CN108594247A - A kind of railway contact net measuring method and apparatus based on bidifly optical scanning - Google Patents
A kind of railway contact net measuring method and apparatus based on bidifly optical scanning Download PDFInfo
- Publication number
- CN108594247A CN108594247A CN201810179428.5A CN201810179428A CN108594247A CN 108594247 A CN108594247 A CN 108594247A CN 201810179428 A CN201810179428 A CN 201810179428A CN 108594247 A CN108594247 A CN 108594247A
- Authority
- CN
- China
- Prior art keywords
- contact net
- high frequency
- distance measuring
- frequency lasers
- measuring sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of railway contact net measuring methods based on bidifly optical scanning, including, high frequency lasers distance measuring sensor is corrected, its optical axis is made to be located on vertical direction；Driving high frequency lasers distance measuring sensor is scanned in the plane perpendicular to contact net, obtains the distance range of contact net and the range of deflection angles of laser beam axis；High-precision laser range sensor is corrected, its optical axis is made to be located on vertical direction；It drives high-precision laser range sensor to be scanned in the distance range and/or angular range, obtains the effective distance of contact net and effective deflection angle of laser beam axis；Calculated using effective distance and effective deflection angle obtain contact net lead high and stagger.Invention additionally discloses a kind of railway contact net measuring devices based on bidifly optical scanning.Invention significantly improves the measurement accuracy of contact net core geometric parameter, dramatically reduce the work load of operator, improve contact net measuring work production efficiency.
Description
Technical field
The invention belongs to rail line maintenance areas, and in particular to a kind of railway contact line based on bidifly optical scanning
Measurement method and device.
Background technology
In recent years, with the fast development of China's high-speed electric railway construction, railway system's safety problem is increasingly aobvious
It writes.Wherein, as the important component of the railway system, contact net is in electric railway, along rail overhead "the" shape
It sets up, the high voltage transmission line of stream is taken for pantograph, kept at a distance from 5~7m generally between rail.Contact net is along electrical
The supply line for the special shape that change railway, urban transportation electric vehicle working line are set up.Electric energy from traction substation
By contact net and mounted in a vehicle pantagraph current collector to electric locomotive or electric vehicle power supply.Usually require that contact net in any meteorology
Factor (ice, wind, rain, snow etc.) and maximum operational speed are descended and can guarantee safe power supply, and have good wear-resisting, anticorrosive, electric damage
Consume the performances such as small.
Since contact net is the transmission line of electricity of outdoor layout, no extension wire can be replaced at any time.During use,
Inevitably exposed to the weather, the extremely cold influence for waiting weather conditions of high temperature.Along with the load in the contact line of contact net
Constantly to change with the operation of electric locomotive again, locomotive by when contact with pantograph generation abrasion, detract making for contact net
With the service life, the normal operation of contact net is influenced.The normal operation of contact net directly influences the stability of railway transportation, if iron
Road traffic interruptions, it is most outstanding to influence exactly to bring high loss to the country and people in the time and economically.Therefore it protects
The good operation for demonstrate,proving contact net is the premise for maintaining railway transportation to run well.In order to ensure the reliable use of contact net system
Time, it is necessary to periodic examination and maintenance be carried out to contact net, find and eliminate safe hidden present in contact net in time
Suffer from.In fact, the geometric parameter of contact net directly affects the current carrying quality of electric locomotive, or even influence the traveling peace of locomotive
Entirely, most important one is exactly the detection for leading the geometric parameters such as height, stagger of contact line conducting wire.
