CN111412840A - Contact net detection equipment and contact net detection method - Google Patents

Contact net detection equipment and contact net detection method Download PDF

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Publication number
CN111412840A
CN111412840A CN202010379842.8A CN202010379842A CN111412840A CN 111412840 A CN111412840 A CN 111412840A CN 202010379842 A CN202010379842 A CN 202010379842A CN 111412840 A CN111412840 A CN 111412840A
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CN
China
Prior art keywords
vehicle body
light sensor
line
module
catenary
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Pending
Application number
CN202010379842.8A
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Chinese (zh)
Inventor
李清泉
毛庆洲
郑继忠
李志明
余建伟
吴敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Hirail Profiling Technology Co ltd
Wuhan University WHU
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Wuhan Hirail Profiling Technology Co ltd
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Application filed by Wuhan Hirail Profiling Technology Co ltd filed Critical Wuhan Hirail Profiling Technology Co ltd
Priority to CN202010379842.8A priority Critical patent/CN111412840A/en
Publication of CN111412840A publication Critical patent/CN111412840A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines
    • 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
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/3473—Circular or rotary encoders

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application provides a contact net detection device and a contact net detection method. This contact net check out test set includes: automobile body, support, line structure light sensor, gauge measuring module and control module, control module sets up on the automobile body, control module respectively with line structure light sensor and gauge measuring module electricity is connected, control module is used for receiving the scanning data that line structure light sensor sent and receipt gauge measuring module sent the distance, and based on scanning data and the distance obtains the pulling value and the lead height value of contact wire. Compared with the prior art, the measuring speed is high, manual measurement of workers is changed into automatic measurement, the labor intensity of the workers is reduced, and adjustment and calculation at each measuring position are not needed. In addition, staff can realize the general survey of full circuit through using this equipment.

Description

Contact net detection equipment and contact net detection method
Technical Field
The application relates to the technical field of contact network detection, in particular to contact network detection equipment and a contact network detection method.
Background
The overhead contact system is a high-voltage transmission line which is erected along a zigzag shape above a steel rail in an electrified railway and is used for a pantograph to draw current. The overhead contact system is a main framework of the railway electrification engineering and is a special power transmission line which is erected along a railway line and supplies power to an electric locomotive.
At present, the detection of the contact network mainly adopts a red light semiconductor laser and phase pulse counting to detect the conduction height value, the pull-out value and the like of the contact line. The detection process comprises the following steps: 1. at the measuring points, such as the position of a dropper and the position of a positioner, measuring items, such as the pull-out and the lead-up of a contact line, are selected. 2. The laser is adjusted to aim at the contact line. 3. And recording the detection result. According to the mode, the measuring speed is low, one parameter of one position is measured, the time is about 1-2 minutes, secondly, the labor intensity is high, the position of a laser point needs to be adjusted in the process that a laser aligns to the measuring position, an operator needs to squat down to operate, and when the number of measuring points is large, the labor intensity is high.
Disclosure of Invention
An object of the embodiment of the application is to provide a contact net detection device and a contact net detection method, so as to solve the problems of low measurement speed and high labor intensity of workers in the current detection of contact nets.
The application is realized as follows:
in a first aspect, an embodiment of the present application provides a contact net detection device, including: a vehicle body; the bracket is arranged on the top of the vehicle body and is positioned in the center of the top of the vehicle body; the line-structured light sensor is arranged at the top end of the bracket and used for scanning a contact line of a contact network; the track gauge measuring module is arranged at the bottom of the vehicle body and is used for collecting the distance between the two tracks; the control module is arranged on the vehicle body, is respectively electrically connected with the linear structure light sensor and the track gauge measuring module, and is used for receiving scanning data sent by the linear structure light sensor and receiving the distance sent by the track gauge measuring module and obtaining a pull-out value and a lead height value of the contact line based on the scanning data and the distance.
In this application embodiment, through with line structure light sensor, gauge measuring module integration on a automobile body that contains the support for the staff only need through promoting the automobile body alright realize the detection to the contact net. Compared with the prior art, the measuring speed is high, manual measurement of workers is changed into automatic measurement, the labor intensity of the workers is reduced, and adjustment and calculation at each measuring position are not needed. In addition, staff can realize the general survey of full circuit through using this equipment.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the overhead line system detection apparatus further includes a limit measurement module, the limit measurement module is disposed on the bracket, the limit measurement module is electrically connected to the control module, and the limit measurement module is configured to measure a distance between itself and a support column of the overhead line system.
