CN112710229A - Subway contact net geometric parameter measuring instrument and measuring method - Google Patents
Subway contact net geometric parameter measuring instrument and measuring method Download PDFInfo
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- CN112710229A CN112710229A CN202011431719.2A CN202011431719A CN112710229A CN 112710229 A CN112710229 A CN 112710229A CN 202011431719 A CN202011431719 A CN 202011431719A CN 112710229 A CN112710229 A CN 112710229A
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- 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
Abstract
The invention relates to an intelligent precise measuring instrument and a measuring method for geometrical parameters of a subway overhead line system. The high-precision measurement of geometrical parameters such as the height of a subway overhead line system, a pull-out value and the like is realized by adopting high-precision laser ranging, harmonic transmission precision control and absolute high-precision grating angle measurement technologies. Meanwhile, the measuring instrument realizes automatic tracking and measurement of the contact net and automatic identification of characteristics such as a dropper and a positioning point of the contact net by using technologies such as line structured light laser images, image analysis, image processing and computer graphics. The measuring instrument can meet the measurement of rigid suspension and flexible suspension contact networks of the subway under the night condition, and has the functions of storing measurement data in real time, automatically extracting and identifying feature point data, generating a contact network geometric parameter oscillogram on line and automatically generating a contact network geometric parameter ledger.
Description
Technical Field
The invention belongs to the technical field of subway construction and operation, and particularly relates to an intelligent precision measuring instrument and a measuring method for geometrical parameters of a subway overhead line system, in particular to a mobile trolley type geometrical parameter measuring instrument for the subway overhead line system, which utilizes a line laser image to realize automatic tracking of the overhead line system and identify characteristics such as a dropper and a positioning point.
Background
In order to reduce the construction cost of the subway tunnel, the contact net in the subway tunnel generally adopts a rigid suspension form. Compared with a flexibly suspended contact net, the rigidly suspended contact net has the advantages of small occupied clearance, simple structure, no external tension, no risk of disconnection of a contact line, convenience in maintenance and the like. However, the rigid suspension catenary has the defects of poor elasticity, and arcing between the pantograph and the contact line is easy to occur during train operation.
In order to ensure the electricity receiving quality of a pantograph-catenary rigidly suspended in a subway and improve the running stability of the subway, the precision requirement of the height range of a contact line of the subway overhead line system is controlled within 1-2 mm. At present, a laser measuring instrument of a DJJ-8 contact net is generally adopted to measure geometrical parameters of the contact net during subway maintenance and overhaul, and the problems of low measuring efficiency and high labor intensity of workers exist. Along with the improvement of the urban rail transit scale, the subway operation mileage shows explosive growth, the efficiency of the overhaul work of the subway overhead line system is improved, the gradual realization of the automation of detection becomes a consensus of the subway department, and the development trend of the detection of the subway overhead line system is realized.
Disclosure of Invention
In order to solve the technical problems, the invention provides an intelligent precision measuring instrument and a measuring method for geometric parameters of a subway overhead line system. The invention integrates the high-precision laser ranging technology, the harmonic transmission precision control technology, the absolute high-precision grating angle measurement technology and the like, and realizes the high-precision measurement of geometrical parameters such as the height of a subway contact line, a pull-out value and the like; the movable trolley structure can be continuously pushed and dynamically measured on the track; the automatic tracking and measurement of subway contact lines and the automatic identification of characteristics such as catenary dropper, positioning points and the like are realized by utilizing the technologies of line structure light laser images, image analysis, image processing, computer graphics and the like; the method has the functions of storing measurement data in real time, automatically extracting identified feature point data, generating a contact network geometric parameter oscillogram on line, automatically generating a contact network geometric parameter ledger and the like. The method is mainly used for measuring the subway hard suspension contact net and is also suitable for measuring the subway soft suspension contact net under the night condition. The subway maintenance is carried out at night, and the laser indicating part adopted by the invention has the functions only limited to the night conditions inside and outside the tunnel, and cannot be used under strong light in the daytime. The technical scheme adopted by the invention is as follows:
