CN110824497A - Intelligent detection device and detection method for contact network - Google Patents
Intelligent detection device and detection method for contact network Download PDFInfo
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- CN110824497A CN110824497A CN201911069530.0A CN201911069530A CN110824497A CN 110824497 A CN110824497 A CN 110824497A CN 201911069530 A CN201911069530 A CN 201911069530A CN 110824497 A CN110824497 A CN 110824497A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- 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
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- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention discloses an intelligent detection device and a detection method for a contact network, wherein the detection device comprises a walking structure, the walking structure comprises a left longitudinal beam, a right longitudinal beam, a cross beam and a motor wheel, a vertical frame is arranged on the walking structure, a position detection module and a linear array camera are arranged at the top of a shell of a walking part on the cross beam, and a laser radar is arranged at the upper end of the vertical frame. The detection method comprises the following steps: starting a control circuit board to control each part to work synchronously; shooting a one-dimensional image at the bottom of a contact line by a linear array camera; the position detection module detects the longitude and latitude of the geographic position; the panoramic camera shoots 360-degree photos around the detection vehicle; measuring the geometric distance between the detection vehicle and a contact network by using a laser radar; calculating a height-leading value and a pull-out value of the linear distance measured by the radar; processing and displaying data; and abnormal triggering of photographing and alarm. The invention realizes the non-contact continuous acquisition of the parameter information of the contact network, matches the contact network information with the geographic information and carries out comprehensive and accurate management.
Description
Technical Field
The invention belongs to the field of railway detection, and particularly relates to an intelligent detection device and method for a contact network.
Background
The rapid development of the electrified railways in China has the operation mileage of 13 kilometers, the contact network facilities reach as many as 200 kilometers, and the number of the contact network facilities is increased year by year. Once the contact network equipment fails, the train is shut down, and then the transportation of the whole section of railway is interrupted, so that the serious consequences of the interruption of the transportation of the whole section of railway bring loss to the country and people in terms of time and economy. Therefore, automatic and intelligent monitoring of the contact network equipment is of great importance to overhaul and first-aid repair of an operation unit.
At present, the method for obtaining the running state of a contact network is mainly to arrange personnel and vehicles to regularly patrol and examine a line by using the window time of a railway. However, the inspection vehicle and the manual inspection have the problems of long inspection period, poor inspection effect and the like, and most of data are form modes, and the manual analysis workload is huge, so that the advantages of an information system cannot be fully exerted.
Therefore, an online intelligent real-time monitoring method integrating technologies such as wireless sensing, real-time data processing, big data early warning analysis and the like is needed, and an evaluation system and a scientific maintenance system for the safety of the railway network system are established on the basis.
Disclosure of Invention
The invention aims to provide an intelligent detection device and method for a contact network, which are used for solving the problems in the prior art.
The technical scheme of the invention is as follows: the utility model provides a be used for contact net intellectual detection system device, includes along the walking structure of rail motion, walking structure includes left longeron, right longeron and the motor wheel that corresponds with the track parallel, left side longeron, right longeron pass through the crossbeam and link to each other, the structural grudging post that is provided with of walking, walking portion shell top on the crossbeam is provided with carries out the position detection module of real-time location to walking structure, the grudging post upper end is provided with carries out scanning measurement's laser radar to the contact line.
Furthermore, the top of the shell is also provided with an area-array camera for photographing the abnormal part of the contact line.
Furthermore, a photographing light source module is arranged at the top of the walking part shell, and the photographing light source module improves the photographing quality of the area-array camera.
Furthermore, a panoramic camera is further arranged at the upper end of the stand and transmits the walking structure walking surrounding environment videos in real time.
Furthermore, a calculation processing module and a control circuit module which are connected with each other through circuits are arranged in the walking part shell, the calculation processing module is communicated with the handheld terminal and the far-end management platform, and the control circuit module is connected with and receives the position detection module, the laser radar, the area array camera and the panoramic camera.
Furthermore, electric driving rail wheels are arranged at the mounting grooves at the two ends of the left longitudinal beam and the right longitudinal beam, and each electric driving rail wheel comprises a motor wheel in rolling contact with the rail and a motor controller arranged on the left longitudinal beam and the right longitudinal beam.