Currently, there are two types of modes for detection of China's electric railway to contact net geometric parameter：A kind of mode is by inspection
Locomotive inspection is surveyed, is involved great expense, and since detection railcar body product is huge, assembly, setting are complicated, and the on-line checking time needs to unite
One scheduling, it is in practical application to have inconvenience more；Another way is existing general measure instrument, and this measuring instrument relies on artificial hand
Dynamic adjust is aimed at, and manually completes measurement, such as DJJ-8 digitalized laser wave contant net measuring instruments, measurement efficiency and measurement accuracy are equal
It is relatively low, it is difficult to meet the demand for development of high speed railway track measurement.Being detected to contact net by general measure instrument mainly has
Two kinds of ways of realization：One is manual measurement, the manually rotation of adjusting control laser range finder, works as feux rouges in measurement process
When being directed at contact net, measuring command is triggered, completes one-shot measurement；Another kind is measured using camera, such as patent document
Railway contact net measuring device disclosed in CN 200520125251.9 and CN 200510045433.X is all to utilize camera
On a display screen by contact net imaging, when being directed at contact net by camera looks into fee to feux rouges, you can triggering measures.In practice,
It is either still measured using camera using manual measurement, all there is certain deficiency, such as the alignment of feux rouges and contact net
Situation height relies on the qualification and working experience of operator, and measurement accuracy is unstable；Either human eye is directed pointing still
Camera aims at, and under outdoor intense light conditions, light stimulates greatly human eye, so that operator is easy tired, and production efficiency declines etc..This
It is insufficient a bit greatly to be influenced in the presence of the accuracy and efficiency that make existing contact net measuring, increase rail line
Operation with safeguard difficulty.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of railways based on bidifly optical scanning
Contact net measuring method, at least partly solves the above problem.Technical solution of the present invention utilizes pulse type laser distance measuring sensor
With angular encoder quick lock in contact net position, using phase laser distance measurement sensor and angular encoder completion lead it is high and
Stagger measures, and not only greatly improves contact net geometric parameter measurement precision, also achieves key measurement, significantly reduces behaviour
The work load of author is greatly promoted the progress of railway contact net measuring method.
To achieve the goals above, it according to a purpose of technical solution of the present invention, provides one kind and is swept based on double excitation
The railway contact net measuring method retouched, which is characterized in that including,
High frequency lasers distance measuring sensor and high-precision laser range sensor are placed within the scope of contact net certain distance by S1；
S2 is corrected high frequency lasers distance measuring sensor, its optical axis is made to be located on vertical direction；High frequency lasers are driven to survey
Be scanned in the plane perpendicular to contact net away from sensor, obtain contact net distance range and laser beam axis it is inclined
Gyration range；
S3 is corrected high-precision laser range sensor, its optical axis is made to be located on vertical direction；Drive high-precision Laser Measuring
It is scanned in the distance range and/or angular range away from sensor, obtains the effective distance and laser light of contact net
Effective deflection angle of axis；
S4 calculated using effective distance and effective deflection angle obtain contact net lead high and stagger.
One as technical solution of the present invention is preferred, it is preferable to use no less than one group of effective distance and effectively in step S4
Deflection angle calculating acquisition contact net leads high and stagger.
Preferably as one of technical solution of the present invention, step S2 includes,
S21 is corrected high frequency lasers distance measuring sensor, its optical axis is made to be located on vertical direction；
S22 selectes an angular deflection positive direction, optical axis unbiased in plane where optical axis, perpendicular to contact net
Deflection angle is denoted as zero when turning；
S23 driving high frequency lasers distance measuring sensors are scanned in the plane perpendicular to contact net, recording laser capture
To real-time range when contact net between high frequency lasers distance measuring sensor and contact net, and the real-time deflection angle of optical axis at this time
Degree；
S24 determines distance range of the high frequency lasers distance measuring sensor apart from contact net according to real-time range；According to inclined in real time
Gyration determines the range of deflection angles for the laser that high frequency lasers distance measuring sensor is emitted.
Preferably as one of technical solution of the present invention, step S3 includes,
S31 is corrected high frequency lasers distance measuring sensor, its optical axis is made to be located on vertical direction；
S32 adjusts high frequency lasers distance measuring sensor in the range of deflection angles of laser and/or the distance range of contact net
It is scanned, measures the effective distance of one group of contact net and/or effective deflection angle of laser beam axis；
S33 driving high frequency lasers distance measuring sensors take multiple measurements, and obtain the effective distance of multigroup contact net and/or swash
Effective deflection angle of light optical axis.
Preferably as one of technical solution of the present invention, the working frequency preferably 50 of high frequency lasers distance measuring sensor~
200Hz。
Preferably, the working frequency of high frequency lasers distance measuring sensor is preferably that high frequency swashs to one as technical solution of the present invention
The 1/20~1/10 of ligh-ranging working sensor frequency.
Preferably, high frequency lasers distance measuring sensor and high frequency lasers distance measuring sensor are excellent by one as technical solution of the present invention
Gated stepper motor driving.