a geometric parameter measuring instrument for a subway overhead line system comprises: the device comprises a vehicle body traveling mechanism, a measuring host, an electric control device, a recognition camera, a push rod display mechanism and a line structure light indicating mechanism; the vehicle body walking mechanism is used for realizing the rapid pushing of the measuring instrument on the subway rail and is sequentially arranged from left to right in the advancing direction of the vehicle body walking mechanism: the system comprises an electric control device, a push rod display mechanism, a recognition camera, a measurement host and a line structure light indicating mechanism, wherein the measurement host, the recognition camera and the push rod display mechanism are respectively connected with the electric control device;
the measuring host is positioned in the middle of the upper surface of the beam of the vehicle body walking mechanism and used for measuring the distance between the contact line and the distance meter, and the measuring host is integrally packaged through a shell; the electric control device is positioned on the left of the upper surface of the beam of the vehicle body walking mechanism and is used for processing images, controlling the rotation of the measurement host and realizing the automatic aiming of the contact line; the recognition camera is positioned on the front surface of a cross beam of the vehicle body walking mechanism and used for acquiring an image of line laser on a contact net in an area above the measuring instrument; the push rod display mechanism is positioned on the section bar on the rear surface of the cross beam of the vehicle body walking mechanism and is used for displaying an image and measurement data of a contact network above the measuring instrument and a geometric parameter oscillogram of the contact network; the line structure light indicating mechanism is used for projecting one or more parallel line structure laser lines to the contact line to indicate the position of the contact line, distinguish the dropper and the positioner and is positioned on the front surface of the cross beam of the vehicle body walking mechanism.
A geometrical parameter measuring method for a subway overhead line system applies the measuring instrument and comprises the following steps:
step 1, when the measuring instrument works, selecting a rigid suspension working mode of a contact network or a flexible suspension working mode of the contact network according to a working scene;
step 2, a vehicle body walking mechanism is utilized to rapidly advance the measuring instrument on the subway rail, and the measurement of the geometrical parameters of the subway overhead line system is automatically tracked through an industrial host, an identification camera, an industrial camera for tracking and a high-precision laser range finder to obtain basic data;
and 3, generating a oscillogram of parameters such as the contact line height, the pull-out value and the like of the contact network and a geometric parameter ledger of the contact network according to the basic data, and realizing the function of data overrun warning.
The working principle of the invention is as follows:
no matter the arrangement form of the subway overhead line system is rigid suspension or flexible suspension, the overhead line for supplying power to the subway locomotive is at the lowest height above the railway line. According to the characteristics that the image positions of targets with different heights or distances in the camera are different, the stray target interference can be eliminated, and the contact line can be determined.
The invention has the beneficial effects that:
the movable trolley structure can carry out automatic tracking and dynamic continuous measurement on the contact network.
The method realizes the precise, continuous and rapid measurement of the geometric parameters of the rigid suspension contact net of the subway, and is compatible with the measurement of the geometric parameters of the flexible suspension contact net of the subway under night conditions.
The invention has the functions of automatically aiming and tracking the contact line and automatically extracting the characteristic data of the dropper, the positioning point and the like, and automatically extracts the data of the characteristic points of the locator, the dropper and the like and generates the geometric parameter ledger of the contact network and the like.
The invention also has the functions of online generation of a contact net geometric parameter oscillogram, measurement parameter overrun warning, subway standard ledger generation, measurement data comparison and the like.