Furthermore, the outer side walls of the left longitudinal beam and the right longitudinal beam are provided with track gauge detection modules.
Furthermore, a battery for supplying power to the electrical elements is arranged on the cross beam.
A detection method for an intelligent detection device of a contact network comprises the following steps:
opening a control circuit board in the intelligent detection device to control all parts to synchronously work
After the control circuit module is started, the battery module supplies power to the laser radar, the position detection module, the panoramic camera, the area-array camera, the calculation processing module and the motor controller, the motor wheel driving walking structure automatically runs on the track, and meanwhile the control circuit board controls all the modules to synchronously work;
ii, the longitude and latitude of the geographic position is detected by the position detection module
The position detection module acquires longitude and latitude information of a location in real time and sends the longitude and latitude information to the calculation processing module;
iii, taking a 360-degree picture of surrounding detection vehicle by using panoramic camera
The panoramic camera shoots 360-degree photos/videos surrounding the detection device and sends the photos/videos to the calculation processing module;
iv line array camera shooting contact line bottom image
v. laser radar measures and detects car and contact net geometric distance
The laser radar module measures the linear distance and the angle value from the detection device to the contact network and sends the values to the calculation processing module;
calculating a height guide value and a pull-out value according to the linear distance measured by the radar;
the calculation processing module calculates a height leading value and a pull-out value of the contact net according to the linear distance and the angle value;
the calculation processing module fuses line pictures shot by the line camera into a picture, and the width of a highlighted part at the bottom of a contact line is measured and calculated through image recognition processing to serve as abrasion;
and vii, the end management platform and the handheld terminal perform data processing and display
The calculation processing module sends the longitude and latitude information, the 360-degree photo/video, the height leading value and the pull-out value to a remote management platform and a handheld terminal for display through a wireless transmission network;
triggering area array camera to take pictures when finding abnormal conditions
When the height guiding value and the pulling value of the contact line are abnormal, the area array camera is triggered to shoot the abnormal part, and the shot picture is transmitted to the remote management platform and the handheld terminal;
ix. issuing an alarm
And an alarm lamp in the detection device and an alarm area of the remote management platform flash to alarm.
Furthermore, when finding that the height guiding value, the pulling value and the abrasion value of the contact line are abnormal in step vii, the position detection module sends longitude and latitude information of the abnormal position, and performs abnormality marking.
The invention has the following beneficial effects:
the invention can realize the non-contact continuous acquisition of the parameter information of the contact network and match the contact network information with the geographic information, thereby comprehensively and accurately managing the contact network.
The laser radar continuously scans, can completely and continuously acquire the geometric parameters of the contact line, avoids missing detection of a single-point detection method, and provides more comprehensive analysis information for the contact line faults because the linear array camera can continuously measure the abrasion value of the contact line.
The detection device automatically triggers the area-array camera to shoot the abnormal part picture according to the detection result, and the abnormal part picture is transmitted to the remote intelligent management platform through the wireless network, so that the remote evidence obtaining can be realized.
According to the invention, the remote management platform can accurately position the accurate position of the contact network fault section by integrating the geographic information system, so that time is won for fault first-aid repair.
The panoramic camera of the invention is convenient for the remote management platform to supervise and manage the working state of each on-site line patrol intelligent detection vehicle.
The three track gauge detection modules can detect the actual track gauges of various road conditions including curves and switches in real time.
The invention adopts modularized installation, and is convenient to disassemble and carry.
