CN110926332A - Rail contact net spatial position detection vehicle - Google Patents
Rail contact net spatial position detection vehicle Download PDFInfo
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- CN110926332A CN110926332A CN201911113325.XA CN201911113325A CN110926332A CN 110926332 A CN110926332 A CN 110926332A CN 201911113325 A CN201911113325 A CN 201911113325A CN 110926332 A CN110926332 A CN 110926332A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Abstract
The application provides a track contact net spatial position detects car, it includes track 1, rail walking testing platform 2, power tractor 3, power control module 4, is used to lead system 5, photoelectric measurement system device 6 to detect the car, wherein: the rail walking detection platform 2 is of a T-shaped beam structure, and a moving device is arranged at the bottom end of the rail walking detection platform 2 and used for sliding on the rail 1; one end of the power tractor 3 is connected with one end of the rail walking detection platform 2, and the power tractor 3 moves on the rail 1 and is used for drawing the rail walking detection platform 2; the power control module 4 is arranged on the power tractor 3 and used for controlling the movement of the power tractor 3; the inertial navigation system 5 is arranged on a T-shaped beam of the rail walking detection platform 2 and is used for measuring the attitude, the speed and the position of a detection vehicle; the photoelectric measuring system device 6 is arranged on the central line position of the track walking detection platform 2 relative to the track 1.
Description
Technical Field
The invention belongs to the technical field of traffic facility detection, and particularly relates to a rail contact net space position detection vehicle.
Background
The rail locomotive is in contact with the contact network cable through the pantograph to obtain electric power, the rail locomotive drives the pantograph to move, and the contact pressure between the pantograph and the contact network cable is controlled within a reasonable interval. In order to achieve this, it is necessary to control the distance (lead height) between the contact catenary and the plane of the rail and the distance (pull-out value) between the contact catenary and the meridian plane of the center of the rail within a certain range, so as to provide definite boundary conditions for the design, manufacture and application of the pantograph. Therefore, the track needs to measure the spatial position of the contact network cable in the construction, acceptance and operation processes, and the height and pull-out value of the contact network cable are adjusted, so that the design and use requirements can be met.
The existing rail contact type contact net detection equipment mostly uses a rail comprehensive detection vehicle as a carrier, the method greatly improves the detection precision and the detection efficiency, but the comprehensive detection vehicle is used for detection, needs to occupy lines and interfere normal driving, and the equipment is high in manufacturing cost, so that the equipment is generally only applied to detection of main lines. For a common track line, the traditional detection means is still adopted to detect the contact network cable at present, detection personnel are required to measure the leading height and the pulling-out height of the contact network by using a total station or a laser range finder on site, and the method has low efficiency and high cost. Because the traditional method needs to fill in the paper detection report on site by field personnel, the method is not beneficial to track operation maintenance and management data tracking and management. With the continuous improvement of the efficiency requirement of track operation, the night maintenance time of the track is also gradually shortened, and the traditional detection method is determined to be incapable of meeting the requirement of future track operation in China. Design, develop a small-size, lightweight, low-cost contact net spatial position short-term test system, realize the automation, the rapidity of track contact net, realize the electronization of testing data, will help the popularization of this type of equipment, improve detection efficiency, reduce track maintenance, operation, administrative cost to finally improve the operation safety and the operating efficiency of whole track road network.
Disclosure of Invention
The invention aims to solve the technical problems and provides a non-contact type rapid rail contact net space position detection system. The non-contact type rapid rail contact net space position detection system comprises: DCC system and photoelectric detection system.
The application provides a track contact net spatial position detects car, it includes track 1, rail walking testing platform 2, power tractor 3, power control module 4, is used to lead system 5, photoelectric measurement system device 6 to detect the car, wherein:
the rail walking detection platform 2 is of a T-shaped beam structure, and a moving device is arranged at the bottom end of the rail walking detection platform 2 and used for sliding on the rail 1;
one end of the power tractor 3 is connected with one end of the rail walking detection platform 2, and the power tractor 3 moves on the rail 1 and is used for drawing the rail walking detection platform 2;
the power control module 4 is arranged on the power tractor 3 and used for controlling the movement of the power tractor 3;
the inertial navigation system 5 is arranged on a T-shaped beam of the rail walking detection platform 2 and is used for measuring the attitude, the speed and the position of a detection vehicle;
the photoelectric measurement system device 6 is arranged on the central line position of the track walking detection platform 2 relative to the track 1; the photoelectric measurement system device 6 comprises an area-array camera 61, an image computer 62 and a line laser 63, wherein the area-array camera 61 and the line laser 63 are connected with the image computer 62; the area-array camera 61 is used for shooting track contact net images, and the line laser 63 is used for an illumination compensation light source of the photoelectric measurement system.