The invention greatly reduces the labor intensity of workers and improves the efficiency of the contact network overhaul work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are specific embodiments of the invention, and that other drawings within the scope of the present application can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a perspective view of the overall structure of an intelligent precision measuring instrument according to an embodiment of the present invention;
FIG. 2 is a top view of the overall structure of the intelligent precision measuring instrument according to the embodiment of the present invention;
FIG. 3 is a front view of the vehicle body running mechanism of the embodiment of the invention;
FIG. 4 is a plan view of the vehicle body running mechanism of the embodiment of the invention;
FIG. 5 is a front view of a measurement host according to an embodiment of the present invention;
FIG. 6 is a top view of a measurement mainframe according to an embodiment of the present invention;
FIG. 7 is a perspective view of a measurement host housing according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an electrical control apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a push rod display mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a push rod display mechanism according to an embodiment of the present invention;
FIG. 11 is a schematic view of the telescopic status of the linear structure light indicating mechanism according to the embodiment of the present invention;
FIG. 12 is a schematic diagram of a folded state of a line structured light indicating mechanism according to an embodiment of the present invention;
FIG. 13 is a top view of the gauge in a folded state of the line structured light indicator mechanism;
fig. 14 is a schematic view of a subway hard suspension catenary;
in the figure, 1-a vehicle body running mechanism, 2-a measuring host, 3-an electric control device, 4-a recognition camera, 5-a push rod display mechanism, 6-a line structured light indicating mechanism, 7-a side beam, 8-a cross beam, 9-a running wheel, 10-a fixed side wheel, 11-a movable side wheel, 12-a displacement sensor, 13-a tilt angle sensor, 14-a mileage sensor, 15-a main bracket, 16-a fixed frame, 17-a main shaft, 18-an absolute high-precision grating encoder, 19-a five-phase harmonic speed reducing motor, 20-a high-precision laser range finder, 21-a tracking industrial camera, 22-an illuminating flashlight, 23-a shell, 24-a control panel, 25-an industrial host, 26-a rotating and locking mechanism, 27-push rod, 28-liquid crystal display component, 29-damping hinge, 30-aluminum alloy section bar, 31-laser component, 32-connecting plate, 33-bearing fixing seat and 34-bearing.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a perspective view of an overall structure of an intelligent precision measuring instrument according to an embodiment of the present invention; fig. 2 is a top view of the overall structure of the intelligent precision measuring instrument according to the embodiment of the present invention. An intelligent precision measuring instrument for geometrical parameters of a subway overhead line system comprises: the device comprises a vehicle body traveling mechanism 1, a measuring host machine 2, an electric control device 3, a recognition camera 4, a push rod display mechanism 5 and a line-structured light indicating mechanism 6. The vehicle body walking mechanism 1 is a carrier for realizing rapid pushing on a track by a subway overhead line system geometric parameter measuring instrument, and is sequentially arranged from left to right in the advancing direction of the vehicle body walking mechanism 1: the device comprises an electric control device 3, a push rod display mechanism 5, a recognition camera 4, a measurement host machine 2 and a line structured light indication mechanism 6, wherein the measurement host machine 2, the recognition camera 4 and the push rod display mechanism 5 are respectively connected with the electric control device 3. The measuring host 2 is located in the middle of the upper surface of the beam of the vehicle body walking mechanism 1, is fixedly connected with the beam through a screw and is used for measuring the distance between the contact line and the distance meter. The electric control device 3 is positioned on the left side of the upper surface of the beam of the vehicle body walking mechanism 1, is fixedly connected with the beam through a screw, and is used for processing images, controlling the rotation of the measurement host and realizing the automatic aiming of the contact line. The recognition camera 4 is positioned on the front surface of a cross beam of the vehicle body walking mechanism 1, is fixedly connected with the cross beam through a screw and is used for acquiring images of line laser on a contact net in an area above the measuring instrument. The push rod display mechanism 5 is positioned on the section bar on the rear surface of the cross beam of the vehicle body walking mechanism 1, is fixedly connected with the section bar through a screw, and is used for displaying an image of a contact network, measurement data and a geometric parameter oscillogram of the contact network above the intelligent precision measuring instrument. The line structure light indicating mechanism 6 is used for projecting one or more parallel line structure laser lines to the contact line to indicate the position of the contact line, distinguish the dropper and the positioner, is positioned on the front surface of the beam of the vehicle body walking mechanism 1, and is fixedly connected through a screw; when not in use, the folding type foldable frame is tightly attached to the front surface of the cross beam, and when in use, the folding type foldable frame is stretched along the pushing direction and is in a stretching state.
FIG. 3 is a front view of the vehicle body running mechanism according to the embodiment of the present invention; FIG. 4 is a plan view of the vehicle body running gear according to the embodiment of the present invention. The vehicle body running mechanism 1 consists of a vehicle body frame and a running component. The vehicle body frame is of a T-shaped structure consisting of side beams 7 and cross beams 8 made of aluminum alloy materials and used for mounting a walking assembly, a measuring host, an electric control device, a recognition camera, a push rod display mechanism, a linear structure light indication mechanism, a displacement sensor, a mileage sensor, an inclination angle sensor and the like. The vehicle body frame with the T-shaped structure realizes that the measuring instrument is stably pushed on the track; compared with an H-shaped structure, the volume and the weight of the measuring instrument are reduced.
