CN112504124B - Automatic calibration system suitable for contact net - Google Patents

Abstract

The invention discloses an automatic calibration system suitable for a contact net, which belongs to the technical field of contact net calibration and comprises a base, a walking assembly, a lifting unit, a calibration platform, a displacement assembly and a calibration assembly. The automatic calibration system disclosed by the invention is simple in structure and simple and convenient to control, can effectively realize automatic calibration of the contact line, ensures the calibration accuracy and convenience of the contact line system, reduces the manual labor amount in the calibration process, reduces the cost of the contact line calibration, improves the efficiency of the contact line system construction and calibration, and has better application prospect and popularization value.

Description

Automatic calibration system suitable for contact net

Technical Field

The invention belongs to the technical field of contact net calibration, and particularly relates to an automatic calibration system suitable for a contact net.

Background

Along with the rapid development of railway construction in China, new requirements are put forward on the process quality standards of related parts in the railway industry, and requirements on the construction and maintenance precision of driving lines are higher and higher. In the driving line of a railway, a contact net is an important component for ensuring the normal operation of the railway, is lapped on an electric railway power supply line and plays a role of supplying power to the whole electric locomotive traction system and train auxiliary equipment.

In the construction process of the railway system, the construction of the contact net system is very important engineering content, and whether the contact net system is accurately and reasonably arranged is related to the operation quality of the whole railway system. In the overhead line system, structures such as upright posts, cantilever arms, carrier ropes, hanger strings, contact lines and the like are usually arranged, and the accuracy of the arrangement of each structure and each part directly relates to the stability and accuracy of the arrangement of the whole overhead line system. Therefore, after the setting of the catenary system is completed, the key parameters of the catenary system often need to be calibrated.

At present, the calibration of the contact net system is often carried out in a manual calibration mode, although the aim of calibration can be achieved to a certain extent, the manual calibration mode has the defects of inconsistent calibration standard, poor continuity and poor calibration quality, the degree of mechanization of a calibration site is low, the labor amount of manual operation is large, the obvious defect of the calibration of the contact net system is caused, the main trend of the mechanical, automatic and intelligent construction control of the railway construction in China at present cannot be met, and improvement and perfection are needed.

Disclosure of Invention

Aiming at one or more of the defects or improvement demands in the prior art, the invention provides an automatic calibration system suitable for the overhead contact system, which can effectively realize automatic calibration of the installation position of the dropper and automatic measurement of the geometric parameters of the contact line in the overhead contact system, improves the automation degree of the calibration operation of the overhead contact system, and ensures the accuracy and reliability of the setting of the overhead contact system.

In order to achieve the above purpose, the invention provides an automatic calibration system suitable for a contact net, which comprises a base, a walking assembly, a lifting unit, a calibration platform, a displacement assembly and a calibration assembly;

The running assembly is arranged below the base and comprises a rail unit capable of running back and forth on a rail; one end of the lifting unit is fixed at the top of the base, and the other end of the lifting unit is provided with a telescopic rod capable of vertically lifting;

The bottom of the calibration platform is correspondingly matched with the top end of the telescopic rod, and the vertical height of the calibration platform can be adjusted along with the vertical lifting of the telescopic rod;

the displacement assembly is arranged on the calibration platform and comprises a Y-axis unit and a Z-axis unit; the Y-axis unit is arranged along the transverse direction, and the Z-axis unit is arranged on the Y-axis unit and can reciprocate along the transverse direction under the drive of the Y-axis unit; the Z-axis unit is provided with a lifting part which can vertically and reciprocally lift;

The calibration assembly comprises a calibration bracket arranged on the lifting part and a ranging sensor arranged at the bottom of the calibration platform; the distance measuring sensor is used for detecting the distance between the calibration platform and the top surface of the base; the calibration support is provided with a 3D intelligent sensor, a laser sensor and a spray gun; the 3D intelligent sensor can be used for detecting the spatial positions of the contact line, the calibration platform and the track surface relative to the 3D intelligent sensor respectively; the laser sensor can be used for detecting the position of a wrist arm or a stand column; the spray gun may be used to spray mark the contact line.