Drawings
FIG. 1 is an external perspective view of the present invention;
FIG. 2 is an internal perspective view of the present invention;
FIG. 3 is a circuit block diagram of the present invention;
FIG. 4 is a flow chart of the detection method of the present invention;
FIG. 5 is a schematic diagram of the connection of the position detection module of the present invention;
FIG. 6 is a schematic diagram of the connection of the area-array camera according to the present invention;
FIG. 7 is a schematic view of the connection of the panoramic camera of the present invention;
FIG. 8 is a schematic diagram of the connection of the handheld terminal of the present invention;
FIG. 9 is a schematic illustration of the detection of the present invention;
FIG. 10 is a detection schematic of the present invention;
FIG. 11 is an interface diagram of the remote platform of the present invention;
wherein:
1 battery module 2 electrically driven rail wheel
3 position detection module 4 laser radar
5-area-array camera 6 panoramic camera
7 control circuit module 8 calculation processing module
9 hand-held terminal 10 remote management platform
11 boot button area 12 geometric parameter display area
13 panoramic button area 14 three-dimensional geographic map button area
15 History query button area 16 positioning window
17 live broadcast window 18 height leading and pull-out value display area
19 alarm area 20 detection part shell
21 walking part shell 22 beam
23 left longitudinal beam 24 right longitudinal beam
25 battery 26 warning light
27 light source module 28 line camera of shooing
29 push handle 30 motor wheel
31 motor controller 32 side handle
33 gauge detection module 34 grudging post
35 lines of contact.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings and examples:
as shown in fig. 1-11, a be used for contact net intellectual detection system device, include along the walking structure of rail motion, the walking structure includes left longeron 23, the right longeron 24 that corresponds with the track parallel, left longeron 23, right longeron 24 pass through crossbeam 22 and link to each other, the structural grudging post 34 that is provided with of walking, walking portion shell 21 top on the crossbeam 22 is provided with carries out the position detection module 3 of real-time location to the walking structure, grudging post 34 upper end is provided with carries out scanning measurement's laser radar 4 to contact line 35.
The top of the walking part shell 21 is also provided with an area-array camera 5 for photographing the abnormal part of the contact line 35.
The top of the walking part shell 21 is provided with a photographing light source module 27, and the photographing light source module 27 improves the photographing quality of the area-array camera 5.
The upper end of the vertical frame 34 is further provided with a panoramic camera 6, and the panoramic camera 6 transmits videos of the walking surrounding environment of the walking structure in real time.
A calculation processing module 8 and a control circuit module 7 which are connected with each other through circuits are arranged in the walking part shell 21, the calculation processing module 8 is communicated with the handheld terminal 9 and the far-end management platform 10, and the control circuit module 7 is connected with and receives the position detection module 3, the laser radar 4, the area-array camera 5 and the panoramic camera 6.
The two ends of the left longitudinal beam 23 and the right longitudinal beam 24 are provided with electric driving rail wheels 2, and each electric driving rail wheel 2 comprises a motor wheel 30 in rolling contact with a rail and a motor controller 31 arranged on the left longitudinal beam 23 and the right longitudinal beam 24.
And track gauge detection modules 33 are arranged at the outer side walls of the left longitudinal beam 23 and the right longitudinal beam 24.
The cross beam 22 is provided with a battery 25 for supplying power to electrical components.
As shown in fig. 2, the left longitudinal beam 23, the right longitudinal beam 24 and the cross beam 22 are all in an H-shaped structure, and the left longitudinal beam 23, the right longitudinal beam 24 and the cross beam 22 are all steel frame beams. The vertical frame 34 is a steel frame with a rectangular cross section.
The beam 22 is provided with a linear array camera 28 which takes a one-dimensional fast shot of the bottom of the contact line in real time.
The cross beam 22 is also provided with a push handle 29, and the push handle 29 is fixed in the middle of the cross beam 22 through a bolt and nut assembly.
The top of the vertical frame 34 is provided with a clamping groove for placing the handheld terminal 9.
The middle of the left longitudinal beam 23 and the left end of the cross beam 22 are provided with the battery module 1, and the battery module 1 is two batteries 25 which are vertically placed. The battery module 1 and the stand 34 are placed left and right to balance the weight distribution of the walking structure.
The motor controllers 31 are symmetrically arranged on the left longitudinal beam 23 and the right longitudinal beam 24.
As shown in fig. 1, the traveling section case 21 covers the left side member 23, the right side member 24, and the cross member 22, and the detection section case 20 is provided outside the stand 34.
The push handle 29 passes through the traveling part shell 21, and the track gauge detection module 33 passes through the traveling part shell 21.
The gauge detection module 33 can detect gauge information of various road conditions including curves and switches in real time.