The walking assembly comprises walking wheels 9 and side wheels, which respectively act on the top surface and the inner side of a steel rail of the subway rail to ensure that the measuring instrument is stably pushed on the rail. The number of the walking wheels 9 is three, and the walking wheels are respectively and fixedly arranged at the positions of three end parts of the vehicle body frame with the T-shaped structure; correspondingly, each walking wheel 9 is provided with a side wheel in a matching way, a fixed side wheel 10 is matched with the walking wheel 9 on the side beam 7, and the fixed side wheel 10 is fixedly arranged on the vehicle body frame; the movable side wheels 11 are matched with the walking wheels 9 on the cross beam 8, and the movable side wheels 11 are arranged on the linear guide rail on the lower surface of the cross beam 8. The fixed and movable side wheels are fixed on the vehicle body frame and do not have relative displacement with the vehicle body frame; the movable side wheels are connected with a linear guide rail in the vehicle body frame and can move along the direction of a vehicle body cross beam, so that the side wheels can be in close contact with steel rails at all positions, and the derailment of the vehicle body walking mechanism 1 is prevented. And a displacement sensor 12 is arranged on the vehicle body frame, is connected with the movable side wheel 11 and is used for measuring the track gauge value of the line in real time. The vehicle body frame is provided with an inclination sensor 13 to realize the measurement of the line level (superelevation). The vehicle body frame is provided with a mileage sensor 14 for recording the driving mileage of the measuring instrument. The side beams 7 and the cross beams 8 are hollow aluminum alloy square tubes, and the sensors are designed and installed inside the aluminum alloy square tubes, so that external wiring is reduced, and the reliability of line connection is improved.
In fig. 3, the projection above the right side of the cross beam 8 is a small accessory such as a handle, and plays a role of lifting when the measuring instrument is carried; in fig. 4, the protrusion on one side of the cross beam 8 is an aluminum square tube profile of 80x80x3, which is used for installing and fixing the push rod display mechanism 5.
Fig. 5 is a front view of a measurement host according to an embodiment of the present invention; fig. 6 is a top view of a measurement host according to an embodiment of the present invention; fig. 7 is a perspective view of a measurement main body according to an embodiment of the present invention. The measurement host machine 2 comprises a main support 15, a fixed frame 16, a main shaft 17, a bearing fixing seat 33, a bearing 34, an absolute type high-precision grating encoder 18, a five-phase harmonic speed reduction motor 19, a high-precision laser distance meter 20, a tracking industrial camera 21, an illuminating flashlight 22, a shell 23 and the like.
The main frame 15 and the fixed frame 16 are fixedly connected into a whole through the main shaft 17, the bearing fixing seat 33 and the bearing 34, and the fixed frame 16 can rotate around the axis of the main shaft 17. The main support 15 is of a concave three-dimensional structure, the fixing frame 16 is arranged in a groove of the main support 15 through the main shaft 17, and the main shaft 17 is fixed on the upper part of the main support 15 through the bearing fixing seat 33 and the bearing 34.
The high-precision laser range finder 20 and the industrial camera 21 for tracking are arranged in tandem and mounted inside the fixed frame 16, and the optical axis of the high-precision laser range finder 20 and the optical axis of the industrial camera 21 for tracking are parallel and perpendicular to the rotation axis (i.e., the main shaft 17) of the fixed frame 16. The industrial camera 21 for tracking is provided with an automatic aperture, and the flashlight illuminators 22 are provided on the left and right sides, and the surveying instrument can automatically adjust the size of the aperture and control the opening and closing of the flashlight illuminators 22 according to the image condition. The absolute type high-precision grating encoder 18 and the five-phase harmonic speed reducing motor 19 are respectively arranged on the outer side faces of the front side and the rear side of the main support 15, the absolute type high-precision grating encoder 18 is located on one side of the main shaft 17 and connected with the fixed frame 16 through the main shaft 17 for accurately measuring and controlling the rotation angle of the distance measuring instrument in the fixed frame 16. The measuring mainframe 2 is integrally encapsulated by a housing 23.
The measuring main machine 2 is arranged at the center of the vehicle body frame (i.e. the center of the subway line), and is exemplified as follows: the track gauge refers to the horizontal distance of the positions 16mm below the tops of the two rails from the inner sides, and assuming that the track gauge of the subway line is 1435mm, the horizontal distance between the rotation axis of the high-precision laser distance measuring instrument 20 and the tracking industrial camera 21 and the position 16mm below the top of the rail at one side is half of the international standard track gauge 1435mm, and at this time, the measuring host machine 2 is arranged at the center of the train body frame.