Preferably, the area-array camera 61 and the line laser 63 are disposed on both sides of the photoelectric measurement system device 6, and the image computer 62 is disposed in the middle of the photoelectric measurement system device 6.
Preferably, the power tractor 3 is driven by a storage battery.
Preferably, the rail walking detection platform 2 further comprises a photoelectric encoder, a frequency division plate and an industrial computer, wherein the photoelectric encoder and the frequency division plate are respectively connected with the industrial computer, the photoelectric encoder is a synchronous trigger source of the detection system,
preferably, the photoelectric encoder generates a pulse trigger signal when the chassis of the detection system moves.
Preferably, the frequency dividing plate is configured to acquire the pulse trigger signal, divide the frequency of the pulse trigger signal, and output the frequency-divided signal to the area-array camera 61.
Preferably, the industrial computer is connected to the image computer 62 and the inertial navigation system 5, and is configured to process the image data acquired by the image computer 62 and process the data acquired by the inertial navigation system 5.
Preferably, the system also comprises an integrated computer and a gigabit switch;
the kilomega switch is arranged on the rail walking detection platform 2, is connected with the comprehensive computer, the industrial computer and the image computer 62, and is used for data communication with the industrial computer and state monitoring of the industrial computer and the image computer 62, and the comprehensive computer is used for receiving data, responding to user operation, and summarizing and fusing the acquired data.
Has the advantages that: compared with the prior art, the invention has the technical characteristics different from the prior art
(1) The system comprises an industrial computer for detecting the attitude of the chassis, an image computer for acquiring, processing and sending images and a comprehensive computer for realizing summary fusion of measured data, wherein the three computers are connected with each other through a gigabit switch to form a distributed acquisition system.
(2) The method is characterized in that a photoelectric measurement system is adopted for image acquisition and processing, and the synchronous trigger source in the DCC system, namely the cooperation of a photoelectric encoder, is combined to realize the dynamic detection of the contact network, so that the test data is provided in real time.
Drawings
Fig. 1 is an overall view of a mechanical structure of a contact network detection vehicle provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a hardware architecture of a catenary detection vehicle provided in an embodiment of the present application;
fig. 3 is an optical measurement structure view of a contact network inspection vehicle provided in the embodiment of the present application;
fig. 4 is a block diagram of an operation flow of a contact network detection vehicle provided in the embodiment of the present application.
FIG. 5 is a schematic diagram of relationships between modules of a contact network detection vehicle provided in an embodiment of the present application
Wherein: the method comprises the following steps of 1-rail, 2-rail walking detection platform, 3-power tractor, 4-industrial computer, 5-inertial navigation system, 6-photoelectric measurement system device, 61-area-array camera, 62-image computer, 63-line laser, 10-overhead contact system height upper bound, 11-overhead contact system height lower bound, 12-power vehicle and rail walking detection platform connecting device, h 1-overhead contact system height range and h 0-overhead contact system lower bound height.
Detailed Description
The invention discloses a rail contact net space position detection vehicle. The detection vehicle comprises two sets of subsystems: a data acquisition computer DCC system and a photoelectric detection system. The DCC system comprises a photoelectric (mileage) encoder, a frequency division plate, an inertial navigation system and an industrial computer; the photoelectric measurement system comprises an area-array camera, a line laser, an image computer and a hard disk; the industrial computer and the image computer are connected to the comprehensive computer through a gigabit switch to form a distributed acquisition system. According to the method for dynamically detecting the space position of the rail contact net, the photoelectric encoder serves as a synchronous trigger source of the whole system, when the system enters an acquisition state, the line laser provides a compensation light source for the area array camera, the photoelectric encoder generates a trigger signal in a certain step length along the detection direction along with the movement of the chassis vehicle, and after the camera receives a trigger pulse, the system immediately acquires, processes and records an image and a corresponding contact net space position data file correspondingly. The system adopts the inertial navigation/mileage instrument combined navigation system to realize accurate measurement of mileage, adopts the pulse output of the photoelectric encoder to realize dynamic acquisition of images by the camera, combines the automatic control of an image computer on the camera to realize real-time dynamic detection of a track contact network, improves the detection speed, reduces the track maintenance, operation and management cost, and finally improves the operation safety and the operation efficiency of the whole track network.