To achieve the goals above, it according to a purpose of technical solution of the present invention, provides one kind and is swept based on double excitation
The railway contact net measuring device retouched, including high frequency lasers distance measuring sensor, high frequency lasers distance measuring sensor, angular encoder,
Stepper motor and data processing unit, which is characterized in that
The high frequency lasers distance measuring sensor, high frequency lasers distance measuring sensor are connected with stepper motor respectively, in stepping
Emit laser according to certain frequency under the driving of motor, to high frequency lasers distance measuring sensor and/or high frequency lasers distance measuring sensor
The distance between contact net measures；
The angular encoder is separately connected with the high frequency lasers distance measuring sensor and high frequency lasers distance measuring sensor, is used
It is corresponding when recording high frequency lasers distance measuring sensor and/or high frequency lasers distance measuring sensor measures the distance between itself and contact net
The deflection angle of laser beam axis；
The data processing unit is received to be measured from high frequency lasers distance measuring sensor and/or high frequency lasers distance measuring sensor
The corresponding angle of distance and the angular encoder record of gained, and it is handled, obtain contact net leads high and/or drawing
Go out value.
One as technical solution of the present invention is preferred, and high frequency lasers distance measuring sensor preferably includes two optical windows,
It is respectively used to send and receive laser pulse.
Preferably as one of technical solution of the present invention, high-precision laser range sensor it is preferable to use an optical window into
Row laser pulse sends and receives.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit：
(1) the railway contact net measuring method and apparatus provided by the invention based on bidifly optical scanning, by that will have height
The quick scanning survey of pulse type laser sensor of sample frequency is combined with High-precision angle encoder, can quick lock in connect
The spatial position of net-fault, substantially reduces the alignment time, and measuring speed is fast；
(2) the railway contact net measuring method and apparatus provided by the invention based on bidifly optical scanning, by using with
High-precision phase type laser sensor is in contact net spatial proximity small range scanning survey, with High-precision angle encoder
It is combined, can accurately measure space length and the spatial deflection angle of contact net, measurement accuracy and accuracy are high；
(3) the railway contact net measuring method and apparatus provided by the invention based on bidifly optical scanning, are swept by specialization
The collaborative work of Survey Software and the hardware of laser ranging module, sweep mechanism and data processing unit is retouched, realizes full rotation type
One key measures operation, substantially mitigates the work load of operating personnel, improves and measures operating efficiency；
(4) the railway contact net measuring method and apparatus provided by the invention based on bidifly optical scanning, structure and principle
Simply, it is easy to accomplish, the measurement efficiency of contact net geometric parameter can be effectively improved, maintenance, the maintenance cost of contact net are reduced,
Connect the operation for reducing Rail Transit System, maintenance cost.
Description of the drawings
Fig. 1 is the principle schematic that railway contact net measuring method is realized based on bidifly optical scanning of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram that railway contact net measuring device is realized based on bidifly optical scanning of the embodiment of the present invention.
In all the appended drawings, same reference numeral indicates identical structure and part, wherein：1- laser scanning and rangings
Module, 2- decelerations mechanism, 3- High-precision angle encoders, 4- data processing units, 5- motor drivers, 6- install bottom
Plate, the 7- supports of bearing, 8- data-interfaces, 9- stepper motors, 101- phase laser distance measurement sensors, 102- pulseds
Laser range sensor.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Conflict is constituted to can be combined with each other.
Specifically, it is illustrated in figure 2 in a preferred embodiment of the invention and railway contact is realized based on bidifly optical scanning
Net measuring device structural schematic diagram, including laser scanning measurement module 1, deceleration mechanism 2, High-precision angle encoder 3, number
According to processing unit 4, motor driver 5, mounting base 6, the support of bearing 7, data-interface 8 and stepper motor 9 etc., wherein laser
Scanning survey module 1 includes phase laser distance measurement sensor 101 and pulse type laser distance measuring sensor 102.