Fig. 8 is a schematic structural diagram of an electrical control apparatus according to an embodiment of the present invention. The electric control device 3 is a core component of the intelligent precision measuring instrument and consists of a control panel 24 and an industrial host 25. The control board 24 is used for collecting measurement data of various sensors such as a distance meter, an encoder, a motor, a camera, a displacement sensor and the like, and feeding back the measurement data to the industrial host 25, and the industrial host 25 returns results to the sensors after analyzing and processing the collected data. As a preferred embodiment, the control board 24 is a driving circuit integrated with the STM32F103 as a main control chip; the industrial host 25 is an industrial host of BM77 model, and is integrated with a 4-core processor, an onboard memory and a plurality of USB ports and serial ports.
The recognition camera 4 is composed of an industrial camera with a high frame rate and is used for acquiring images of a subway overhead contact system above the intelligent precision measuring instrument at a high speed.
Fig. 9 is a schematic structural view of a push rod display mechanism according to an embodiment of the present invention; fig. 10 is a schematic view illustrating a usage status of the push rod display mechanism according to the embodiment of the present invention. The push rod display mechanism 5 comprises a rotating and locking mechanism 26, a push rod 27, a liquid crystal display assembly 28 and the like. The rotating and locking mechanism 26 is fixedly arranged on the vehicle body frame, the push rod 27 is connected with the rotating and locking mechanism 26, the rotating and locking mechanism 26 enables the push rod 27 to rotate around a rotating shaft fixed on the vehicle body frame, and a certain angle is kept after the push rod 27 is lifted, so that the observation and the operation of workers are convenient; the liquid crystal display assembly 28 is installed at the handle of the push rod 27, and is used for displaying an image, measurement data, a geometric parameter oscillogram and the like of the overhead line system above the intelligent precision measuring instrument, and can interact with each sensor on a measurement interface.
Fig. 11 is a schematic view illustrating a telescopic state of the line structured light indicating mechanism according to the embodiment of the present invention; fig. 12 is a schematic diagram showing a folded state of the line structured light indicating mechanism according to the embodiment of the present invention. The line structured light indicating mechanism 6 is composed of a damping hinge 29, an aluminum alloy section bar 30, a laser component 31, a connecting plate 32 and the like. The aluminum alloy section 30 is a rectangular tube with two sections of folding, and the damping hinge 29 is used for extending, retracting, folding and unfolding the aluminum alloy section 30. When the measuring instrument does not work, in order to reduce the volume of the measuring instrument, the aluminum alloy section bar 30 is in a folding state. Before the measuring instrument is put into the track and starts working, the line-structured light indicating mechanism 6 is unfolded and extended out. Fig. 13 is a plan view of the surveying instrument in a folded state of the linear structured light indicating mechanism according to the embodiment of the present invention.
The connecting plate 32 connects the damping hinge 29 with the aluminium alloy profile 30 and between two sections of aluminium alloy profile. The laser assembly 31 is mounted at the outer end of the aluminium alloy profile 30.
According to the detection requirement, the laser assembly 31 can project one or more parallel line-structured laser lines onto the contact line to indicate the position of the contact line (tracking and aiming the target), distinguish the features of the dropper and the locator, and the like. Examples are as follows: fig. 14 is a schematic view of a subway hard suspension catenary. Since the busbar holds the contact wire firmly together, the image of the contact wire and busbar is continuous, and in order to distinguish the contact wire from the busbar and the contact wire from the anchor point as much as possible, we place the laser assembly 21 in the middle of the body frame and project about 1m forward of the body frame (see fig. 1).
The subway overhead line system geometric parameter measuring method applying the measuring instrument comprises the following steps:
step 1, when the measuring instrument works, a rigid suspension working mode or a flexible suspension working mode is selected according to a working scene.
The invention is provided with 2 industrial cameras which are respectively an industrial camera for tracking in a measuring host and a recognition camera on a side beam of a vehicle body frame.