As a further improvement of the invention, the walking assembly further comprises a walking unit which can walk on a road; the road unit and/or the rail unit are/is arranged on the lifting frame.

As a further improvement of the invention, the calibration support is provided with a containing cavity, and the 3D intelligent sensor is arranged in the containing cavity.

As a further improvement of the invention, the spray gun is arranged on the side of the calibration support, which is away from the 3D intelligent sensor.

As a further improvement of the invention, the rail unit comprises at least two pairs of rail wheels, and the rail wheels are provided with a number of turns sensor for detecting the number of turns of the rail wheels when running.

As a further improvement of the present invention, a timer sensor is provided corresponding to the laser sensor for counting the time elapsed when the laser sensor detects two adjacent wrist arms or two adjacent posts.

As a further improvement of the invention, a bottom frame is arranged between the calibration platform and the telescopic rod;

The chassis is frame construction, its bottom with telescopic link fixed connection, just mark the platform activity or fixed the setting is in the top of chassis.

As a further improvement of the invention, the displacement assembly further comprises an X-axis unit;

The X-axis unit is longitudinally arranged on the calibration platform, and the Y-axis unit is correspondingly arranged on the X-axis unit and can longitudinally reciprocate under the control of the X-axis unit.

As a further improvement of the present invention, the X-axis unit, the Y-axis unit, and the Z-axis unit are respectively a slider-slide rail type displacement mechanism, a chain type displacement mechanism, a rack-gear type displacement mechanism, a telescopic cylinder, or a screw rod displacement mechanism.

As a further improvement of the invention, the distance measuring sensor is a laser distance measuring sensor, and a plurality of distance measuring sensors are arranged at the bottom of the calibration platform at intervals.

The above-mentioned improved technical features can be combined with each other as long as they do not collide with each other.

In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:

(1) The automatic calibration system suitable for the overhead line system comprises a base, a traveling assembly, a lifting unit, a calibration platform, a displacement assembly and a calibration assembly, the reliable traveling of the automatic calibration system on a track is effectively realized by utilizing the corresponding arrangement of the traveling assembly, the corresponding arrangement of the lifting unit, the calibration platform and the displacement assembly, the corresponding adjustment of the position of the calibration assembly in space is effectively realized, the matching of the calibration assembly and the structures such as contact wires, stand columns and the like in the overhead line system is realized, the condition is provided for the relevant calibration operation, the automatic calibration of the overhead line system is realized, the efficiency and the quality of the calibration of the overhead line system are improved, the manual labor amount in the calibration process of the overhead line system is reduced, and the cost of the calibration of the overhead line system is reduced;

(2) According to the automatic calibration system suitable for the overhead line system, the track unit and the road unit are arranged in the running assembly at the same time, and the corresponding arrangement of the lifting frame is utilized, so that the automatic calibration system can be switched between running on the track and running on the road, the automatic calibration system is convenient to transfer and store, the use convenience and the automation degree of the automatic calibration system are improved, and the manual labor capacity of a calibration site is further reduced;

(3) According to the automatic calibration system suitable for the overhead line system, the underframe is arranged between the calibration platform and the lifting unit, so that the setting length of the lifting unit is effectively shortened, the lifting control stability of the lifting unit and the horizontal setting stability of the calibration platform are ensured, and the calibration platform on the underframe can be replaced by other forms or structures according to actual needs through the setting or movable connection setting of the calibration platform on the top of the underframe, so that the application under other forms is satisfied, the compatibility and the flexibility of the automatic calibration system are improved, and the setting cost of related equipment and the operation cost of related procedure operations are reduced;

(4) The automatic calibration system suitable for the overhead line system utilizes the matching arrangement and corresponding work of the components such as the 3D intelligent sensor, the laser sensor, the spray gun, the ranging sensor and the like in the calibration assembly, and combines the corresponding arrangement of the turn number sensor, the timing sensor and the like, thereby effectively completing the automatic calibration of relevant parameter indexes of the overhead line system and the automatic spraying of the mounting positions of the hanging strings, ensuring the accuracy of the overhead line system after the arrangement, and further ensuring the accurate operation of the overhead line system;

(5) The automatic calibration system suitable for the overhead line system is simple in structure and convenient to control, can effectively realize the measurement of the single-span mileage of the overhead line, the calibration of the mounting position of the dropper on the overhead line of the overhead line and the measurement of the contact line elevation and pull-out value at each position of the whole working section through the corresponding combination of all parts, realizes the automatic calibration of the overhead line, ensures the calibration accuracy and convenience of the overhead line system, reduces the manual labor amount in the calibration process of the overhead line system, reduces the cost of the overhead line calibration, improves the construction and calibration efficiency of the overhead line system, and has better application prospect and popularization value.