In the embodiment of the application, the limit measuring module is arranged on the bracket, so that the equipment can also measure the distance between the equipment and the support column, and further the side limit of the support column is obtained. The functionality of the device is increased in the above manner.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the vehicle body includes a movable wheel and a fixed wheel that are disposed at the bottom of the vehicle body, the movable wheel can slide along the bottom of the vehicle body, and the movable wheel and the fixed wheel are disposed at two sides of the bottom of the vehicle body relatively.
Because the interval between the track can be different, consequently, in this application embodiment, through set up slidable movable wheel in one side of the bottom of automobile body, set up the fixed pulley at the opposite side, can be so that the automobile body can be applicable to on the track of difference.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the track gauge measuring module includes a movable block and a distance meter; the movable block is arranged on one side of the movable wheel and is rigidly connected with the movable wheel; the range finder sets up tight pulley one side, the range finder be used for measuring self with the distance between the movable block.
In this application embodiment, the gauge measuring module includes the movable block that sets up in movable wheel one side and sets up the distancer in stationary wheel one side. Wherein, the movable block is connected with the movable wheel rigid, and the distance between the movable block and the self-measuring distance is convenient for measuring the distance between the two tracks.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the overhead line system detection apparatus further includes an encoder, where the encoder is disposed on one of the wheels of the vehicle body; the encoder is electrically connected with the control module and the linear structure light sensor respectively; the encoder is used for mileage counting and sending a trigger instruction to the line-structured light sensor.
In this application embodiment, through set up the encoder on one of them wheel of automobile body, be convenient for realize the measurement to automobile body walking mileage, simultaneously, the encoder can also trigger line structure light sensor to make line structure light sensor carry out once scanning every predetermineeing the distance.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the catenary detection apparatus further includes a display, the display is disposed on the bracket, and the display is electrically connected to the control module.
In the embodiment of the application, the display is arranged on the support, so that the measurement process and the measurement result can be conveniently checked by a worker.
In combination with the technical solution provided by the first aspect, in some possible implementations, the support is a telescopic support.
Because the position of contact wire is higher, therefore, in this application embodiment, the support is telescopic bracket, after the equipment inspection is accomplished, can stretch out and draw back the support, avoids equipment to occupy too big space, simultaneously because the position of different contact wires is different, consequently through the regulation to telescopic bracket, the line structure light sensor that can be convenient for lie in telescopic bracket scans the contact wire.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the line structured light sensor is further configured to scan a positioner of the overhead contact system, and acquire a gradient of the positioner.
In this application embodiment, still be used for scanning the locator of contact net through line structure optical sensor, and then obtain the slope of locator, increased the functionality of equipment.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the detection device of the overhead line system further includes a power supply module, the power supply module is disposed on the vehicle body, the power supply module is respectively electrically connected with the line-structured light sensor, the track gauge measuring module and the control module, and the power supply module is configured to supply power to the line-structured light sensor, the track gauge measuring module and the control module.
In the embodiment of the application, the power supply module is arranged on the vehicle body, and the power supply for the line structure light sensor, the track gauge measuring module and the control module is realized through the power supply module.
In a second aspect, an embodiment of the present application provides a catenary detection method, which is applied to a control module in the catenary detection apparatus according to the first aspect, where the method includes: acquiring position data of the contact line under a coordinate system of the linear structure optical sensor based on scanning data sent by the linear structure optical sensor; converting the position data of the contact line under the line-structured light sensor coordinate system into the position data of the contact line under the vehicle body center coordinate system according to the position data of the center of the vehicle body; based on the distance sent by the rail gauge measuring module, converting the position data of the contact line positioned under the vehicle body central coordinate system into the position data of the contact line positioned under the rail surface central coordinate system; and acquiring a pulling value and a lead height value of the contact line based on the position data of the contact line positioned in the rail surface center coordinate system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a catenary.
Fig. 2 is a schematic structural diagram of an overhead line system detection apparatus at a first viewing angle according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an overhead line system detection apparatus at a second viewing angle according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an overhead line system detection apparatus at a third viewing angle according to an embodiment of the present application.