The design concept of the invention is as follows: the invention discloses a non-contact type rapid detection system for the spatial position of a track contact net. In order to realize accurate measurement within the range of 4000-5300mm of the guide height of the subway contact network, a photoelectric measurement system based on area-array camera image processing is designed to realize static detection of the contact network; secondly, in order to realize dynamic detection of a contact network and provide test data in real time so as to improve the maintenance efficiency of the detection vehicle, a DCC system which is based on a photoelectric encoder as a synchronous trigger source to trigger the work of a camera and based on a combined navigation system consisting of an odometer and an inertia component to realize accurate mileage measurement is designed; finally, in order to realize the summarization and fusion of the acquired data by the system and the control of the acquisition system by the user, the system is designed to realize the interconnection among the comprehensive computer, the industrial computer and the image computer through the gigabit switch so as to realize the system control.
Firstly, the hardware structure and mutual data transfer relationship of the system are as follows:
referring to fig. 2, a schematic diagram of a hardware architecture of the rail catenary spatial position detection vehicle (excluding a power supply and a mechanical structure) is shown, where the diagram shows a connection relationship between two major subsystems.
As shown in fig. 2, the rail contact net space position detecting vehicle of the invention comprises: DCC systems and optoelectronic measurement systems. The photoelectric detection system realizes image acquisition processing, namely static measurement, the DCC system realizes real-time monitoring and dynamic measurement, and the three computers are connected through a gigabit switch to realize intelligent control of the distributed acquisition system. The arrows in the figure represent the transfer of data or signals.
The DCC system includes: photoelectric encoder, frequency dividing board, inertial navigation system, industrial computer; the photoelectric measurement system comprises: area-array cameras, line lasers, image computers, hard disks; meanwhile, a kilomega switch and a comprehensive computer are arranged at the periphery of the whole system.
The photoelectric encoder is a synchronous trigger source of the whole system, generates a pulse signal, is used as a sensor for converting mechanical geometric displacement of an output shaft into pulse or digital quantity through photoelectric conversion, can generate trigger pulse when detecting the movement of a vehicle-mounted detection state, and is a synchronous trigger source for enabling an area-array camera in the radio and television detection system to acquire images. Meanwhile, the photoelectric encoder is also used as a mileage gauge to cooperate with the inertial navigation system to realize equipment navigation.
The frequency division plate divides the frequency of the trigger pulse to act on the area array camera, the frequency division plate divides the frequency of the pulse from the photoelectric encoder to generate TTL pulse, and the trigger camera shoots in a certain period to realize real-time image acquisition of the detection vehicle in a certain step length.
The integrated navigation system is used for measuring information such as the posture, the speed and the position of a detection vehicle and accurately positioning equipment, the integrated navigation system formed by combining the inertial navigation system and the mileage gauge realizes the accurate mileage measurement, the photoelectric mileage gauge is coaxially designed with a travel wheel of the detection vehicle and measures the rotation mileage information of the travel wheel in real time, and the mileage gauge and an inertial unit equipped with the system realize dead reckoning calculation and positioning the equipment. Since the velocity of inertial navigation is derived from integration, there is an accumulation of error over time, while the velocity of the odometer is a direct measurement whose error does not vary over time. Due to the characteristic, the combination of the inertial navigation and the odometer has higher precision than that of a pure inertial navigation system, and the increase of inertial navigation errors along with time is effectively controlled by combining output data (speed or mileage increment) of the odometer and gyro data in the inertial navigation system. Therefore, the accurate positioning of the attitude, the speed and the position of the equipment is realized, and the mileage is accurately measured;
the industrial computer for detecting the attitude of the chassis is connected with the inertial navigation sensor and is used for detecting the attitude parameters of the chassis and sending the attitude parameters to the industrial computer, and the industrial computer is a control computer of a DCC system.
The line laser in the photoelectric detection system is used as a compensation light source of an image acquisition device in the photoelectric measurement system, so that the image shooting quality of a camera is improved;
an area-array camera in the photoelectric detection system realizes dynamic shooting of a contact network under the trigger of TTL pulse;
the image computer in the photoelectric detection system is connected with the Basler area-array camera through a USB3.0, is used for realizing the collection, processing and sending of the processed data of the image data, and needs to respond to the control instruction of the upper computer. The hard disk is used for controlling the camera to collect and store the returned image data into the hard disk, processing the image and sending the processed data to the host computer. The local area network is used to realize intercommunication with the host computer. Wherein, the user can set exposure and gain, detect step length, etc. through the image computer by integrating the instructions in the computer;
referring to fig. 1, the overall view of the mechanical structure of the detection vehicle of the contact line detection system is as follows:
this whole car structure of contact net detection car includes: power tractor, track inspection vehicle (with contact net detection module)
The power tractor is used for self-driven operation and autonomous cruising of the whole detection system, and is a traction locomotive for the walking drive of the detection vehicle, so that the self-driven operation of the whole detection system is realized, and the autonomous cruising and intelligent control operation are realized.