In the rigid suspension mode of operation, the laser lines are projected onto the busbars and contact lines. The industrial camera for tracking collects a projection image of line laser in an area above the measuring instrument on a contact net and then transmits the projection image to an industrial host, the industrial host processes and analyzes the image according to the gray difference between structured light and a background in the image, the structure and position information of a contact line and a busbar and the like, then extracts the position of the structured light line at the center of the busbar, calculates the distance deviation between the position of the contact line and the center of the industrial camera for tracking, converts the distance deviation into a pulse signal and transmits the pulse signal to the five-phase harmonic speed reducing motor, controls and drives the five-phase harmonic speed reducing motor to rotate, and drives the fixed frame where the industrial camera for tracking is located to rotate, so that the position of the contact line and the center of the industrial camera for tracking coincide, and automatic aiming. Because the industrial camera for tracking and the laser range finder are arranged in the fixed frame in parallel front and back, when the center of the industrial camera for tracking and the contact line coincide, a laser spot of the high-precision laser range finder can simultaneously hit the contact line, thereby measuring the distance between the contact line and the high-precision laser range finder. In the walking measurement process of the measuring instrument, the camera, the motor and the distance measuring instrument continuously act, so that automatic tracking and measurement in the walking process are realized.
For obtaining the best contact line tracking (aiming) and measuring result, the projection of the line laser light stripe for tracking on the contact line is as close as possible to the optical axis of the emitted laser of the distance measuring instrument. In the rigid suspension working mode, the contact net is mainly characterized by positioning points and electric connection. When the measuring instrument works, the recognition camera collects images of line laser on a contact network in an area above the measuring instrument at a high speed and transmits the images to the industrial host, and the industrial host analyzes and contrasts the images of the recognition camera after binarization processing with image samples of contact network characteristics such as a positioner and an electric connection, so that automatic recognition of characteristics such as a dropper and the positioner is realized.
In the flexible suspension working mode, the height difference between the contact line and the catenary is generally more than 1m, and the laser line is projected on the contact line and the catenary (sometimes without the catenary), so that the position difference on the image is obvious. And similarly, according to the distance deviation between the position information of the contact line and the center of the industrial camera for tracking, the industrial host controls and drives the harmonic speed reduction motor to rotate, so that the optical axis center of the industrial camera for tracking and the optical axis center of the laser emitted by the range finder coincide with the contact line to realize automatic aiming and tracking. In the flexible suspension working mode, the contact net is mainly characterized by a hanger, positioning points, electric connection and the like. The identification of the string hanging characteristics is mainly based on the characteristic that when a line laser is projected to the string hanging, an image on a camera is a bright spot larger than the width of a contact line. The industrial host computer analyzes and compares the image of the identification camera after binarization processing with the image sample of the dropper characteristic, thereby realizing automatic identification of the dropper characteristic. Because the length and width of a dropper wire clamp of the soft suspension contact net are small (less than 30mm), in order to avoid that an image of the wire clamp cannot be captured by a recognition camera, a plurality of parallel line lasers are designed, and the distance between the sectors of laser beams is not more than 10 mm. The identification of the locator is mainly based on the fact that when line laser is projected on the locator or the wrist arm, a long bright strip is generated in an image. The industrial host computer analyzes and compares the image of the identification camera after binarization processing with the image sample of the locator, thereby realizing automatic identification of the characteristics of the locator, similar to license plate identification and face identification, and belonging to the prior art.
And 2, rapidly propelling the measuring instrument on the subway rail by using the vehicle body traveling mechanism, and automatically tracking and completing the measurement of geometrical parameters of the subway overhead line system through the identification camera, the tracking industrial camera and the high-precision laser range finder to obtain basic data.
And 3, generating a oscillogram of parameters such as the contact line height, the pull-out value and the like of the contact network and a geometric parameter ledger of the contact network according to the basic data, and realizing the function of data overrun warning.
When the measuring instrument works, parameters such as the pushing mileage of the trolley, the contact line height and the pull-out value of the contact network at the corresponding mileage position and the like are measured and recorded in real time in the forward pushing process. Through data analysis and processing, the measuring instrument can generate a oscillogram of parameters such as the contact line height, the pull-out value and the like of the contact net on line by taking the mileage as an abscissa and taking the contact line height and the pull-out value as an ordinate. Meanwhile, the parameters of each contact network line have standard use requirements, and corresponding parameter requirements are input into the measuring instrument before work, so that the function of data overrun warning can be realized when the measuring instrument works, and the maintenance of the line by workers is facilitated.