Drawings

FIG. 1 is a schematic diagram of an automated calibration system for catenary in accordance with an embodiment of the present invention;

FIG. 2 is a top structural perspective view of an automated calibration system in an embodiment of the invention;

FIG. 3 is a schematic illustration of the top structure of an automated calibration system in operation in an embodiment of the present invention;

FIG. 4 is a schematic illustration of an automated calibration system in accordance with an embodiment of the present invention when in operation, reaching a column;

FIG. 5 is a schematic diagram of an automated calibration system operating on a track in an embodiment of the present invention;

FIG. 6 is a schematic diagram of an automatic calibration system in an embodiment of the present invention when the lifting unit is in operation;

FIG. 7 is a schematic diagram of an automated calibration system of an embodiment of the present invention with calibration components matching contact lines;

FIG. 8 is a schematic diagram of an automated calibration system with lateral adjustment of calibration components in accordance with an embodiment of the present invention;

FIG. 9 is a schematic illustration of a calibration assembly of an automated calibration system determining spray location in an embodiment of the present invention;

FIG. 10 is a schematic diagram of an automated calibration system of an embodiment of the present invention when the calibration assembly is measuring the elevation;

FIG. 11 is a schematic cross-sectional view of an automated calibration system in accordance with an embodiment of the present invention as matched to a catenary system;

Like reference numerals denote like technical features throughout the drawings, in particular: 1. the base, 2, the walking assembly, 201, the track unit, 202, the road unit; 3. lifting unit, chassis, calibration platform, displacement component, X-axis unit, Y-axis unit, 603-axis unit, and the like; 7. the device comprises a calibration component, a 701.3D intelligent sensor, a 702 laser sensor, a 703 ranging sensor, a 704 calibration bracket and a 705 spray gun; 8. contact net system, 801, contact line, 802, upright post, 803, cantilever, 804 and positioning rod.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

Examples:

Referring to fig. 1 to 11, an automatic calibration system suitable for a catenary in a preferred embodiment of the present invention includes a base 1, a traveling assembly 2, a lifting unit 3, a chassis 4, a calibration platform 5, a displacement assembly 6, and a calibration assembly 7. The base 1 is used for supporting the whole automatic calibration system, realizing the combined arrangement of all the components, and the walking assembly 2 is arranged at the bottom of the base 1 and used for supporting the base 1 and driving the base 1 and all the components on the base 1 to correspondingly walk. Further, the lifting unit 3 is arranged on the base 1, the components such as the underframe 4 and the calibration platform 5 are arranged on the lifting unit 3, vertical lifting can be carried out under the drive of the lifting unit 3, and the matching of the displacement assembly 6 and the running of the running assembly 2 is realized, so that the matching of the corresponding components in the contact net system 8 by the calibration assembly 7 is realized, and the corresponding calibration process is completed.

Specifically, the base 1 in the preferred embodiment is a platform structure, the running component 2 is disposed at the bottom of the platform structure, and the running component 2 in the preferred embodiment includes a rail unit 201, so-called rail unit 201 is used to implement running of the running component 2 on a rail, and since the catenary system 8 is actually disposed corresponding to the rail, the rail unit 201 is actually used to implement motion control during calibration of the catenary system, and includes two pairs of rail wheels that are disposed on both sides of the base 1 in the longitudinal direction (the "longitudinal direction" in the preferred embodiment refers to the extending direction of the rail, and the horizontal direction perpendicular thereto is the "transverse direction"), as shown in fig. 1 and 11, and the rail wheels can be disposed correspondingly and run reciprocally on the rail.