In the present embodiment, as shown in Fig. 2, each knot of railway contact net measuring device should be realized based on bidifly optical scanning
Structure component is set on mounting base 6, and two pieces of supports of bearing 7 being mutually parallel are vertically fixed on mounting base 6, and composition is whole
The inversion π shape skeleton structures of a system.Further, the right side support of bearing section below hollow out, so as to motor driver 5
Below the support of bearing of right side, 5 top of motor driver installation data processing unit 4 and high-precision angle successively from top to bottom
Degree encoder 3, i.e. High-precision angle encoder 3, data processing unit 4 and motor driver 5 are relative to mounting base by remote
And nearly arrangement installation.Correspondingly, what the left side side support of bearing installed from top to bottom is deceleration mechanism 2 and stepper motor 9, that is, walk
Stepper motor 9 is mounted on mounting base 6, and deceleration mechanism 2 is located at stepper motor 9 far from 6 side of mounting base.Two pieces are mutually parallel
The support of bearing 7 on offer bearing hole, a rotary shaft through two pieces of supports of bearing 7 surveys deceleration mechanism 2, laser scanning
Amount module 1 and High-precision angle encoder 3 connect so that the output shaft of deceleration mechanism 2 can drive laser scanning measurement
The code-disc synchronous rotary of module 1 and High-precision angle encoder 3.
In the present embodiment, laser scanning and ranging module 1 includes realizing the pulse type laser distance measuring sensor of high speed ranging
102, the phase laser distance measurement sensor 101 of precision distance measurement is realized and for installation and two distance measuring sensors of solid
Mechanical structure and shell.In the present embodiment, pulse type laser distance measuring sensor 102 preferably includes two optical windows, one
Range laser emitter window and an echo reception window, phase laser distance measurement sensor 101 preferably pass through the same transmitting laser
It is the same window with echo is received.In structure, above-mentioned phase laser distance measurement sensor 101 and/or pulse type laser are surveyed
It is preferably installed by positioning pin away from sensor 102, ensures that the transmitting light optical axis of two sensors can keep being mutually parallel, vertically
While rotary shaft and with rotary shaft in the same plane, to ensure during one-shot measurement, when the two measures virtual value,
Deflection angle approximately equal.In the present embodiment, pulse type laser distance measuring sensor 102 and phase laser distance measurement sensor 101
It is preferable to use the cables of tail portion to be connected to data processing unit 4 by hollow rotary shaft so that data processing unit can be right
Its collected data is handled.
Preferably, pulse type laser distance measuring sensor 102 has higher sample frequency to one as the present embodiment, can
The effective distance value of contact net is quickly scanned and measures, range accuracy is relatively low, but is enough to differentiate contact net and other objects, this
Kind of high frequency, low precision measurement method enable the position of 102 quick lock in contact net of pulse type laser distance measuring sensor.Phase
It answers, 101 range accuracy of phase laser distance measurement sensor is high, but its sample frequency is relatively low, so needing to be swashed according to pulsed
The slow scanning survey of contact net position small range that ligh-ranging sensor 102 locks, phase laser distance measurement sensor 101 are accurate
While measuring contact net space length, High-precision angle encoder records the spatial position deflection angle of contact net.That is,
In the present embodiment, pulse type laser distance measuring sensor 102 executes the task of quickly positioning contact net, obtains contact net position model
It encloses, phase laser distance measurement sensor 101 executes further accurate measurement task in the contact net position range, while high
Precision angular encoder notes down the spatial position deflection angle of contact net.
In the present embodiment, mounting base 6 is the reference for installation of system all parts, meanwhile, the bottom of mounting base 6 is preferred
It is also reserved with mechanical interface, is surveyed for bidifly optical scanning railway contact net measuring device and the standard-gauge rail of technical solution of the present invention
Amount vehicle carries out installation docking.When installation, the rotation of the bidifly optical scanning railway contact net measuring apparatus system of technical solution of the present invention
Shaft is preferably parallel to the direction of advance (being parallel to train direction of travel) of rail, the bidifly optical scanning of technical solution of the present invention
After railway contact net measuring device completes one-shot measurement below some contact net anchor point, control terminal is by the pull-out to measuring
It is worth and leads high parameter and achieve, then promoting standards rail measures vehicle to next contact net anchor point, repeats to next fixed
Contact net measures at site, obtains one group of new numerical value.