The rail walking detection platform, namely the rail walking and detection system, mainly provides an installation reference for the detection sensors and other devices. The method can reliably and stably obtain data in the process of traveling, can accurately obtain the geometric parameter data of the track, and can provide an installation reference for a contact net geometric parameter detection module and the like. Key components (inertia + mileage positioning) realized by the rail walking detection platform: and an inertia/mileage meter combined system is adopted to realize accurate mileage measurement. The photoelectric mileage meter is designed coaxially with the traveling wheel, the rotating mileage information of the traveling wheel is measured in real time, and the mileage meter and an inertial measurement unit of the system realize dead reckoning calculation and equipment positioning.
Referring to fig. 3, which is an optical measurement structural view of the detection system, along the traveling direction of the detection vehicle, the tractor is connected with the detection platform for dragging the rail to travel through a hinge, the photoelectric measurement device of the catenary is installed on the detection platform, and the photoelectric measurement device is oppositely installed with a line laser (63) and an area array camera (61). Wherein, line laser instrument (63) vertical installation to the contact net line of illuminating the top, and certain horizontal distance and personally submit certain contained angle installation with camera optical axis and level between area array camera (61) and line laser instrument (61) are in order to realize that the camera can shoot the contact net region that the laser shines.
Based on the hardware frame and the mechanical structure of the overhead line system detection vehicle, the detection principle of the overhead line system space position of the subway of the detection vehicle is as follows:
when the detection vehicle enters a detection state and advances along the track, the photoelectric encoder generates synchronous trigger pulses and generates TTL pulses under the frequency division of the frequency division plate, so that the trigger camera shoots the upper contact network cable illuminated by the laser in a certain period to obtain a series of contact network images at fixed step length positions, and meanwhile, the image computer receives, stores and compresses the camera images and processes and sends image data. And the image computer sends the detection results of the geometric parameters such as the height of the contact net, the pull-out value and the like to the comprehensive computer for comprehensive processing and display, so that the dynamic and real-time measurement of the geometric parameters of the contact net is realized.
Referring to fig. 4, it is a block diagram of an operation flow of the detection vehicle for the contact network, and when an operator operates the detection vehicle to perform an acquisition operation on the contact network, the work flow of the whole detection vehicle is as follows:
the user firstly carries out power-on operation on the detection vehicle, the DCC system and the photoelectric detection system are powered on and enter a self-checking state (about 5 minutes), after the self-checking is passed, the detection vehicle enters a standby state, and waits for a next step of instruction. When the rail detection vehicle is in a standby state, the rail detection vehicle does not do any action before the operation of a worker. Then, the user inputs line information including road section name, detection direction, initial pile number and the like, the system enters an acquisition ready state, at the moment, the worker controls the tractor to drive according to a specified detection route, the detection system enters a working state, and the camera starts to acquire images of the contact network
In the acquisition process, the catenary detection vehicle acquires the position of the catenary along the line and stores the image data and the processing result data in a certain data storage format. Specifically, the detection software needs to store data on a local hard disk of the image computer, and the data stored in the software is divided into image data and corresponding overhead contact system spatial position data.
After the detection vehicle stores the acquired image data and the contact network spatial position data to the hard disk, because the image computer and the industrial computer communicate with the comprehensive computer through the gigabit switch, the acquired processing results of the DCC system and the photoelectric detection system can be sent to the comprehensive computer to be gathered and fused, analyzed and generated into a report form, and the overrun early warning is provided, so that the spatial position of the contact network is dynamically measured, and the data is uploaded in real time.
After the collection is finished, a user inputs a collection finishing instruction, the detection vehicle stops storing data, and then the DCC system and the photoelectric measurement system are shut down.
At the beginning and end of the acquisition, the user needs to ensure that the vehicle is not moved to ensure data synchronization.
The schematic diagram of the relation among modules of the contact net detection vehicle mainly comprises two parts: client and server.
The client mainly provides a GUI module, through the GUI module, a user can send an instruction to the detection vehicle, then the client control module controls the working state of the detection vehicle, and meanwhile the user can check the detection and analysis results of the contact network detection system on the contact network through the GUI module.