Further, the running assembly 2 in the preferred embodiment further comprises a running unit 202, where the running unit 202 refers to an assembly that can run on a road, and is provided for the purpose of implementing the corresponding running of the automatic calibration system on a road, so as to implement the corresponding running of the automatic calibration system between a warehouse, a road and a railway. Specifically, in the preferred embodiment, the road unit 202 includes two pairs of road wheels, and the two pairs of road wheels are preferably disposed on a vehicle frame capable of vertically lifting, when the track unit 201 matches and runs on the track, the road unit 202 is preferably lifted to a position far away from the track surface under the drive of the vehicle frame, so as to avoid interference of the running of the road wheels; when the track unit 201 finishes running on the track or the automatic calibration system needs to be transported out of the warehouse, the frame can be controlled to drive the travelling wheels to descend to the position of abutting against the ground, the track wheels of the track unit 201 are far away from the ground, and structural deformation or damage caused by the track wheels running on the ground is avoided.

It is further preferred that two pairs of road wheels are provided on both sides of the base 1 in the lateral direction, as shown in fig. 11, i.e. the axis of the road wheels is perpendicular in space to the axis of the road wheels. Meanwhile, in actual installation, the track unit 201 may be installed on the fixed frame and the road unit 202 may be installed on the lifting frame, the track unit 201 may be installed on the lifting frame and the road unit 202 may be installed on the fixed frame, or both the track unit 201 and the road unit 202 may be installed on the lifting frame. The corresponding switching of the track unit 201 and the road unit 202 can be realized by the lifting control of the corresponding lifting carriage.

The lifting unit 3 in the preferred embodiment is shown in fig. 1, the bottom of the lifting unit is fixedly arranged at the top of the base 1, the top is a lifting rod capable of lifting vertically, the end part of the lifting rod is provided with the bottom frame 4, and the lifting control of the bottom frame 4 can be realized through the telescopic control of the lifting rod. In the preferred embodiment, the chassis 4 is a frame structure as shown in fig. 1 and 2, the bottom of the chassis 4 is fixedly connected with a lifting rod, the top of the chassis is provided with a calibration platform 5, and the calibration platform 5 is also preferably a frame structure formed by connecting a plurality of connecting rods, and the frame structure is used for supporting relevant components for calibrating the contact net, namely a displacement assembly 6 and a calibration assembly 7, as shown in fig. 2. Obviously, in the actual setting, the calibration platform 5 can be directly arranged at the end of the lifting rod, i.e. the setting of the underframe 4 is omitted. However, in order to ensure a stable maintenance of the horizontal state of the calibration platform 5, the chassis 4 remains in the actual setting.

In addition, the calibration platform 5 in the preferred embodiment is directly placed on the top of the chassis 4, that is, the calibration platform and the chassis 4 are not connected or movably connected, and a corresponding limiting mechanism is correspondingly arranged on the top of the chassis 4, so that the stability and levelness of the calibration platform 5 are ensured. In this case, the chassis 4 may be replaced with another inspection and detection platform according to actual needs, thereby realizing other related processes.

Further, the displacement assembly 6 in the preferred embodiment is a triaxial displacement assembly comprising an X-axis unit 601, a Y-axis unit 602 and a Z-axis unit 603 arranged orthogonally in order, the X-axis defined in the preferred embodiment preferably being longitudinal, i.e. along the extension direction of the track, and the Y-axis being transverse, i.e. along the width direction of the track; correspondingly, the Z-axis direction is vertical. Specifically, the Y-axis unit 602 is provided on the X-axis unit 601 and is reciprocally slidable in the X-axis direction on the X-axis unit 601. Meanwhile, a Z-axis unit 603 is provided on the Y-axis unit 602 and is reciprocable in the Y-axis direction at the Y-axis unit 602. In addition, the Z-axis unit 603 has a vertically liftable lifting part, on which a calibration support 704 is disposed, and the calibration support 704 can reciprocate vertically under the control of the Z-axis unit 603. Through the corresponding arrangement of the triaxial units, the corresponding adjustment of the spatial position of the calibration support 704 can be realized, and the approach or the separation of the calibration support and the component to be calibrated can be realized.