That is, the railway contact net measuring device based on bidifly optical scanning of the present embodiment, including high frequency lasers are surveyed
Away from sensor, high-precision laser range sensor, angular encoder and data processing system and control system.In use, first making
The position that contact net is captured with high frequency lasers distance measuring sensor, records the position that angular encoder measurement at this time obtains, then
High-precision laser range sensor is adjusted to the approximate angle, the position and angle of contact net are further measured with lower frequency
Degree.The contact net distance of gained is measured using high-precision laser range sensor and angle leads high and stagger survey as contact net
Amount basis.Due to can be calculated according to effective distance and effective deflection angle obtain contact net lead high and stagger, above-mentioned meter
Calculate acquisition modes has general equation in the art, belongs to technology contents known in the industry, details are not described herein.
A kind of railway contact net measuring method based on bidifly optical scanning is additionally provided in the present embodiment.With reference to specific
Step illustrates,
Step 1：Zero is corrected to high frequency lasers distance measuring sensor so that the optical axis of high frequency lasers distance measuring sensor and
The optical axis of high frequency lasers distance measuring sensor is placed vertically, perpendicular to horizontal plane；An angle is being selected in the plane just in optical axis
Direction, when measuring optical axis in the vertical direction, deflection angle is denoted as zero degree.In the present embodiment, the light of high frequency lasers distance measuring sensor
Axis is preferably in the plane intrinsic deflection perpendicular to contact net to be measured, to improve the probability of the position of capture contact net；
Step 2：High frequency lasers distance measuring sensor is driven to be carried out in a certain range in the plane perpendicular to contact net fast
Speed scans, preferably -15 °~+15 ° of measurement range in the present embodiment；Contact net is positioned, while recording measurement and obtaining
Contact net to measuring the distance of position, and record the angle [alpha] for the optical axis deflection that angular encoder at this time measures, be denoted as first
Angle；
Step 3：Zero is corrected to high-precision laser range sensor, according to the first angle for measuring acquisition in step 2,
By in a certain range near the measurement optical axis rotation to α of high-precision laser range sensor, in the present embodiment, preferably swash high-precision
Within the scope of the measurement optical axis rotation to α ± 2 ° of ligh-ranging sensor, multigroup essence is measured using the scanning of high-precision laser range sensor
The optical axis deflection angle that the true effective distance and/or angular encoder for measuring position to contact net measures；
Step 4：Effective distance and its corresponding optical axis deflection of the multigroup measurement position of gained to contact net are measured to step 3
Angle is arranged, and high and stagger is led using these data calculating acquisition contact net.
Further, in technical solution of the present invention, above-mentioned high frequency lasers distance measuring sensor and/or high-precision laser ranging sensing
Device is preferably controlled by motor, system electrification when use, motor back to zero position then high frequency lasers distance measuring sensor and/or high-precision
The measurement optical axis of laser range sensor is located at vertical direction, perpendicular to horizontal plane.When measurement, start high frequency lasers ranging first
Sensor measures optical axis and carries out pulse scanning with higher frequency, in the present embodiment, the work frequency of high frequency lasers distance measuring sensor
The scanning work of (- 15 °~+15 °) can be completed in a setting range in rate preferably 50~200Hz in 5s.Pass through this height
The scanning of frequency, can be with the position range and angular range of fast Acquisition to contact net.
But although high frequency lasers distance measuring sensor can with the position range and angular range of fast Acquisition to contact net,
But it measures the position obtained and angular error is larger, also needs to high-precision laser range sensor at this time and is carried out to it further
Accurate measurement.
According to the contact net position that high frequency lasers distance measuring sensor captures, high-precision laser range sensor is adjusted to the position
It sets and is further measured.For example, if the angle that high frequency lasers distance measuring sensor captures is α, it just will be high-precision
The optical axis of laser range sensor is adjusted in a certain range near α, in the present embodiment within the scope of preferred α ± 2 °.This implementation
In example, the working frequency of high-precision laser range sensor is relatively low, and it is smaller to measure optical axis rotational angular velocity.High-precision laser ranging sensing
The optical axis of device can carry out slowly careful scanning in the range of high frequency lasers distance measuring sensor captures, and further accurately survey
Contact net is measured to the distance and deflection angle for measuring position.In the present embodiment, the work frequency of high-precision laser range sensor
Rate is preferably the 1/20~1/10 of high frequency lasers distance measuring sensor, and to avoid occurring, optical axis rotational angular velocity is excessively high, twice laser
The case where position that contact net can not be effectively captured between pulse, occurs.In the present embodiment, high-precision laser range sensor is completed
The time of one scan period is in 10s or so.