By combining the image recognition technology of the locator and the dropper and the real-time measurement technology of the parameters of the overhead line system, the measuring instrument can automatically extract the measurement data of the locator and the dropper. The main content of the subway overhead line system geometric parameter ledger is the contact line height and pull-out value parameters of the locators and the dropper points at different positions. After the measurement task is completed, the measurement data of the positioner and the dropper are extracted, and then the overhead contact system geometric parameter ledger of the subway can be generated and exported. In addition, the measuring instrument can visually and quickly compare the difference between the measured data at different times and the standard data by screening the measured data of the same line at different times and generating a oscillogram.
Finally, it is to be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, and the scope of the present invention is not limited thereto. Those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. Subway contact net geometric parameters measuring apparatu, its characterized in that includes: the device comprises a vehicle body walking mechanism (1), a measuring host (2), an electric control device (3), a recognition camera (4), a push rod display mechanism (5) and a line structure light indicating mechanism (6); the vehicle body walking mechanism (1) is used for realizing the rapid pushing of the measuring instrument on the subway rail, and is sequentially arranged from left to right in the advancing direction of the vehicle body walking mechanism (1): the device comprises an electric control device (3), a push rod display mechanism (5), an identification camera (4), a measurement host (2) and a line structure light indicating mechanism (6), wherein the measurement host (2), the identification camera (4) and the push rod display mechanism (5) are respectively connected with the electric control device (3);
the measuring host (2) is positioned in the middle of the upper surface of the beam of the vehicle body walking mechanism (1) and used for measuring the distance between a contact line and the distance meter, and the measuring host (2) is integrally packaged through a shell (23); the electric control device (3) is positioned on the left of the upper surface of the beam of the vehicle body walking mechanism (1) and is used for processing images, controlling the rotation of the measurement host and realizing the automatic aiming of the contact line; the recognition camera (4) is positioned on the front surface of a cross beam of the vehicle body walking mechanism (1) and is used for acquiring an image of line laser on a contact net in an area above the measuring instrument; the push rod display mechanism (5) is positioned on the profile on the rear surface of the cross beam of the vehicle body walking mechanism (1) and is used for displaying an overhead contact system image, measurement data and an overhead contact system geometric parameter oscillogram above the measuring instrument; the line structure light indicating mechanism (6) is used for projecting one or more parallel line structure laser lines to the contact line to indicate the position of the contact line, distinguish the dropper and the positioner and is positioned on the front surface of the cross beam of the vehicle body travelling mechanism (1).
2. The geometrical parameter measuring instrument of the subway overhead line system according to claim 1, wherein said vehicle body running mechanism (1) is composed of a vehicle body frame and a running component; the vehicle body frame is of a T-shaped structure consisting of side beams (7) and cross beams (8) which are made of aluminum alloy materials, and the walking assembly comprises walking wheels (9) and side wheels;
the number of the walking wheels (9) is three, and the walking wheels are respectively and fixedly arranged at the three end parts of the vehicle body frame with the T-shaped structure; each walking wheel (9) is provided with a side wheel in a matching way, the fixed side wheel (10) is matched with the walking wheel (9) on the side beam (7), and the fixed side wheel (10) is fixedly arranged on the vehicle body frame; the movable side wheels (11) are matched with the walking wheels (9) on the cross beam (8), and the movable side wheels (11) are arranged on the linear guide rail on the lower surface of the cross beam (8).
3. The subway overhead line system geometric parameter measuring instrument according to claim 2, wherein a displacement sensor (12), an inclination sensor (13) and a mileage sensor (14) are installed on the car body frame, and the displacement sensor (12) and the movable side wheels (11) are installed on the car body frame.
4. The subway overhead line system geometric parameter measuring instrument according to claim 3, wherein the side beams (7) and the cross beams (8) are hollow aluminum alloy square tubes, and the sensor is designed and installed in the aluminum alloy square tubes.