Fig. 5 is a flowchart illustrating steps of a method for detecting a catenary according to an embodiment of the present application.
Icon: 100-contact net detection equipment; 10-a vehicle body; 11-a scaffold; a 12-line structured light sensor; 13-gauge measuring module; 131-a movable block; 132-a range finder; 14-a control module; 15-bound measurement module.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, first, a structure of a contact network, which is a main frame of a railway electrification project and is a special type of power transmission line installed over a railway line to supply power to an electric locomotive, will be described. It is composed of contact suspension, supporting device, positioning device, supporting column and foundation.
The contact suspension comprises a contact wire, a dropper, a carrier cable, a connecting part and an insulator. The contact suspension is mounted on a support column by means of a support device and serves to supply the electric locomotive with electric energy obtained from the traction substation.
The support device is used to support the contact suspension and to transmit its load to the support post or other building. The contact system is different according to the section, station and large building where the contact system is located. The supporting device comprises a cantilever, a horizontal pull rod, a suspension insulator string, a rod insulator and other special supporting equipment of the building.
The positioning device comprises a positioning pipe and a positioner, and is used for fixing the position of the contact line, ensuring that the contact line is within the running track range of the pantograph slide plate, ensuring that the contact line is not separated from the pantograph and transmitting the horizontal load of the contact line to the support.
The support posts and the foundation are used to bear the entire load of the contact suspension, support and positioning device and to fix the contact suspension at a given position and height. At present, prestressed reinforced concrete struts and steel columns are adopted in contact networks, and the foundation is for the steel struts, namely the steel struts are fixed on the foundation made of the reinforced concrete below, and the foundation bears the whole load transmitted by the struts and ensures the stability of the struts. The prestressed reinforced concrete pillar and the foundation are made into a whole, and the lower end of the prestressed reinforced concrete pillar is directly buried underground.
At present, the detection of the contact network mainly adopts a red light semiconductor laser and phase pulse counting to detect the conduction height value, the pull-out value and the like of the contact line. Wherein, the height value of the contact net refers to the vertical distance from the contact line to the top surface of the track. The pull-out value of the contact line refers to the offset of the contact line from the center line of the pantograph at the location point.
The detection process comprises the following steps: 1. at the measuring points, such as the position of a dropper and the position of a positioner, measuring items, such as the pull-out and the lead-up of a contact line, are selected. 2. The laser is adjusted to aim at the contact line. 3. And recording the detection result. According to the mode, the measuring speed is low, one parameter of one position is measured, the time is about 1-2 minutes, secondly, the labor intensity is high, the position of a laser point needs to be adjusted in the process that an instrument laser aligns to the measuring position, an operator needs to squat down to operate, and when the number of measuring points is large, the labor intensity is high.
In view of the above problems, the present inventors have studied and researched to provide the following embodiments to solve the above problems.
Referring to fig. 2 to fig. 4, an embodiment of the present application provides a contact line detection apparatus 100, including: the track gauge system comprises a vehicle body 10, a bracket 11, a line structured light sensor 12, a track gauge measuring module 13 and a control module 14. (fig. 3 is a plan view of the catenary detection apparatus 100, and fig. 4 is a bottom view of the catenary detection apparatus 100).
Wherein, the bracket 11 is arranged on the top of the vehicle body 10 and is positioned at the center of the top of the vehicle body 10. The bottom of the vehicle body 10 is provided with a plurality of wheels, for example, four or six wheels. A line structured light sensor 12 is provided at the top end of the holder. The gauge measuring module 13 is provided at the bottom of the vehicle body 10. The control module 14 is disposed on the vehicle body, and the control module 14 is electrically connected to the line structured light sensor 12 and the track gauge measuring module 13, respectively.
The line structured light sensor 12 is used for scanning a contact line of a contact system and sending scanning data to the control module 14.
Wherein the gauge measuring module 13 is configured to collect a distance between two rails and send the collected distance to the control module 14.
The track gauge measuring module 13 may be a distance measuring device, such as a laser distance measuring device or an electro-optical distance measuring device.