In a specific embodiment, the X-axis unit 601 and the Y-axis unit 602 are both in a combination form of a slide block and a slide rail, that is, the Y-axis unit 602 is integrally disposed on the slide block of the X-axis unit 601, and the Z-axis unit 603 is integrally disposed on the slide block of the Y-axis unit 602, so that displacement in the corresponding direction can be achieved by controlling the sliding of the slide blocks. Meanwhile, in this particular embodiment, the Z-axis unit 603 is a telescopic cylinder having a telescopic shaft disposed in a vertical direction (Z-axis), and the calibration stand 704 is disposed at an end of the telescopic shaft.

It is obvious that the above arrangement is not the only arrangement of the components in the displacement assembly 6, but it may be other arrangements, preferably a chain type displacement mechanism, a rack-and-pinion type displacement mechanism, a screw rod displacement mechanism, etc., according to the actual situation, as long as the displacement control of the calibration support 704 in space can be achieved.

As shown in fig. 2, 3, the calibration assembly 7 in the preferred embodiment includes a 3D smart sensor 701, a laser sensor 702, and a ranging sensor 703 disposed on the bottom of the calibration platform 5, disposed on a calibration stand 704, and a spray gun 705 disposed on the calibration stand 704. In a preferred embodiment, the laser sensor 702 is disposed on the calibration stand 704, the 3D intelligent sensor 701 and the spray gun 705 are disposed on two sides of the laser sensor 702 along the longitudinal direction, and the 3D intelligent sensor 701 is preferably disposed in the accommodating cavity of the calibration stand 704, so as to avoid or reduce the influence of the external environment on the operation of the 3D intelligent sensor 701. Further preferably, the laser sensors 702 are two laterally spaced apart, and two branches are laterally spaced apart on top of the calibration support 701 corresponding to the two laser sensors 702, and the two laser sensors 702 are respectively disposed on the corresponding branches, and a notch for allowing the contact line 801 to pass longitudinally is formed between the two branches, as shown in fig. 2 and 3. Accordingly, the laser sensor 702 is used to sense the cantilever 803 or the upright 802 in the catenary system 8 to determine the span zero point of the calibration process.

Accordingly, the distance measuring sensor 703 is used for detecting the distance between the calibration platform 5 and the top surface of the base 1, and then feeding back the distance between the 3D intelligent sensor 701 and the top surface of the base 1, and in a preferred embodiment, the distance measuring sensor 703 is a laser distance measuring sensor, and the number of the distance measuring sensors are multiple arranged at intervals at the bottom of the calibration platform 5. Meanwhile, the 3D intelligent sensor 701 is used for detecting the vertical height and the horizontal position of the calibration assembly 7, and further feeding back control signals to the lifting unit 3 and the displacement assembly 6 to perform corresponding displacement adjustment. While the spray gun 705 is configured to provide automatic marking of the location of the hanger installation on the contact wire 801. In actual setting, each sensor is matched with the control center through electric connection or wireless signals, and the sensors can be matched with each other through signal transmission, which is easy to realize by means of the prior art, and details are omitted here.

Through the arrangement, the automatic calibration system of the overhead line in the preferred embodiment can be obtained, and the processes of measuring the single-span mileage of the overhead line system, automatically calibrating the mounting position of the hanging string, automatically measuring the geometric parameters of the contact line and the like can be realized by means of the automatic calibration system. The specific calibration process preferably comprises the following steps:

measurement of (one) positive line single span mileage

By "positive line single span mileage" is meant the arrangement distance between two adjacent columns 802 in the longitudinal direction of the track area, and in actual measurement, the measuring step preferably includes:

(1) The automatic calibration system is controlled to travel on the track, so that each rail wheel is matched with a corresponding steel rail respectively, and the traveling assembly 2 can normally travel on the track;

(2) The lifting unit 3 is controlled to work, so that the calibration platform 5 is lifted to a certain height, namely, the distance between the laser sensor 702 and the top surface of the base 1 is h, at the moment, the laser sensor 702 vertically moves to a working range and is locked, and coarse positioning is realized, as shown in fig. 1;

(3) The traveling assembly 2 is controlled to travel on the track at a constant speed, and when the laser sensor 702 detects the first wrist 803 or the first upright 802, the position where the laser sensor 702 is located at the moment is defined as the starting point of a single span, as shown in fig. 3;

(4) The travel module 2 is controlled to continue traveling, and when the laser sensor 702 detects the second wrist 803 or the second upright 802, the position where the laser sensor 702 is located is defined as the end point of the single span, and as shown in fig. 4, by calculating the distance from the start point to the end point, the measurement of the forward single span mileage can be completed.

