive connector 21, the fixed fixed conductive contact 22 insulation crust 25, be socketed in it is described absolutely
The bearing 23 of edge rotary body periphery, the graphite shell 26 for sticking in the insulation crust periphery, in insulated rotary body and insulation crust
Junction annular seal space 27 is formed by sealing ring 29, rotary conductive connector and fixed conductive contact are extended in annular seal space, are led to
The liquid conduction medium 28 for crossing sealing intracavitary is electrically connected, and the insulation crust is fixed by bearing and insulated rotary body, the rotation
Transduction electric connection and fixed conductive contact are polygon.
Power receiving device 1 is rotated automatically to be plugged between a pair of rotary conductive device 2 by the transmission gear 41
Or the roller stopped, by metallic core 10, connection metallic core both ends is a pair of by electric gear 11, socket metallic core respectively
Carbon shell 12 forms, and the metallic core both ends of the surface are equipped with the polygonal blind hole 13 being connected to each other with the rotary conductive connector, described
It is engaged by electric gear 11 with the transmission gear 41；There is carbon item 14 by adhesion on the rack of electric gear 11, if Fig. 4-5 is by electric gear
It is n=17 with the transmission gear number of teeth, pantograph rotation round is divided into 17 sections of radians, i.e., is often rotated 17 sections of arcs by electric gear 11
One section in degree, stepper motor need to rotate 2 weeks=34/17, moving portion moved back and forth on guide rod it is primary in beginning and end it
Between the number of teeth n of the total joint number m of screw thread that is included and transmission gear, the number of teeth by electric gear can also be other numerical value, by electric tooth
The multiple that the number of teeth of wheel is differed with m is bigger, then is often rotated one section of radian by electric gear, and stepper motor needs the circle that drive leader rotates
Number is more.Similarly the tie point of the second crank and V baffles is nearer away from the first crank, then is often rotated one section of radian by electric gear, step
The number of turns that stepper motor needs drive leader to rotate is more.
Such as Fig. 6, stepper motor 58 is equipped with grating encoder 71, and guide rod 54 is equipped with grating scale, the PLC controller letter
Number connection grating encoder and stepper motor, for monitoring and controlling position of the moving portion on guide rod, corresponding to receptor site
The rotation angle of gear changes the scanned face of the power receiving device.
Such as Fig. 3, linear array diode laser 6 and line-scan digital camera 9 are separately fixed on two in three horizontal axis (36,38),
The transmitting terminal of linear array diode laser and the receiving terminal of line-scan digital camera are towards the 1 periphery lower surface of power receiving device, for scanning
State power receiving device 1, the scanning plane of the transmitting terminal of linear array diode laser and the receiving terminal of line-scan digital camera on power receiving device periphery away from
The radian of power receiving device periphery upper table vertex of surface is the π/17 of c × 2, and c is datum, in figs. 3-5 c=9, such as Fig. 6, PLC controls
Device 7 processed is used to monitor and control the position of the middle sliding block 57 of the crank block device 5, described in the PLC controller 7 also controls
Linear array diode laser 6 and line-scan digital camera 9, the PLC controller also signal connection host computer 8, host computer are used to show the PLC controls
The configuration picture of device processed and the image of affiliated line-scan digital camera acquisition.
As illustrated in figures 4-5, to be passed in the present invention a kind of pantograph detection device and method based on laser triangulation
Moving gear 41 and slider-crank mechanism rotate the schematic diagram of one week, install the traffic direction court of the locomotive of pantograph detection device
A left side after power receiving device 1 contacts contact line, rotates clockwise, then transmission gear 41 is in the work of frictional force under the action of frictional force
Have the tendency that rotating counterclockwise under, when the second crank 52 rotates supreme lower block side around 53 vertex of V-baffle, the first crank
51 are respectively at the position of bottom dead centre, but since transmission gear 41 has the tendency that rotating counterclockwise under the action of frictional force,
61 points of first crank, 51 upper end hinge shaft is by power vertically in the same direction with the first crank and with transmission gear rolling tangential direction, therefore
61 points of one crank, 51 upper end hinge shaft easily passes through dead-centre position.