In the embodiment of the present application, the control module 14 includes a controller and a notebook computer (the notebook computer includes a central processing unit, which is not shown in the notebook computer); the controller is used for receiving the scanning data sent by the line structured light sensor 12 and the distance sent by the track gauge measuring module 13, and sending the received data to the notebook computer. The notebook computer is matched with control software, and the pulling value and the leading height value of the contact line can be calculated according to the received data. Of course, the notebook computer may also directly receive the scanning data sent by the line structured light sensor 12 and the distance sent by the track gauge measuring module 13, and then solve the pulling value and the leading height value of the contact line based on the control software configured on the notebook computer.
The controller can be a single chip microcomputer. The controller may also be a general-purpose Processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, or a discrete hardware component, which may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. Further, a general purpose processor may be a microprocessor or any conventional processor or the like.
The contact line detection device 100 further comprises a display, wherein the industrial personal computer is electrically connected with the display, is used for receiving scanning data sent by the line structured light sensor 12 and receiving the distance sent by the rail distance measurement module 13, and calculates a pull-out value and a lead-up value of the contact line according to the received data.
Optionally, the control module 14 may further include an industrial personal computer, a notebook computer, and a communication module. The communication module can be electrically connected with the notebook computer. The communication module is used for transmitting the pull-out value and the lead-up value of the contact line. For example, the communication module of the catenary detecting device 100 may be used for performing communication connection with a terminal device of a worker. The staff can check the detection data through the terminal equipment. In this manner, the controller may also be configured. The present application is not limited thereto.
In summary, in the embodiment of the present application, the line structured light sensor 12 and the track gauge measuring module 13 are integrated on a vehicle body 10 including the bracket 11, so that the worker can detect the contact net only by pushing the vehicle body. Compared with the prior art, the measuring speed is high, manual measurement of workers is changed into automatic measurement, the labor intensity of the workers is reduced, and adjustment and calculation at each measuring position are not needed. In addition, staff can realize the general survey of full circuit through using this equipment.
It should be noted that, since the position of the contact line is generally high, the height of the bracket is 5 meters. Of course, in order to accommodate contact lines of different heights, in other embodiments, the height of the support may also be 6 meters, 4 meters, etc.
In view of the difference in contact line height, in the present embodiment, the holder 11 is a retractable holder. With continued reference to fig. 2, the stent 11 includes a first sub-stent, a second sub-stent and a third sub-stent. The second sub-mount is disposed between the first sub-mount and the third sub-mount. The first sub-mount is connected to the vehicle body 10, and the third sub-mount is connected to the line structured light sensor 12. The cross-sectional area of the first sub-stent is greater than the cross-sectional area of the second sub-stent, which is greater than the cross-sectional area of the third sub-stent. The adjacent two sub-brackets can be connected through a buckle or a screw.
When the equipment is not used, the second sub-bracket is sleeved on the third sub-bracket, and the first sub-bracket is sleeved on the second sub-bracket. When the equipment is put into use, the extending heights of the second sub-bracket and the third sub-bracket can be adjusted according to the height of the contact line, and then the two adjacent sub-brackets are clamped or connected through screws.
The number of the sub-brackets included in the telescopic bracket is not limited in the present application, for example, the telescopic bracket may include only two sub-brackets or four or eight sub-brackets.
In this application embodiment, support 11 is telescopic bracket, and after the equipment inspection was accomplished, can stretch out and draw back support 11, avoids equipment to occupy too big space, simultaneously because the position of different contact wires is different, consequently through the regulation to telescopic bracket, can be convenient for lie in line structure light sensor 12 on telescopic bracket and scan the contact wire.
Optionally, the catenary detecting apparatus 100 further comprises a limit measuring module 15. The limit measuring module 15 is arranged on the support, and the limit measuring module 15 is electrically connected to the control module 14. The limit measurement module 15 is used to measure the distance between itself and the strut of the catenary.
The limit measuring module 15 can be a laser limit measuring device.
Wherein, the limit measuring module 15 is arranged on the bracket 11 within the range of 0.5-1 m from the vehicle body.
In the embodiment of the application, by arranging the limit measuring module 15 on the bracket 11, the device can also measure the distance between the device and the support column, and further obtain the side limit of the support column. Wherein the pillar side boundary definition is: the horizontal distance of the inner edge of the post from the line centerline adjacent the line connecting the rail heads. The functionality of the device is increased in the above manner.