As shown in fig. 5, the present invention has a real-time positioning function of the detection device, and after acquiring latitude and longitude geographic coordinate information, the position detection module 3 sends the data to the calculation processing module 8 through a serial port, where the position detection module 3 may be a GNSS signal receiver, and the serial port may be an RS 232. Then the calculation processing module 8 transmits the preprocessed data to the remote management platform 10 through a wireless network, wherein the wireless network can be a 4G or 5G transmission network; and the remote management platform determines the accurate position of the detection device according to the longitude and latitude position information of the detection device and the line strut number information, and realizes 2D planar display or 3D stereoscopic display of the position of the detection vehicle.
As shown in fig. 6, the automatic photographing device has an automatic photographing function for geometric parameter abnormality of the contact line, the laser radar 4 continuously scans the contact line 35, the line array camera continuously photographs pictures at the bottom of the contact line, and sends the scanned data to the calculation processing module 8 through an ethernet port, wherein an interface at the position can be an ethernet port; the calculation processing module 8 calculates the geometric parameters of the contact network according to the original data scanned by the radar, fuses the images of the linear array camera and measures the abrasion of the contact line, and triggers an alarm when any calculation result exceeds the normal parameters of the contact network; meanwhile, the computer processing module 8 is controlled by the Ethernet port to be installed on the area array camera 5 of the detection vehicle for shooting, the shooting position of the area array camera is consistent with the radar scanning position, and high-definition image information of the abnormal part of the contact network can be acquired at the same time. The image information is transmitted to the remote management platform 10 through a wireless network and displayed on an interface, so that the remote evidence collection can be realized.
As shown in fig. 7, the system has a real-time live video broadcast function for a section where a contact network is laid, the panoramic camera 6 has a wireless network transmission function, the panoramic camera 6 transmits a shot real-time video to the calculation processing module 8 through a wireless network, the calculation processing module 8 transmits the shot real-time video to the remote management platform 10 through the wireless network, and software running on the remote management platform 10 decodes and plays the video data in real time by reading server video data.
As shown in fig. 8, the present invention can be displayed and controlled by the handheld terminal 9, and the operation instructions of the handheld terminal 9 are transmitted to the calculation processing module 8 through a wireless network, where the wireless network may be WIFI, and the instructions include: photographing, recording, reading detection results, displaying live real-time video images and picture information and the like.
The operation information is sent to the computer processing module 8, and the computer processing module 8 is used as information exchange equipment and is transmitted to the control circuit board of the detection vehicle through an RS232 interface and is transmitted to the area-array camera 5 and the panoramic camera 6 through the Ethernet.
As shown in fig. 9 to 10, during the operation of the detection device, the laser radar 4 continuously scans the contact network 35. According to the radar return data, the computer processing module 8 constructs a contact net geometric parameter model including the pull-out and lead-height values of the contact net. In a laser radar measuring system, taking the central point of a connecting line of two tracks as a coordinate origin, taking the running direction of a detection vehicle as the positive direction of an X axis, and taking the right side pointing to the moving direction of a trolley as the positive direction of a y axis, and recording the pull-out value of a contact line; perpendicular to the plane of the rail, pointing to the sky is the positive direction of the z axis, and the contact wire conductivity value is recorded.
The detection vehicle is designed by adopting a known fixed structure, runs on a track, and the radar is installed on one side of the detection vehicle, so that the coordinate of the laser radar can be measured and calculated.
The coordinate of the laser radar on the trolley in the track coordinate system is (x, y)radar，zradar) The coordinates of the contact line with respect to the orbital coordinate system are then (x, y)wire+yradar，zwire+zradar) I.e. the contact line geometry: (distance (or time), pull-out value, lead-up).
The laser radar scans repeatedly from the starting angle to the ending angle, and returns the distance from the obstacle to the laser source when the scanning meets the obstacle. And converting polar coordinate data obtained by the laser radar into plane coordinate data according to the angular resolution of the scanning of the laser radar, and further solving the position of the contact line.
Derivative height value H = ρ × cos α
Pullout value L = ρ × sin α
The intelligent detection device for the contact network detects parameters such as the current track gauge superheight and the like through a body bottom walking structure, the upper detection part provides parameters such as an upper contact line and the like, and the calculation processing module displays the parameters such as the height guide, the pull-out and the positioner gradient and the like of the processed contact network parameters and waveforms.