In a preferred embodiment, the positive single-span mileage is correspondingly calculated by means of the number of revolutions of the rail wheel. Specifically, the number of turns sensor is provided on the track wheel, can correspond to the number of turns n that detects the track wheel and rotate between starting point and terminal point, and the radius R of rethread measurement track wheel just can calculate single span mileage and be: 2 npi R.

Obviously, the above calculation form is not the only choice in actual measurement, but the positive single-span mileage can also be calculated by means of speed multiplied by time, namely, when the laser sensor 702 determines that the zero point is reached, the timing is started, and when the zero point is determined, the timing is stopped, so as to obtain the time t, and since the travelling assembly 2 travels at a uniform speed v, the single-span mileage at this time is: vt.

(5) And controlling the continuous running of the automatic calibration system on the whole working section to realize the corresponding measurement of each single-span mileage on the whole working section.

Automatic calibration of hanger installation position

(1) The automatic calibration system is controlled to travel on the track, so that each rail wheel is matched with a corresponding steel rail respectively, the normal travel of the traveling assembly 2 on the track is ensured, and the traveling unit 202 is far away from the rail surface;

(2) The lifting unit 3 is controlled to work, so that the calibration platform 5 rises to a certain height, namely, the distance between the calibration platform 5 and the top surface of the base 1 is h1. At this point, the calibration stand 704 is vertically spaced from the contact line 801 by a distance, typically 50-200 mm, to complete the coarse positioning of the calibration assembly 7, as shown in fig. 5; when the above-described process is performed, the lifting speed of the lifting unit 3 can be controlled to be large, that is, the lifting process at this time can be rapidly performed.

(3) The lifting unit 3 is controlled to continue to work, and at the moment, the lifting speed of the lifting unit 3 needs to be controlled to be smaller, namely the lifting process at the moment is slowly performed until the distance between the calibration platform 5 and the top surface of the base 1 becomes h2. At this point, the calibration stand 704 is still vertically spaced from the contact line 801, but the distance is already small, typically 5-50 mm.

(4) Controlling the 3D intelligent sensor 701 to work, and detecting the position of the contact line 801 relative to the calibration support 704 at the moment;

If the contact line 801 is just aligned with the middle part of the calibration support 704 in the vertical direction, the Z-axis unit 603 is controlled to correspondingly work, so that the calibration support 704 rises to a corresponding height, and the contact line 801 is ensured to be just positioned at the middle position between the two support parts of the calibration support 704 above the 3D intelligent sensor 701;

If the contact line 801 is not vertically aligned with the middle part of the calibration support 704, the 3D intelligent sensor 701 detects the deviation direction and the deviation distance Δy of the contact line 801 at this time, and then controls the Y-axis unit 602 to move by a corresponding distance in the deviation direction, as shown in fig. 8; then, the Z-axis unit 603 is controlled to vertically move until the contact line 801 is just positioned at the middle position between the two branches of the calibration support 704 above the 3D intelligent sensor 701;

After the position of the calibration assembly 7 is adjusted in place, the displacement assembly 6 is locked.

(5) The control track unit 201 runs on the track at a constant speed v, and when the laser sensor 702 detects the first wrist 803 or the first upright 802, the control track unit is marked as a zero point or a starting point. Meanwhile, the distance between each spraying point on the contact line 801 and the upright post 802 or the cantilever 803 is recorded as Si, wherein i=1, 2,3 … … n; n is an integer representing the number of spray points (mounting locations of the hanger) within a single span.