A kind of pantograph detection method based on laser triangulation, such as Fig. 7, allow linear array diode laser 6 transmitting terminal and
The receiving terminal of line-scan digital camera 9 is towards the pantograph lower surface (lower surface of carbon shell 12), and the receiving terminal of line-scan digital camera 9 is by connecing
Lens 92 are received to pantograph following table Surface scan, pantograph lower surface is received and reflects linear laser image, generate enlarged drawing, line
Collected enlarged drawing is transmitted to host computer by array camera (linear ccd array 91), and the focal length of lens is a, and carbon shell 12 is in lens
Two focus length 2a within, the normal of lens 92 is parallel with the vertical line of power receiving device 1, is with the center (x0, y0) of lens 92
Origin, the normal of lens is x-axis, and the line perpendicular to lens normal and mistake origin is y-axis, coordinate system is established, when carbon shell is not worn
When, (in side view 7) linear array diode laser 6 projects laser at carbon shell surface (x1, y1), lens 92 is then reflexed to, through saturating
It is formed at (x1 ', the y1 ') of linear ccd array 91 that 2 points (x0, y1) of mirror 92 and (x0, y0) refraction is intersected in line-scan digital camera 9
Picture, when carbon shell wears up to threshold values, (in side view 7) linear array diode laser 6 projects laser at carbon shell surface (x3, y3), so
For back reflection to lens 92,2 points (x0, y3) and (x0, y0) refraction through lens 92 is intersected in the linear ccd array of line-scan digital camera 9
91 (x3 ', y3 ') at, when carbon shell is worn but does not wear up to threshold values, (in side view 7) linear array diode laser 6 projection laser arrives
At carbon shell surface (x2, y2), lens 92 are then reflexed to, two through lens 92 point (x0, y2) and (x0, y0) refraction are intersected in line
The linear ccd array 91 of array camera 9 (x2 ', y2 ') at, amplification principle is reflected according to lens,
(- x1/x1 ')=(y1/-y1 ')=(a/ (x1 '-a)),
X1 '=ax1/ (a+x1),
Y1 '=y1x1 '/x1=y1ax1/ (x1 (a+x1))=y1a/ (a+x1)；
(- x2/x2 ')=(y2/-y2 ')=(a/ (x2 '-a)),
X2 '=ax2/ (a+x2),
Y2 '=y2x2 '/x2=y2ax2/ (x2 (a+x2))=y2a/ (a+x2)；
(- x3/x3 ')=(y3/-y3 ')=(a/ (x3 '-a)),
X3 '=ax3/ (a+x3),
Y3 '=y3x3 '/x3=y3ax3/ (x3 (a+x3))=y3a/ (a+x3)；
X1, x2, x3 are negative value, i.e., (x1, y1) is amplified a/ (a+x1) times, and (x2, y2) is amplified a/ (a+x2) times,
(x3, y3) is amplified a/ (a+x3) times, and (x1, y1) and (x3, y3) is it is known that can be in installation line-scan digital camera and linear array diode laser
Artificial calibration afterwards, host computer can obtain carbon by carrying out analytic operation to amplified image according to the coordinate of picture (x2 ', y2 ')
After shell 12 is worn, linear array diode laser projects the position (x2, y2) of 12 lower surface of carbon shell, calculates the wearing depth of carbon shell 12, i.e.,
The distance of (x1, y1) and (x2, y2).
12 original depth of carbon shell is 10mm, when host computer 8 receives 9 collected enlarged drawing of line-scan digital camera, through analysis
After find, linear array diode laser projection laser rays on, when the distance of (x1, the y1) and (x2, y2) at any place reaches 3mm, that is, grind
When damaging 3mm, it is impossible to the carbon shell of this section of radian be made to be contacted for a long time with contact line again and continue to wear.
The rotation that pantograph (carbon shell 12) is carried out by PLC controller controls；Carbon shell 12 is with by electric 11 every revolution of gear
Interlude T is：(every section of radian on the residence time t1+ pantograph rotation round of every section of radian on pantograph rotation round
Rotational time t2)=(radian number the n)/locomotive divided equally on total move distance S/ pantograph rotation rounds of locomotive total movement away from
From interior average speed v, n=17；
Line-scan digital camera sampling condition is：Every section of radian rotational time t2 is on pantograph rotation round：(m/n) × slide crank
Block assembly often moves primary period t3 (i.e.), m=34,
T2=2 × t3；
It is described whenever the radian number n=m/n=2 divided equally on crank block device times of exercise/pantograph rotation round
Line-scan digital camera sampling is primary.