Alternatively, the wheels at the bottom of the vehicle body 10 include movable wheels as well as fixed wheels. The movable wheels and the fixed wheels are oppositely arranged on two sides of the bottom of the vehicle body. The movable wheels can slide along the bottom of the vehicle body, namely the movable wheels can slide along one side of the vehicle body where the movable wheels are located to one side of the fixed wheels. The number of the movable wheels and the number of the fixed wheels can be the same, such as 2 and 4. Of course, the number of the movable wheels and the fixed wheels can be different, for example, the number of the sliding wheels is 2, and the number of the fixed wheels is 4. The present application is not limited thereto.
Because the interval between the track can be different, consequently, in this application embodiment, through set up slidable movable wheel in one side of the bottom of automobile body, set up the fixed pulley at the opposite side, can make the automobile body be applicable to on the track of different intervals.
Referring to fig. 4, when the wheels at the bottom of the vehicle body include a movable wheel and a fixed wheel, the track gauge measuring module 13 includes a movable block 131 and a distance meter 132.
Wherein, the movable block 131 is arranged at one side of the movable wheel, and the movable block 131 is rigidly connected with the movable wheel. And the distance meter 132 is provided at one side of the fixed wheel, and the distance meter 132 is used to measure the distance between itself and the movable block 131. Because distancer 132 sets up in tight pulley one side, and movable block 131 sets up in movable wheel one side, consequently, measure the distance between self and the movable block 131 through distancer 132 and alright measure the distance between movable wheel and the tight pulley, and then measure the interval between two tracks.
Of course, in other embodiments, the distance meter 132 may be disposed on one side of the movable wheel, the distance meter 132 is rigidly connected to the movable wheel, a baffle is disposed on one side of the fixed wheel, and the distance meter 132 is used for measuring the distance between itself and the baffle, and further measuring the distance between the movable wheel and the fixed wheel, and further measuring the distance between the two tracks.
Optionally, the catenary detecting device 100 further includes an encoder, and the encoder is disposed on one of the wheels of the vehicle body 10.
The encoder is electrically connected to the control module 14 and the line structured light sensor 12, respectively. The encoder is used for mileage counting. The counting principle of the encoder is as follows: the encoder rotates and can generate pulse signals, and the encoder is arranged on the wheels, so that the encoder can generate corresponding pulse signals through the rotation of the wheels, and the mileage of the walking of the vehicle body can be measured through the generated pulse signals. In the embodiment of the present application, the encoder is further configured to send a trigger command to the line structured light sensor 12. Each time the encoder generates a certain number of pulse signals, it will send a trigger command to the line structured light sensor 12 to make the line structured light sensor 12 perform a scan. For example, the encoder may be configured to send a trigger command to the line structured light sensor 12 every time 1 pulse signal or a plurality of pulse signals are generated, so that the line structured light sensor 12 performs one scanning. In this way, the line structured light sensor 12 can perform scanning at every predetermined distance.
In the embodiment of the present application, an encoder is disposed on one of the wheels of the vehicle body 10, so as to measure the travel distance of the vehicle body, and meanwhile, the encoder may also trigger the linear structured light sensor 12, so that the linear structured light sensor 12 scans once every preset distance.
In this embodiment, the catenary detection apparatus 100 further includes a power module. The power module sets up on the automobile body, and power module is connected with line structure light sensor 12, gauge measuring module 13 and control module 14 electricity respectively, and power module is used for line structure light sensor 12 gauge measuring module 13 and control module 14 power supply. When the contact network detection device further comprises other electrical devices, the power supply module may also supply power to the electrical devices, for example, the power supply module is also used to supply power to the encoder and the limit measurement module 15.
Optionally, the catenary detecting apparatus 100 further includes a motor. The motors are mechanically coupled to the wheels of the vehicle body 10 and are electrically coupled to the control module 14.
The motor is used for receiving a control command of the control module 14 to drive and control the wheel.
In this application embodiment, carry out drive control through the motor to the wheel, can be so that whole equipment realizes automatic measurement, need not artificial promotion, saved the manpower.
Optionally, the line structured light sensor is further configured to scan a locator of the overhead line system and obtain a gradient of the locator. That is, the line structured light sensor can automatically identify the locator.