To sum up, in technical solution of the present invention, using high frequency lasers distance measuring sensor and high-precision laser range sensor
It is combined mode, catenary's parameters can be carried out efficiently, accurately to measure.Wherein, high frequency lasers distance measuring sensor is to be based on
Pulsed laser ranging technology, high-precision laser range sensor is based on phase laser distance technology, the former is in high-velocity scanning
There is advantage in the process, quickly wide range can be scanned, but the contact net Numerical accuracy that this mode obtains
It is relatively low, the Position Approximate of contact net can only be obtained.In order to further accurately obtain the position of contact net, it is necessary to be swashed using high-precision
The working frequency of ligh-ranging sensor, high-precision laser range sensor is less than high frequency lasers distance measuring sensor, measures the light of laser
Axis can range that slowly inswept high-precision laser range sensor determines, further contact net is accurately positioned.Meanwhile
The angle of measurement is also more accurate.
It is not only to measure one group of data, but measured in scanning process when high-precision laser range sensor work
Multi-group data, include in every group of data position is measured to arrive the distance of contact net, and measure this apart from when measurement optical axis it is inclined
Gyration.Using the multigroup distance and angle measured, it is divided in conjunction with high and stagger the calculation of leading of contact net
Analysis arranges, and obtains the high and stagger of leading of contact net, and is managed to contact net using high and stagger is led.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of railway contact net measuring method based on bidifly optical scanning, which is characterized in that including,
High frequency lasers distance measuring sensor and high-precision laser range sensor are placed within the scope of contact net certain distance by S1；
S2 is corrected high frequency lasers distance measuring sensor, its optical axis is made to be located on vertical direction；High frequency lasers ranging is driven to pass
Sensor is scanned in the plane perpendicular to contact net, obtains the distance range of contact net and the deflection angle of laser beam axis
Spend range；
S3 is corrected high-precision laser range sensor, its optical axis is made to be located on vertical direction；High-precision laser ranging is driven to pass
Sensor is scanned in the distance range and/or angular range, obtains the effective distance and laser beam axis of contact net
Effective deflection angle；
S4 calculated using effective distance and effective deflection angle obtain contact net lead high and stagger.
2. a kind of railway contact net measuring method based on bidifly optical scanning according to claim 1, wherein the step
In S4 it is preferable to use no less than one group of effective distance and effective deflection angle calculate obtain contact net lead high and stagger.
3. a kind of railway contact net measuring method based on bidifly optical scanning according to claim 1 or 2, wherein described
Step S2 includes,
S21 is corrected high frequency lasers distance measuring sensor, its optical axis is made to be located on vertical direction；
S22 selectes an angular deflection positive direction, when optical axis zero deflection in plane where optical axis, perpendicular to contact net
Deflection angle is denoted as zero；
S23 driving high frequency lasers distance measuring sensors are scanned in the plane perpendicular to contact net, and recording laser, which captures, to be connect
Real-time range when net-fault between high frequency lasers distance measuring sensor and contact net, and the real-time deflection angle of optical axis at this time；
S24 determines distance range of the high frequency lasers distance measuring sensor apart from contact net according to real-time range；According to real-time deflection angle
Degree determines the range of deflection angles for the laser that high frequency lasers distance measuring sensor is emitted.
4. according to a kind of railway contact net measuring method based on bidifly optical scanning of claims 1 to 3 any one of them,
In, the step S3 includes,
S31 is corrected high frequency lasers distance measuring sensor, its optical axis is made to be located on vertical direction；
S32 adjustment high frequency lasers distance measuring sensors carry out in the range of deflection angles of laser and/or the distance range of contact net
Scanning measures the effective distance of one group of contact net and/or effective deflection angle of laser beam axis；
S33 driving high frequency lasers distance measuring sensors take multiple measurements, and obtain the effective distance and/or laser light of multigroup contact net
Effective deflection angle of axis.
5. according to a kind of railway contact net measuring method based on bidifly optical scanning of Claims 1 to 4 any one of them,
In, working frequency preferably 50~200Hz of the high frequency lasers distance measuring sensor.