Preferably, the detection of the contact network state can be converted into the measurement of the geometric distance between the detection vehicle and the contact network, the detection precision can be improved by improving the stability and the detection range of the system, the laser radar is adopted for scanning, the working state of the laser radar is little affected by the environment, the frequency of the laser radar 4 is not less than 25 Hz, the continuous measurement can be carried out, and the detection accuracy is effectively improved.
According to the invention, the panoramic camera 6 is adopted to shoot the road surface environment of the contact network, the panoramic camera 6 can shoot at 360 degrees without dead angles, the night vision infrared irradiation of a high-definition video is not less than 30 meters, the video resolution is not less than 1080P, and the requirement of direct broadcasting of the road surface environment is completely met. In order to facilitate subsequent viewing, the video is stored for more than 3 days.
The line camera 28 rapidly shoots the bottom of the contact line, the resolution is not lower than 2048, and the shooting rate is not lower than 20 KHz.
The high-definition area-array camera 5 is specially used for shooting high-definition close-range local photos aiming at abnormal parts, the resolution ratio is not lower than 1080P, and automatic storage of the photos for more than 7 days is provided.
The integrated geographic information system developed based on the Google map calibrates and imports each support column number into the system, and because the interval between the support column numbers is only 50 meters, the positioning accuracy of the on-site line patrol intelligent detection vehicle on an open road section is guaranteed to be within 3 meters.
As shown in fig. 11, the screen area of the remote management platform 10 includes a touch button area located at the top, where the power-on button area 11 is located at the leftmost side, the history inquiry button area 15 is located at the rightmost side, and a geometric parameter display area 12, a panorama button area 13, and a three-dimensional geographic map button area 14 are located between the power-on button area 11 and the history inquiry button area 15 from left to right.
The middle part of the far-end management platform 10 is a display area, and the display area comprises a positioning window 16 positioned on the left side, which is used for carrying out real-time positioning display on the detection device, a live broadcast window 17 positioned on the middle part, which is used for carrying out real-time live broadcast on the surrounding environment of the detection device, a height leading and pull-out value display area 18 positioned on the right side, wherein the height leading change condition is adopted on the upper part, and the pull-out value change condition is adopted on the.
The lower part of the remote management platform 10 is an alarm area 19 for flashing alarm if abnormality occurs.
As shown in fig. 3 to 4, by turning on the control circuit module 7, the control circuit module 7 controls the battery power channel to supply power to the laser radar 4, the position detection module 3, the panoramic camera 6, the area-array camera 5, the calculation processing module 8, and the motor controller 31, and the motor wheels 30 drive the detection vehicle to automatically run on the track.
After the on-site intelligent detection vehicle starts to work, the control circuit module 7 commands each module to work synchronously: the position detection module 3 is responsible for acquiring the geographic coordinate information of the position of the detection device; the laser radar 4 measures the linear distance between the detection device and the contact network, and the calculation processing module 8 converts the linear distance into geometric parameters such as a height guide value and a pull-out value of the contact network; the panoramic camera 6 is responsible for shooting a real-time video surrounding the detection vehicle by 360 degrees, and then actively sends a report to the handheld terminal 9 and the remote management platform 10 through a wireless network, wherein the wireless network can be a 4G or 5G transmission network; after receiving the information, the handheld terminal 9 and the remote management platform 10 process the data and present the position information in the form of a three-dimensional map; converting the geometric parameter information of the contact network into visual data forms such as images and tables; and live broadcasting and displaying the real-time video shot by the panoramic camera 6.
If a user checks live videos which are shot by the panoramic camera 6 and surround the detection vehicle for 360 degrees on the handheld terminal 9 and the far-end management platform 10, when the user finds that the road surface of a road section in front is collapsed or other severe environments, the user can remotely control the on-site detection device to stop in time, and unnecessary loss is avoided.
If the detection device finds that the calculation module 8 calculates that the parameters of the contact network are abnormal in the working process, an alarm is given out, abnormal data are uploaded, the area array camera 5 is triggered to take a picture of the abnormal part, the abnormal part is uploaded to the handheld terminal 9 and the far-end management platform 10 in time through a wireless network, and strong reminding is carried out on the handheld terminal 9 and the far-end management platform 10; meanwhile, the position detection module 3 can transmit position information in time, and red solid triangular warning and highlight longitude and latitude coordinates are marked on the three-dimensional map.