In this application embodiment, still be used for scanning the locator of contact net through line structure light sensor 12, and then obtain the slope of locator, increased the functionality of equipment.
Alternatively, the line structured light sensor 12 may also automatically identify the dropper of the catenary.
Optionally, the control module 14 is also used to automatically number the locators, dropper, etc. The control module 14 is also used to automatically number anchor segments.
To sum up, the functions of the overhead line system detection apparatus 100 provided in the embodiment of the present application may include: detecting a contact line pull-out value, a contact line height guide value, a locator gradient, a support side limit, track gauge measurement, an automatic identification locator, an automatic identification dropper, mileage counting, locator automatic numbering, dropper automatic numbering and anchor section automatic numbering.
Referring to fig. 5, based on the same inventive concept, an embodiment of the present application further provides a catenary detection method, which is applied to the control module 14 in the catenary detection apparatus 100 in the above embodiment. The method comprises the following steps: step S101-step S104.
Step S101: and acquiring position data of the contact line under a coordinate system of the linear structure light sensor based on the scanning data sent by the linear structure light sensor.
The position data (PX, PY) of the contact lines can be acquired by scanning data sent through the line structured light sensor. The position data (PX, PY) of the contact line acquired at this time is based on coordinate data in the linear-structured light sensor coordinate system.
Step S102: and converting the position data of the contact line under the coordinate system of the line-structured light sensor into the position data of the contact line under the coordinate system of the center of the vehicle body according to the position data of the center of the vehicle body.
The position data of the center of the vehicle body is a parameter calibrated in advance according to the state of the vehicle body. I.e. the position data of the centre of the vehicle body is equal to the vector difference of the position data of the top of the bracket and the bottom of the vehicle body. For example, if the position data of the center of the vehicle body is (MX, MY), converting the position data of the contact line located under the linear structure optical sensor coordinate system into the position data of the contact line located under the vehicle body center coordinate system is to add the position data of the center of the vehicle body (MX, MY) and the position data (PX, PY) based on the contact line under the linear structure optical sensor coordinate system.
(MX，MY)+(PX，PY)＝(PX1，PY2)
Here, (PX1, PY2) is position data of a contact line located in a vehicle body center coordinate system.
Step S103: and converting the position data of the contact line positioned under the central coordinate system of the vehicle body into the position data of the contact line positioned under the central coordinate system of the rail surface based on the distance sent by the rail distance measuring module.
And after the control module acquires the distance D sent by the rail gauge measuring module, converting the position data of the contact line positioned under the central coordinate system of the vehicle body into the position data of the contact line positioned under the central coordinate system of the rail surface.
(PX1，PY2)+(-D/2，0)＝(L，H)
Where D is the distance between the tracks, (L, H) is the position data of the contact line located in the central coordinate system of the track surface.
Step S104: the pull-out value and the lead height value of the contact line are obtained based on the position data of the contact line located in the rail surface center coordinate system.
Position data (L, H) of the contact line located in the rail surface center coordinate system is acquired by step S103, where L is a pull-out value of the contact line, and H is a lead height value of the contact line.
In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
It should also be noted that, unless expressly stated or limited otherwise, the terms "disposed" and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a contact net check out test set which characterized in that includes:
a vehicle body;
the bracket is arranged on the top of the vehicle body and is positioned in the center of the top of the vehicle body;
the line-structured light sensor is arranged at the top end of the bracket and used for scanning a contact line of a contact network;
the track gauge measuring module is arranged at the bottom of the vehicle body and is used for collecting the distance between the two tracks; and
the control module is arranged on the vehicle body, is respectively electrically connected with the linear structure light sensor and the track gauge measuring module, and is used for receiving scanning data sent by the linear structure light sensor and receiving the distance sent by the track gauge measuring module and obtaining a pull-out value and a lead-up value of the contact line based on the scanning data and the distance.
2. The catenary detecting device according to claim 1, further comprising a limit measuring module disposed on the support, the limit measuring module being electrically connected to the control module, the limit measuring module being configured to measure a distance between itself and a strut of the catenary.