6. according to a kind of railway contact net measuring method based on bidifly optical scanning of Claims 1 to 5 any one of them,
In, the working frequency of the high frequency lasers distance measuring sensor is preferably the 1/20~1/ of high frequency lasers distance measuring sensor working frequency
10。
7. according to a kind of railway contact net measuring method based on bidifly optical scanning of claim 1~6 any one of them,
In, the high frequency lasers distance measuring sensor and high frequency lasers distance measuring sensor are preferably driven by stepper motor.
8. a kind of railway contact net measuring device based on bidifly optical scanning, including high frequency lasers distance measuring sensor, high frequency lasers
Distance measuring sensor, angular encoder, stepper motor and data processing unit, which is characterized in that
The high frequency lasers distance measuring sensor, high frequency lasers distance measuring sensor are connected with stepper motor respectively, in stepper motor
Driving under according to certain frequency emit laser, to high frequency lasers distance measuring sensor and/or high frequency lasers distance measuring sensor with connect
The distance between net-fault measures；
The angular encoder is separately connected with the high frequency lasers distance measuring sensor and high frequency lasers distance measuring sensor, for remembering
Record high frequency lasers distance measuring sensor and/or high frequency lasers distance measuring sensor measure the distance between itself and contact net phase stress light
The deflection angle of optical axis；
The data processing unit is received measures gained from high frequency lasers distance measuring sensor and/or high frequency lasers distance measuring sensor
Distance and angular encoder record corresponding angle, and it is handled, obtains leading high and/or pulling out for contact net
Value.
9. a kind of railway contact net measuring device based on bidifly optical scanning according to claim 8, wherein the high frequency
Laser range sensor preferably includes two optical windows, is respectively used to send and receive laser pulse.
10. a kind of railway contact net measuring device based on bidifly optical scanning according to claim 8 or claim 9, wherein described
It is preferable to use an optical windows to carry out sending and receiving for laser pulse for high-precision laser range sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810179428.5A CN108594247A (en) | 2018-03-05 | 2018-03-05 | A kind of railway contact net measuring method and apparatus based on bidifly optical scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810179428.5A CN108594247A (en) | 2018-03-05 | 2018-03-05 | A kind of railway contact net measuring method and apparatus based on bidifly optical scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108594247A true CN108594247A (en) | 2018-09-28 |
Family
ID=63625667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810179428.5A Pending CN108594247A (en) | 2018-03-05 | 2018-03-05 | A kind of railway contact net measuring method and apparatus based on bidifly optical scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108594247A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113514848A (en) * | 2021-04-01 | 2021-10-19 | 湛江港（集团）股份有限公司 | Railway crossing locomotive detection system based on laser scanning |
| CN113607094A (en) * | 2021-10-11 | 2021-11-05 | 中国铁建电气化局集团第二工程有限公司 | Contact net slope laser measuring device and method |
| CN114509044A (en) * | 2022-01-26 | 2022-05-17 | 成都唐源电气股份有限公司 | System and method for continuously measuring geometrical parameters of contact net |
| CN114845924A (en) * | 2019-12-17 | 2022-08-02 | 电话线路和中央股份公司 | Method for on-site and real-time collection and processing of geometrical parameters of a railway line |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202582532U (en) * | 2012-03-27 | 2012-12-05 | 长沙拓虎信息科技有限公司 | Full-automatic laser contact network detector |
| WO2016069215A1 (en) * | 2014-10-27 | 2016-05-06 | Laser Technology, Inc. | Technique for a pulse/phase based laser rangefinder utilizing a single photodiode in conjunction with separate pulse and phase receiver circuits |
| CN106154282A (en) * | 2015-04-09 | 2016-11-23 | 北京交通大学 | Laser array high speed space tracking system (STS) |
| CN107560578A (en) * | 2017-10-09 | 2018-01-09 | 西安明松电子科技有限公司 | A kind of non-contact laser railway contact line detection means and method |
-
2018
- 2018-03-05 CN CN201810179428.5A patent/CN108594247A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202582532U (en) * | 2012-03-27 | 2012-12-05 | 长沙拓虎信息科技有限公司 | Full-automatic laser contact network detector |