The scanning plane of the transmitting terminal of linear array diode laser and the receiving terminal of line-scan digital camera on power receiving device periphery is away from by electricity
The radian of device periphery upper table vertex of surface is the π/17 of c × 2, and c is datum, in figs. 3-5 c=9, if the line-scan digital camera is adopted
Collect pantograph lower surface section wear data more than threshold values 3mm, i.e., on the laser rays of linear array diode laser projection, any place
When the distance of (x1, y1) and (x2, y2) reach 3mm, that is, when wearing 3mm, it is impossible to make the carbon shell of this section of radian again with contacting line length
Time contact continues to wear.Then after 9 carbon shells 12 by electric gear with being rotated a circle, i.e. after 9 × T time, carbon shell 12 is with by electricity
11 every revolution interlude T of gear is；Every section of radian rotational time on pantograph rotation round
T2=2 × t3
The line-scan digital camera of the present invention selects C4-1280-GigE molded line array cameras, resolution ratio 1280 (H) × 1024 (V), frame
The profile that rate 500, largest contours frequency 72k, C4-1280-GigE molded line array camera and linear array diode laser measure other objects shows
It is intended to as shown in Figure 8.
Only presently preferred embodiments of the present invention is explained in detail above, but the present invention is not limited to above-described embodiment,
Within the knowledge of a person skilled in the art, it can also be made under the premise of present inventive concept is not departed from each
Kind variation, various change should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of pantograph detection method based on laser triangulation, which is characterized in that installed on pantograph bracket bent
Handle slide block device, linear array diode laser and line-scan digital camera, allow the transmitting terminal of the linear array diode laser and the receiving terminal court of line-scan digital camera
To the pantograph lower surface, make the pantograph towards the anti-of motor sport direction by the way that crank block device is allowed often to move m times
Direction rotates once, and the receiving terminal of the line-scan digital camera, to pantograph following table Surface scan, is received under pantograph by receiving lens
Surface reflects linear laser image, generates enlarged drawing, collected enlarged drawing is transmitted to host computer by line-scan digital camera, upper
Machine by enlarged drawing carry out analytic operation obtain pantograph lower surface section wear data and pass through PLC controller carry out by
Pantograph rotation control；Pantograph every revolution interlude T is：(the residence time of every section of radian on pantograph rotation round
Every section of radian rotational time t2 on t1+ pantograph rotation rounds)=(on total move distance S/ pantograph rotation rounds of locomotive
Average speed v of radian number the n)/locomotive divided in total move distance；Line-scan digital camera sampling condition is：Pantograph rotation round
Upper every section of radian rotational time t2 is：(m/n) × crank block device often moves primary period t3；Whenever crank block device
During the radian number n=m/n divided equally on times of exercise/pantograph rotation round, the line-scan digital camera sampling is primary.
2. the pantograph detection method based on laser triangulation as described in claim 1, which is characterized in that described in distance
After line-scan digital camera collects pantograph lower surface section wear data more than c × T time after threshold values, every turn of the pantograph one
Enclosing interlude T is：Every section of radian rotational time t2 on pantograph rotation round；C for the pantograph lower surface rotate to
Radian number needed for the contact surface of pantograph and contact line.
3. a kind of pantograph detection device based on laser triangulation, which is characterized in that including towards under the pantograph
The linear array diode laser and line-scan digital camera on surface；The slide crank that the negative direction for making the pantograph towards motor sport direction rotates is packaged
It puts and transmission gear；The bracket of crank block device, linear array diode laser and line-scan digital camera is installed；Analyze pantograph lower surface section
The host computer of wear data；Control the PLC controller of the pantograph rotation and line-scan digital camera sampling；And power receiving device and rotation
Electric installation；
Bracket include a pair of bow head for being equipped with jack, a pair of of the strut for connecting bow head, connection a pair of strut at least three horizontal axis,
The first conducting wire is connected with the metal spring leaf arranged in the jack in the bow head；
A pair of of transmission gear is mounted on by shaft on the strut, and the transmission gear is engaged with the power receiving device；
Crank block device by be rotatablely connected with transmission gear the first crank, with the first crank end is rotatablely connected second
Crank, the V-baffle being fixed on a horizontal axis, the guide rod on another horizontal axis, the second crank of socket
It is formed with the sliding block of guide rod, the connecting portion of first crank and transmission gear is not in transmission gear center, second crank
The V-baffle vertex is flexibly connected by hinge shaft, the sliding block includes the casing being slidably connected with the second crank and socket is led
The moving portion of bar, moving portion are rotatablely connected with casing by hinge shaft, and stepper motor is equipped on the guide rod or sliding block, for making