If the detection device breaks down in the working process, other nearby detection vehicles can be searched through the geographic information system and allocated in time, so that the work progress is prevented from being delayed.
The model of the position detection module 3 may be, but is not limited to, beidoutong OEM719 module.
The model of the lidar 4 may be, but is not limited to, SICK LMS511-20100 in Germany.
The model of the area-array camera 5 can be but is not limited to a Zhongwei CN5123FD-HT7 high-definition camera.
The model of the panoramic camera 6 may be, but is not limited to, Insta360 Onex.
The model of the control circuit module 7 may be, but is not limited to, ZYNQ XC7Z 7020.
The model number of the computer processing module 8 may be, but is not limited to XX.
The model of the handheld terminal 9 may be, but is not limited to, Johnson IPC-610L.
The model of the remote management platform 10 may be, but is not limited to, a ThinkSystem IBM server. SR650
The line camera 28 model may be, but is not limited to, Basler RAL2048-48 gm.
The model of the gauge detection module 31 may be, but is not limited to, Miran KTC 2.
Preferably, acceleration sensors are provided on the left side member 23, the right side member 24, and the cross member 22, and the information on the gradient of the road can be detected by the acceleration sensors.
A detection method for an intelligent detection device of a contact network comprises the following steps:
opening a control circuit board in the intelligent detection device to control all parts to synchronously work
After the control circuit module 7 is started, the battery module 1 supplies power to the laser radar 4, the position detection module 3, the panoramic camera 6, the area-array camera 5, the calculation processing module 8 and the motor controller 31, the motor wheel 30 drives the walking structure to automatically run on the track, and meanwhile, the control circuit board 7 controls the modules to synchronously work;
ii, the longitude and latitude of the geographic position is detected by the position detection module
The position detection module 3 acquires longitude and latitude information of the location in real time and sends the longitude and latitude information to the calculation processing module 8;
iii, taking a 360-degree picture of surrounding detection vehicle by using panoramic camera
The panoramic camera 6 shoots 360-degree photos/videos surrounding the detection device and sends the photos/videos to the calculation processing module 8;
iv, linear array camera shoots bottom one-dimensional transverse line picture of contact line
The pictures shot by the line camera 28 are sequentially sent to the calculation processing module 8
v. laser radar measures and detects car and contact net geometric distance
The laser radar module 4 measures the linear distance and the angle value from the detection device to the contact line 35, and sends the values to the calculation processing module 8;
calculating a height guide value and a pull-out value of the linear distance measured by the radar; calculating a contact line bottom abrasion value by using a picture shot by a linear array camera;
the calculation processing module 8 calculates the height value and the pull-out value of the contact line 35 according to the linear distance and the angle value; the calculation processing module 8 fuses the one-dimensional transverse line pictures shot by the linear array camera into a two-dimensional picture, and calculates the width of the highlighted part at the bottom of the contact line 35 as a wear value through image recognition processing;
vi, the end management platform and the handheld terminal perform data processing and display
The calculation processing module 8 sends the longitude and latitude information, the 360-degree photo/video, the height guiding value and the pull-out value to a remote management platform 10 and a handheld terminal 9 through a wireless transmission network for display;
vii. finding an abnormality triggers the area array camera to take a picture
When the height guiding value and the pulling value of the contact line 35 are abnormal, the area array camera 5 is triggered to shoot the abnormal part, and the shot picture is transmitted to the remote management platform 10 and the handheld terminal 9;
ix. issuing an alarm
The alarm lamp 26 in the detection device and the alarm area 19 of the remote management platform 10 flash alarms.
Step vii, when finding that the height guiding value, the pulling value and the abrasion value of the contact line 35 are abnormal, the position detection module 3 sends the longitude and latitude information of the abnormal position, and performs abnormality labeling.
The invention can realize the non-contact continuous acquisition of the parameter information of the contact network and match the contact network information with the geographic information, thereby comprehensively and accurately managing the contact network.
The laser radar continuously scans, can completely and continuously obtain the geometric parameters of the contact line, avoids the omission of the single-point detection method, and provides more comprehensive analysis information for the contact network faults.