| WO2016069215A1 (en) * | 2014-10-27 | 2016-05-06 | Laser Technology, Inc. | Technique for a pulse/phase based laser rangefinder utilizing a single photodiode in conjunction with separate pulse and phase receiver circuits |
| CN106154282A (en) * | 2015-04-09 | 2016-11-23 | 北京交通大学 | Laser array high speed space tracking system (STS) |
| CN107560578A (en) * | 2017-10-09 | 2018-01-09 | 西安明松电子科技有限公司 | A kind of non-contact laser railway contact line detection means and method |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114845924A (en) * | 2019-12-17 | 2022-08-02 | 电话线路和中央股份公司 | Method for on-site and real-time collection and processing of geometrical parameters of a railway line |
| US20220410949A1 (en) * | 2019-12-17 | 2022-12-29 | Telefonos, Lineas Y Centrales, S.A. | Method for in-situ and real-time collection and processing of geometric parameters of railway lines |
| CN114845924B (en) * | 2019-12-17 | 2023-12-12 | 电话线路和中央股份公司 | Method for the on-site and real-time collection and processing of geometric parameters of a railway line |
| US12110048B2 (en) * | 2019-12-17 | 2024-10-08 | Telefonos, Lineas Y Centrales, S.A. | Method for in-situ and real-time collection and processing of geometric parameters of railway lines |
| CN113514848A (en) * | 2021-04-01 | 2021-10-19 | 湛江港（集团）股份有限公司 | Railway crossing locomotive detection system based on laser scanning |
| CN113514848B (en) * | 2021-04-01 | 2024-05-31 | 湛江港（集团）股份有限公司 | Railway crossing locomotive detecting system based on laser scanning |
| 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 |
| CN113607094A (en) * | 2021-10-11 | 2021-11-05 | 中国铁建电气化局集团第二工程有限公司 | Contact net slope laser measuring device and method |
| CN114509044A (en) * | 2022-01-26 | 2022-05-17 | 成都唐源电气股份有限公司 | System and method for continuously measuring geometrical parameters of contact net |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108594247A (en) | A kind of railway contact net measuring method and apparatus based on bidifly optical scanning | |
| US11673587B2 (en) | Comprehensive inspection vehicle for subway tunnel | |
| CN108761477B (en) | Non-contact network parameter acquisition device, measurement system and measurement method adopting digital laser technology | |
| CN106019086B (en) | A kind of high-voltage overhead conductor detection system | |
| CN104748685A (en) | Dynamic measurement method of geometric parameters of overhead contact system | |
| CN111169629B (en) | Railway contact net detection device and method based on four-rotor unmanned aerial vehicle | |
| CN208736365U (en) | Dynamic 3 D tunnel cross-section shape changing detection and analysis system | |
| CN114808575B (en) | Track smoothness detection system and method based on scanning laser | |
| CN107289900A (en) | A kind of dynamic is without control tunnel cross-section detection means, analysis system and method | |
| CN110001710A (en) | System, method and application is reconfigured quickly in a kind of magnetic-levitation three-dimensional scenic | |
| CN207215086U (en) | A kind of Portable non-contact rail tunnel Clearance Detection | |
| CN108844467A (en) | Arc sag based on laser three-D reconstruct monitors system and method | |
| CN101885340A (en) | Image template matching technology based method and device for measuring railway track displacement | |
| CN109387156A (en) | A kind of track based on 3 D laser scanning equipment invades limit intelligent detecting instrument | |
| CN204944427U (en) | A kind of contact net geometric parameter detection of dynamic dolly | |
| CN208384117U (en) | A kind of contactless catenary's parameters acquisition device using digital laser technology | |
| CN207540512U (en) | A kind of laser rail smooth degree detection device | |
| CN111190162B (en) | Adjusting and positioning mechanism of shield tunnel contact net anchor bolt hole positioning device and application thereof | |
| CN108749833A (en) | From traveling pin-connected panel Tunnel testing trolley on a kind of rail | |
| CN209673087U (en) | A kind of bridge construction support system sedimentation deformation monitoring device | |
| CN101825517B (en) | Biaxial rotary scanning mechanism for testing laser and laser far-field test device | |
| CN209840965U (en) | Non-contact net geometric parameters detection device | |
| CN113217304A (en) | Wind turbine generator blade clearance monitoring system and method based on eddy current effect | |
| CN209783519U (en) | Hybrid contact net contact rail geometric parameters detection device | |
| CN210426438U (en) | Single-rail laser full-parameter intelligent measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180928 |
|
| RJ01 | Rejection of invention patent application after publication |