Second crank drives the transmission gear rotation around V-baffle vertex rotation；
Rotary conductive device is plugged on by fixed conductive contact in the jack in the bow head, rotary conductive device be additionally provided with
The rotary conductive connector that the power receiving device is connected to each other；
Power receiving device is to be plugged between a pair of rotary conductive device to rotate or stop automatically by the transmission gear
Roller, by metallic core, a pair of carbon shell by electric gear, socket metallic core at connection metallic core both ends forms respectively, institute
It states metallic core both ends of the surface and is equipped with the polygonal blind hole being connected to each other with the rotary conductive connector, it is described by electric gear and the biography
Moving gear engages, and is had a carbon item by adhesion on the rack of electric gear, and described by electric gear and the transmission gear number of teeth is n, will be by electricity
Bow rotation round is divided into n sections of radians；
Linear array diode laser and line-scan digital camera are separately fixed on two in three horizontal axis, the transmitting terminal of linear array diode laser and
The receiving terminal of line-scan digital camera is towards the power receiving device periphery, the reception of the transmitting terminal and line-scan digital camera of the linear array diode laser
It is c × 2 π/n to hold radian of the intersection away from power receiving device periphery upper table vertex of surface on power receiving device periphery；
PLC controller is used to monitor and control the position of sliding block in the crank block device, and the PLC controller also controls institute
State linear array diode laser and line-scan digital camera, the PLC controller also signal connection host computer；
Host computer is used to show the configuration picture of the PLC controller and the image of affiliated line-scan digital camera acquisition.
4. the pantograph detection device based on laser triangulation as claimed in claim 3, which is characterized in that the bow head
It is made of insulating materials, in the bow head back adhesion carbon brush item, the bow head end face is equipped with and the fixed conductive contact phase
The jack of docking, the first conducting wire in the bow head lead to outside bow head and are formed by electric connection.
5. the pantograph detection device based on laser triangulation as claimed in claim 3, which is characterized in that the transmission
Gear is made of insulating materials, and the transmission gear is socketed in shaft, and the shaft is fixed on the strut, transmission gear
It is rotated for driving by electric gear.
6. the pantograph detection device based on laser triangulation as claimed in claim 3, which is characterized in that the guide rod
One end is connect with the stepper motor being fixed on a horizontal axis, and guide rod is positive and negative tooth ball screw；Stepper motor is used to drive
Dynamic guide rod rotation, makes the moving portion of the socket guide rod be moved along guide rod, causes the second crank being flexibly connected with described sleeve pipe
It is rotated around V-baffle vertex.
7. the pantograph detection device based on laser triangulation as claimed in claim 3, which is characterized in that the stepping
Motor is installed in moving portion, and stepper motor causes what is be flexibly connected with described sleeve pipe for moving portion to be driven to be moved along guide rod
Second crank is rotated around V-baffle vertex.
8. such as pantograph detection device of the claim 6-7 any one of them based on laser triangulation, which is characterized in that
The moving portion on the guide rod in one direction on shift motion be divided into m/2 section, the stepper motor for each revolution,
The moving portion mobile m/2 sections, the time cycle of the stepper motor for each revolution on the guide rod are t3.
9. the pantograph detection device based on laser triangulation as claimed in claim 3, which is characterized in that the rotation
Electric installation at least further includes the insulation of the insulated rotary body, the fixed fixed conductive contact of the fixed rotary conductive connector
Shell, the bearing for being socketed in the insulated rotary external week, the graphite shell for sticking in the insulation crust periphery, in insulated rotary
The junction of body and insulation crust forms annular seal space by sealing ring, and rotary conductive connector and fixed conductive contact extend to sealing
Intracavitary is electrically connected by the liquid conduction medium in annular seal space, and the insulation crust is fixed by bearing and insulated rotary body, institute
It is polygon to state rotary conductive connector and fixed conductive contact.
10. the pantograph detection device based on laser triangulation as claimed in claim 3, which is characterized in that the step
Stepper motor is equipped with grating encoder, and guide rod is equipped with grating scale, the PLC controller signal connection grating encoder and stepping
Motor for monitoring and controlling position of the moving portion on guide rod, changes the scanned face of the power receiving device.
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| CN201810008596.8A CN108225181B (en) | 2018-01-04 | 2018-01-04 | Pantograph detection device and method based on laser triangulation method |
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| CN201810008596.8A CN108225181B (en) | 2018-01-04 | 2018-01-04 | Pantograph detection device and method based on laser triangulation method |
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