The detection device automatically triggers the area-array camera to shoot the abnormal part picture according to the detection result, and the abnormal part picture is transmitted to the remote intelligent management platform through the wireless network, so that the remote evidence obtaining can be realized.
According to the invention, the remote management platform can accurately position the accurate position of the contact network fault section by integrating the geographic information system, so that time is won for fault first-aid repair.
The panoramic camera of the invention is convenient for the remote management platform to supervise and manage the working state of each on-site line patrol intelligent detection vehicle.
The three track gauge detection modules can detect the actual track gauges of various road conditions including curves and switches in real time.
The invention adopts modularized installation, and is convenient to disassemble and carry.
Claims (10)
1. The utility model provides a be used for contact net intellectual detection system device, includes the walking structure along rail-engaging, its characterized in that: the walking structure comprises a left longitudinal beam (23), a right longitudinal beam (24) and a motor wheel (30) which correspond to the track in parallel, the left longitudinal beam (23) and the right longitudinal beam (24) are connected through a cross beam (22), a stand (34) is arranged on the walking structure, a position detection module (3) for positioning the walking structure in real time and a linear array camera (28) for measuring a contact line abrasion value are arranged at the top of a walking part shell (21) on the cross beam (22), and a laser radar (4) for scanning and measuring the contact line (35) is arranged at the upper end of the stand (34).
2. The intelligent detection device for the overhead line system according to claim 1, characterized in that: the top of the walking part shell (21) is also provided with an area-array camera (5) for two-dimensional photographing of the abnormal position of the contact line (35).
3. The intelligent detection device for the overhead line system according to claim 2, characterized in that: the top of the walking part shell (21) is provided with a photographing light source module (27), and the photographing light source module (27) improves the photographing quality of the linear array camera (28) and the planar array camera (5).
4. The intelligent detection device for the overhead line system according to claim 3, wherein: the panoramic camera is further arranged at the upper end of the stand (34), and the panoramic camera (6) transmits videos of the surrounding environment in real time when the walking structure walks.
5. The intelligent detection device for the overhead line system according to claim 4, wherein: be provided with calculation processing module (8), control circuit module (7) that the circuit links to each other in walking portion shell (21), calculation processing module (8) and handheld terminal (9), distal end management platform (10) communicate mutually, control circuit module (7) are connected and are accepted position detection module (3), laser radar (4), area-array camera (5), linear array camera (28) panorama camera (6).
6. The intelligent detection device for the overhead line system according to claim 1, characterized in that: the electric drive rail wheel (2) is arranged at the mounting grooves at the two ends of the left longitudinal beam (23) and the right longitudinal beam (24), and the electric drive rail wheel (2) comprises a motor wheel (30) in rolling contact with a rail and a motor controller (31) arranged on the left longitudinal beam (23) and the right longitudinal beam (24).
7. The intelligent detection device for the overhead line system according to claim 1, characterized in that: and track gauge detection modules (33) are arranged at the outer side walls of the left longitudinal beam (23) and the right longitudinal beam (24).
8. The intelligent detection device for the overhead line system according to claim 1, characterized in that: the cross beam (22) is provided with a battery (25) for supplying power to electrical components.