3. The catenary detecting equipment according to claim 1, wherein the vehicle body comprises a movable wheel and a fixed wheel which are arranged at the bottom of the vehicle body, the movable wheel can slide along the bottom of the vehicle body, and the movable wheel and the fixed wheel are oppositely arranged at two sides of the bottom of the vehicle body.
4. The catenary detecting device according to claim 3, wherein the gauge measuring module comprises a movable block and a distance meter; the movable block is arranged on one side of the movable wheel and is rigidly connected with the movable wheel; the range finder sets up tight pulley one side, the range finder be used for measuring self with the distance between the movable block.
5. The catenary detecting device according to claim 1, further comprising an encoder, wherein the encoder is disposed on one of the wheels of the vehicle body; the encoder is electrically connected with the control module and the linear structure light sensor respectively; the encoder is used for mileage counting and sending a trigger instruction to the line-structured light sensor.
6. The catenary detection equipment of claim 1, further comprising a display, wherein the display is disposed on the support and electrically connected to the control module.
7. The catenary detecting device of claim 1, wherein the frame is a telescoping frame.
8. The catenary detection equipment according to claim 1, wherein the line structured light sensor is further configured to scan a positioner of the catenary and obtain a gradient of the positioner.
9. The catenary detection equipment according to claim 1, further comprising a power module, wherein the power module is disposed on the vehicle body, the power module is electrically connected to the line structure photosensor, the track gauge measuring module and the control module, and the power module is configured to supply power to the line structure photosensor, the track gauge measuring module and the control module.
10. The catenary detection method is characterized by being applied to a control module in the catenary detection equipment as claimed in claim 1, and the method comprises the following steps:
acquiring position data of the contact line under a coordinate system of the linear structure optical sensor based on scanning data sent by the linear structure optical sensor;
converting the position data of the contact line under the line-structured light sensor coordinate system into the position data of the contact line under the vehicle body center coordinate system according to the position data of the center of the vehicle body;
based on the distance sent by the rail gauge measuring module, converting the position data of the contact line positioned under the vehicle body central coordinate system into the position data of the contact line positioned under the rail surface central coordinate system;
and acquiring a pulling value and a lead height value of the contact line based on the position data of the contact line positioned in the rail surface center coordinate system.
CN202010379842.8A 2020-05-07 2020-05-07 Contact net detection equipment and contact net detection method Pending CN111412840A (en)

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Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112432609A (en) * 2020-11-24 2021-03-02 中铁十一局集团电务工程有限公司 Rail contact net parameter measurement system
CN112710229A (en) * 2020-12-07 2021-04-27 济南蓝动激光技术有限公司 Subway contact net geometric parameter measuring instrument and measuring method
CN113291207A (en) * 2020-12-22 2021-08-24 广东中科如铁技术有限公司 Dynamic measurement method of rigid subway overhead line system
CN113587847A (en) * 2021-08-13 2021-11-02 武汉汉宁轨道交通技术有限公司 Contact wire abrasion detection method, device, equipment and computer storage medium
CN115993091A (en) * 2021-10-18 2023-04-21 合肥中车轨道交通车辆有限公司 Contact net pull-out value detection method and device

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112432609A (en) * 2020-11-24 2021-03-02 中铁十一局集团电务工程有限公司 Rail contact net parameter measurement system
CN112432609B (en) * 2020-11-24 2022-09-20 中铁十一局集团电务工程有限公司 Rail contact net parameter measurement system
CN112710229A (en) * 2020-12-07 2021-04-27 济南蓝动激光技术有限公司 Subway contact net geometric parameter measuring instrument and measuring method
CN113291207A (en) * 2020-12-22 2021-08-24 广东中科如铁技术有限公司 Dynamic measurement method of rigid subway overhead line system
CN113291207B (en) * 2020-12-22 2023-02-14 广东中科如铁技术有限公司 Dynamic measurement method of rigid contact network of subway
CN113587847A (en) * 2021-08-13 2021-11-02 武汉汉宁轨道交通技术有限公司 Contact wire abrasion detection method, device, equipment and computer storage medium
CN115993091A (en) * 2021-10-18 2023-04-21 合肥中车轨道交通车辆有限公司 Contact net pull-out value detection method and device
CN115993091B (en) * 2021-10-18 2024-05-14 合肥中车轨道交通车辆有限公司 Contact net pull-out value detection method and device

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