Further, the motion distance of the automatic calibration system from the zero point/the starting point is recorded as S, and the measurement of the motion distance can be performed by referring to the measurement mode of the span mileage. Meanwhile, the distance between the lance 705 and the laser sensor 702 in the longitudinal direction is denoted as a, and the positive and negative values of the distance a are related to the position of the lance 705 with respect to the laser sensor 702 in the longitudinal direction, and when the lance 705 is disposed in front of the movement direction of the laser sensor 702 as illustrated in fig. 9, the value of a is positive and negative. Thus, when s=si+a, the spray gun 705 is just aligned with the spray point on the contact line 801, and then the rail unit 201 is controlled to stop locking, and then the spray gun 705 is controlled to operate, and the spray mark point on the contact line 801 is started.

(6) The track unit 201 is controlled to continuously run on the track, and the spraying of all marking points of the field is sequentially finished according to the process in the step (5), so that the laser sensor 702 is known to detect the second wrist 803 or the second upright 802, and the marking of the hanger installation position on the single-span overhead contact line 801 is realized.

(7) And (5) repeating the steps (5) and (6), and continuously finishing the hanger installation position mark of the contact line 801 on the whole span mileage.

Measurement of contact line geometry

In a preferred embodiment, the contact line bonding parameters to be measured include the contact line height H and pull-out value, and the specific measurement steps are as follows:

(1) The automatic calibration system is controlled to travel on the track, so that each rail wheel is matched with a corresponding steel rail respectively, the normal travel of the traveling assembly 2 on the track is ensured, and the traveling unit 202 is far away from the rail surface;

(2) The lifting unit 3 is controlled to operate so that the calibration platform 5 is lifted up by a certain height, i.e., so that the distance between the calibration platform 5 and the top surface of the base 1 is h, as shown in fig. 10. At this time, the calibration stand 704 is vertically spaced from the contact line 801 by a certain distance, and then the lifting unit 3 is locked, so that coarse positioning of the calibration assembly 7 is completed.

(3) The 3D intelligent sensor 701 is controlled to work, the position of the contact line 801 relative to the calibration support 704 at the moment is detected, and the 3D intelligent sensor 701 is controlled to be positioned right below the contact line 801 (if the contact line 801 is offset in the transverse direction, the contact line is adjusted by the Y-axis unit 602);

Thereafter, the vertical distance Z from the contact line 801, the vertical distance Z1 from the 3D intelligent sensor 701 to the calibration platform 5, and the vertical distance Z2 from the 3D intelligent sensor 701 to the track plane are measured by the 3D intelligent sensor 701, and the height H of the contact line 801 at any position is equal to the sum of Z, Z and Z2 at that position, i.e., h=z+z1+z2, as shown in fig. 10. The height of the contact line 801 at each position can be correspondingly detected by continuous running of the automatic calibration system in the longitudinal direction.

(4) The laser sensor 702 detects that the position of the first wrist 803 or the first upright 802 is zero, at this time, the 3D intelligent sensor 701 detects that the lateral distance between the contact line 801 and the 3D intelligent sensor 701 is Y1, the automatic calibration system is controlled to travel to a certain position along the longitudinal direction, and the pull-out value of the contact line 801 at this position is (Y2-Y1) when the lateral distance Y2 between the contact line 801 and the 3D intelligent sensor 701 is detected.

If the track unit 201 at the second position is further offset by Δy in the Y-axis direction with respect to the track unit 201 at the first position, as shown in fig. 11, the pull-out value of the contact line 801 at the second position is (y2—y1++Δy).

By measuring the pull-out value and the guide height at each position, the measurement of the space coordinate parameter value of the contact line of the whole working section can be realized, and then a continuous curve graph of the whole working section is drawn.