9. The utility model provides a detection method for contact net intellectual detection system device which characterized in that: the method comprises the following steps:
starting the synchronous operation of each part controlled by the control circuit board in the intelligent detection device
After the control circuit module (7) is started, the battery module (1) supplies power to the laser radar (4), the position detection module (3), the panoramic camera (6), the area array camera (5), the calculation processing module (8) and the motor controller (31), the motor wheel (30) drives the walking structure to automatically run on the track, and meanwhile, the control circuit board (7) controls the modules to synchronously work;
(ii) the location detection module detects the latitude and longitude of the geographic location
The position detection module (3) acquires longitude and latitude information of the location in real time and sends the longitude and latitude information to the calculation processing module (8);
(iii) the panoramic camera takes a360 ° photograph of the surrounding test vehicle
The panoramic camera (6) shoots 360-degree photos/videos surrounding the detection device and sends the photos/videos to the calculation processing module (8);
(iv) Linear array Camera shooting bottom one-dimensional transverse line Picture of contact line
The images shot by the linear array camera (28) are sequentially sent to the calculation processing module (8);
(v) laser radar measures and detects car and contact net geometric distance
The laser radar module (4) measures the linear distance and the angle value from the detection device to the contact line (35) and sends the values to the calculation processing module (8);
(vi) calculating a height leading value and a pull-out value of the linear distance measured by the radar; calculating a contact line bottom abrasion value by using a picture shot by a linear array camera;
the calculation processing module (8) calculates the height leading value and the pull-out value of the contact line (35) according to the linear distance and the angle value; the calculation processing module (8) fuses one-dimensional transverse line pictures shot by the linear array camera into a two-dimensional picture, and the width of a high-brightness part at the bottom of a contact line is measured and calculated through image recognition processing to serve as a wear value;
(vii) data processing and displaying of remote management platform and handheld terminal
The calculation processing module (8) sends the longitude and latitude information, the 360-degree photo/video, the lead height value and the pull-out value to a remote management platform (10) and a handheld terminal (9) through a wireless transmission network for display;
(viii) abnormal shooting triggering area-array camera
When the height guiding value, the pulling value and the bottom abrasion value of the contact wire (35) are abnormal, the area array camera (5) is triggered to shoot the abnormal part, and the shot picture is transmitted to the remote management platform (10) and the handheld terminal (9);
(ix) alarm is given
The alarm lamp (26) in the detection device and the alarm area (19) of the remote management platform (10) flash to alarm.
10. The intelligent detection device for the overhead line system according to claim 1, characterized in that: and (vii) when finding that the height guiding value, the pulling value and the bottom abrasion value of the contact line (35) are abnormal, the position detection module (3) sends longitude and latitude information of the abnormal position, and performs abnormal marking.
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| CN112197726A (en) * | 2020-10-29 | 2021-01-08 | 中国铁建电气化局集团第五工程有限公司 | Integrated application method for measuring and calculating integral dropper of high-speed rail contact network |
| CN112977535A (en) * | 2021-05-11 | 2021-06-18 | 领视科技成都有限公司 | Electrified railway clearance detection method and system based on laser scanning |
| CN113445377A (en) * | 2020-03-25 | 2021-09-28 | 北京瑞途科技有限公司 | Remote automatic measuring device for rail gauge |
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| CN113445377A (en) * | 2020-03-25 | 2021-09-28 | 北京瑞途科技有限公司 | Remote automatic measuring device for rail gauge |
| CN113932773A (en) * | 2020-07-13 | 2022-01-14 | 北京国联众泰科技有限公司 | Contact net suspension state detection device and longitudinal suspension and transverse suspension detection method |
| CN113932773B (en) * | 2020-07-13 | 2023-12-15 | 北京国联众泰科技有限公司 | Contact net suspension state detection device, longitudinal suspension and transverse suspension detection method |
| CN112197726A (en) * | 2020-10-29 | 2021-01-08 | 中国铁建电气化局集团第五工程有限公司 | Integrated application method for measuring and calculating integral dropper of high-speed rail contact network |
| CN112977535A (en) * | 2021-05-11 | 2021-06-18 | 领视科技成都有限公司 | Electrified railway clearance detection method and system based on laser scanning |
| CN114909990A (en) * | 2022-03-02 | 2022-08-16 | 上海天链轨道交通检测技术有限公司 | Vehicle-mounted non-contact line abrasion measuring method, device and system |
| CN114909990B (en) * | 2022-03-02 | 2024-04-05 | 上海天链轨道交通检测技术有限公司 | Vehicle-mounted non-contact line abrasion measuring method, device and system |
| CN115314401A (en) * | 2022-06-30 | 2022-11-08 | 中铁第四勘察设计院集团有限公司 | Contact network state monitoring method and device, electronic equipment and storage medium |
| CN115314401B (en) * | 2022-06-30 | 2024-03-15 | 中铁第四勘察设计院集团有限公司 | Contact net state monitoring method and device, electronic equipment and storage medium |
| CN115598145A (en) * | 2022-10-14 | 2023-01-13 | 上饶市中帆金属有限公司（Cn） | Copper magnesium alloy contact wire abrasion detection device |
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