The client also contains a portion of a DCC system, comprising: the system comprises an inertial navigation system API, an inertial navigation data stream processing and attitude analyzing module, a data fusion module, a contact network position data stream module, a database module and the like.
The inertial navigation system API is mainly used for acquiring data of the position and the posture of the detection vehicle and sending the data of the position and the posture of the detection vehicle to the inertial navigation data stream processing and posture analyzing module.
And the inertial navigation data flow processing and attitude analyzing module analyzes and processes the data of the position and the attitude of the detection vehicle through the instruction of the control module and sends the processed data to the data fusion module.
Under the control of the control module, the data fusion module fuses data of the position and the posture of the detection vehicle and position data of the contact network, sends a fusion result to the control module, and then sends the fusion result to the database module for storage.
The server end mainly comprises a photoelectric detection system, a camera API collects contact net pictures along the road, and sends collected image data to the image data stream processing module.
Under the control of the server control module, the image data stream processing module preprocesses the contact network picture through an image processing technology and sends the processed image data to the contact network line identification and extraction module.
And the contact network cable identification and extraction module identifies and extracts contact network characteristic points in the processed image and sends the characteristic data to the image coding and storage module.
The image coding and storing module correspondingly codes and stores the images of the contact network along the road and sends related data to the server control module.
The server control module controls the working states of the image data stream processing module, the contact network image identifying and extracting module and the image coding and storing module, receives the contact network image related data and sends the contact network image related data to the client message analyzing module.
The client message analysis module analyzes and processes the related data of the contact network image, and realizes the mutual communication between the client data and the server data through the server socket and the client socket, and finally realizes the fusion of the image data and the contact network spatial position data.
Claims (8)
1. The utility model provides a track contact net spatial position detects car, its characterized in that, it includes track (1), rail walking detection platform (2), power tractor (3), power control module (4), is used to lead system (5), photoelectric measurement system device (6) to detect the car, wherein:
the rail walking detection platform (2) is of a T-shaped beam structure, and a moving device is arranged at the bottom end of the rail walking detection platform (2) and used for sliding on the rail (1);
one end of the power tractor (3) is connected with one end of the rail walking detection platform (2), and the power tractor (3) moves on the rail (1) and is used for dragging the rail walking detection platform (2);
the power control module (4) is arranged on the power tractor (3) and is used for controlling the movement of the power tractor (3);
the inertial navigation system (5) is arranged on a T-shaped beam of the rail walking detection platform (2) and is used for measuring the attitude, the speed and the position of a detection vehicle;
the photoelectric measurement system device (6) is arranged on the central line position of the track walking detection platform (2) relative to the track (1); the photoelectric measurement system device (6) comprises an area array camera (61), an image computer (62) and a line laser (63), wherein the area array camera (61) and the line laser (63) are connected with the image computer (62); the area array camera (61) is used for shooting track contact net images, and the line laser (63) is used for an illumination compensation light source of the photoelectric measurement system.
2. The rail catenary spatial position detecting vehicle according to claim 1, characterized in that the area-array camera (61) and the line laser (63) are arranged at two sides of the photoelectric measuring system device (6), and the image computer (62) is arranged in the middle of the photoelectric measuring system device (6).
3. The rail catenary spatial position detection vehicle according to claim 1, characterized in that the power tractor (3) is driven by a storage battery.
4. The rail contact net space position detection vehicle of claim 1, characterized in that the rail walking detection platform (2) further comprises a photoelectric encoder, a frequency division plate and an industrial computer, wherein the photoelectric encoder and the frequency division plate are respectively connected with the industrial computer, and the photoelectric encoder is a synchronous trigger source of the detection system.
5. The rail catenary spatial position detection vehicle of claim 4, wherein the photoelectric encoder generates a pulse trigger signal when the detection system chassis moves.
6. The rail contact net space position detecting vehicle of claim 4, wherein the frequency dividing plate is used for acquiring a pulse trigger signal, dividing the frequency of the pulse trigger signal, and outputting an area array camera (61).
7. The rail catenary spatial position detecting vehicle according to claim 4, wherein the industrial computer is connected with the inertial navigation system (5) through the image computer (62) and is used for processing image data collected by the image computer (62) and processing data collected by the inertial navigation system (5).
8. The rail catenary spatial position detection vehicle of claim 1, further comprising a general computer and a gigabit switch;
the gigabit switch is arranged on the rail walking detection platform (2), is connected with the comprehensive computer, the industrial computer and the image computer (62) and is used for data communication with the industrial computer and state monitoring of the industrial computer and the image computer (62), and the comprehensive computer is used for receiving data, responding to user operation and summarizing and fusing the acquired data.
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