The automatic calibration system suitable for the overhead line system is simple in structure and convenient to control, can effectively realize the measurement of the single-span mileage of the overhead line, the calibration of the mounting position of the dropper on the overhead line of the overhead line, and the measurement of the contact line elevation and pull-out value at each position of the whole working section through the corresponding combination of all parts, realizes the automatic calibration of the overhead line, ensures the calibration accuracy and convenience of the overhead line system, reduces the manual labor amount in the calibration process of the overhead line system, reduces the cost of the calibration of the overhead line system, improves the construction and calibration efficiency of the overhead line system, and has better application prospect and popularization value.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. The automatic calibration system suitable for the overhead line system is characterized by comprising a base, a travelling assembly, a lifting unit, a calibration platform, a displacement assembly and a calibration assembly;

The running assembly is arranged below the base and comprises a rail unit capable of running back and forth on a rail; one end of the lifting unit is fixed at the top of the base, and the other end of the lifting unit is provided with a telescopic rod capable of vertically lifting;

The bottom of the calibration platform is correspondingly matched with the top end of the telescopic rod, and the vertical height of the calibration platform can be adjusted along with the vertical lifting of the telescopic rod;

the displacement assembly is arranged on the calibration platform and comprises a Y-axis unit and a Z-axis unit; the Y-axis unit is arranged along the transverse direction, and the Z-axis unit is arranged on the Y-axis unit and can reciprocate along the transverse direction under the drive of the Y-axis unit; the Z-axis unit is provided with a lifting part which can vertically and reciprocally lift;

The calibration assembly comprises a calibration bracket arranged on the lifting part and a ranging sensor arranged at the bottom of the calibration platform; the distance measuring sensor is used for detecting the distance between the calibration platform and the top surface of the base; the calibration support is provided with a 3D intelligent sensor, a laser sensor and a spray gun; the 3D intelligent sensor can be used for detecting the spatial positions of the contact line, the calibration platform and the track surface relative to the 3D intelligent sensor respectively; the laser sensor can be used for detecting the position of a wrist arm or a stand column; the spray gun may be used to spray mark the contact line.

2. The automated calibration system adapted for use with a catenary of claim 1, wherein the travel assembly further comprises a travel unit operable to travel on a highway; the road unit and/or the rail unit are/is arranged on the lifting frame.

3. The automatic calibration system suitable for the overhead line system according to claim 1, wherein the calibration support is provided with a containing cavity, and the 3D intelligent sensor is arranged in the containing cavity.

4. The automatic calibration system suitable for the overhead line system according to any one of claims 1-3, wherein the spray gun is arranged on one side of the calibration support away from the 3D intelligent sensor.

5. The automatic calibration system suitable for the overhead line system according to any one of claims 1-3, wherein the rail unit comprises at least two pairs of rail wheels, and a number of turns sensor is arranged on the rail wheels and used for detecting the number of turns of the rail wheels when the rail wheels run.

6. The automatic calibration system suitable for the overhead line system according to any one of claims 1 to 3, wherein a timing sensor is provided corresponding to the laser sensor and is used for timing the time elapsed when the laser sensor detects two adjacent wrist arms or two adjacent upright posts.

7. The automatic calibration system suitable for the overhead line system according to any one of claims 1-3, wherein a bottom frame is further arranged between the calibration platform and the telescopic rod;

The chassis is frame construction, its bottom with telescopic link fixed connection, just mark the platform activity or fixed the setting is in the top of chassis.

8. The automated calibration system suitable for catenary according to any one of claims 1-3, wherein the displacement assembly further comprises an X-axis unit;

The X-axis unit is longitudinally arranged on the calibration platform, and the Y-axis unit is correspondingly arranged on the X-axis unit and can longitudinally reciprocate under the control of the X-axis unit.

9. The automated calibration system for catenary of claim 8, wherein the X-axis unit is a slider-slide rail displacement mechanism, a chain type displacement mechanism, a rack-and-pinion type displacement mechanism, a telescopic cylinder, or a screw rod displacement mechanism;

The Y-axis unit is a sliding block-sliding rail type displacement mechanism, a chain type displacement mechanism, a rack-gear type displacement mechanism, a telescopic cylinder or a screw rod displacement mechanism;

The Z-axis unit is a sliding block-sliding rail type displacement mechanism, a chain type displacement mechanism, a rack-gear type displacement mechanism, a telescopic cylinder or a screw rod displacement mechanism.

10. The automated calibration system for catenary according to any one of claims 1-3, 9, wherein the ranging sensor is a laser ranging sensor, and a plurality of ranging sensors are arranged at intervals at the bottom of the calibration platform.