5. The geometrical parameter measuring instrument of the subway overhead line system according to claim 1, wherein said measuring host (2) is composed of a measuring host shell, an absolute high-precision grating encoder (18), a five-phase harmonic gear motor (19), a high-precision laser range finder (20), an industrial camera (21) for tracking, a lighting flashlight (22) and a housing (23);
the measuring host shell is fixedly connected into a whole by a main support (15) and a fixing frame (16) through a main shaft (17), a bearing fixing seat (33) and a bearing (34), the main support (15) is of a concave three-dimensional structure, the fixing frame (16) is arranged in a groove of the main support (15) through the main shaft (17), and the main shaft (17) is fixed at the upper part of the main support (15) through the bearing fixing seat (33) and the bearing (34);
the high-precision laser range finder (20) and the industrial camera (21) for tracking are arranged in front and back and are installed in the fixed frame (16), and the optical axis of the high-precision laser range finder (20) and the optical axis of the industrial camera (21) for tracking are parallel and are vertical to the rotating shaft center of the fixed frame (16); the industrial camera (21) for tracking is provided with an automatic diaphragm, the left side and the right side of the industrial camera are provided with illuminating flashlights (22), an absolute type high-precision grating encoder (18) and a five-phase harmonic speed reducing motor (19) are respectively arranged on the outer side surfaces of the front side and the rear side of a main support (15), and the absolute type high-precision grating encoder (18) is positioned on one side of a main shaft (17) and is connected with a fixing frame (16) through the main shaft (17).
6. The geometrical parameter measuring instrument of the subway overhead line system according to claim 1, wherein the electric control device (3) is composed of a control board (24) and an industrial host (25), the control board (24) is used for collecting measurement data and feeding back the measurement data to the industrial host (25), and the industrial host (25) analyzes and processes the collected data.
7. The geometrical parameter measuring instrument of the subway overhead line system according to claim 1, wherein said push rod display mechanism (5) is composed of a rotating and locking mechanism (26), a push rod (27) and a liquid crystal display assembly (28); the rotating and locking mechanism (26) is fixedly arranged on the frame of the vehicle body, the push rod (27) is connected with the rotating and locking mechanism (26), and the liquid crystal display component (28) is arranged at the handle of the push rod (27).
8. The geometrical parameter measuring instrument of the subway overhead line system according to claim 1, wherein said line structured light indicating mechanism (6) is composed of a damping hinge (29), an aluminum alloy section (30), a laser assembly (31) and a connecting plate (32); the aluminum alloy section (30) is a rectangular pipe with two sections of folding, and the damping hinge (29) is used for realizing the extension, retraction, folding and unfolding of the aluminum alloy section (30); the damping hinge (29) is connected with the aluminum alloy section (30) and the two sections of aluminum alloy sections through the connecting plate (32); the laser assembly (31) is arranged at the outer end part of the aluminum alloy section bar (30).
9. The subway overhead line system geometric parameter measurement method is characterized in that the measurement instrument according to any one of claims 1 to 8 is applied, and comprises the following steps:
step 1, when the measuring instrument works, selecting a rigid suspension working mode of a contact network or a flexible suspension working mode of the contact network according to a working scene;
step 2, a vehicle body walking mechanism is utilized to rapidly advance the measuring instrument on the subway rail, and the measurement of the geometrical parameters of the subway overhead line system is automatically tracked through an industrial host, an identification camera, an industrial camera for tracking and a high-precision laser range finder to obtain basic data;
and 3, generating a oscillogram of contact line height and pull-out value parameters of the contact line and a geometric parameter ledger of the contact line according to the basic data, and realizing the function of data overrun warning.
10. The method for measuring the geometrical parameters of the subway overhead line system according to claim 9, wherein in step 1, in a rigid suspension working mode, laser lines are projected on a bus bar and a contact line, the position of the contact line is coincided with the center of an industrial camera for tracking through the control of an industrial host, the automatic aiming of the contact line is realized, and the automatic tracking and measurement in the traveling process are realized; the method comprises the following steps that an identification camera collects images of line laser on a contact net in an area above a measuring instrument at a high speed and transmits the images to an industrial host, and the industrial host analyzes and compares the images of the identification camera after binarization processing with a locator and an electrically connected characteristic image sample to realize automatic identification of a dropper and the locator;
when the flexible suspension work mode, the contact net is characterized by a dropper, a positioning point and electric connection, and the identification basis of the dropper is as follows: the line width of the line clamp at the dropper is greater than that of the line clamp at the non-dropper, and when line laser is projected to the dropper, an image on a camera is a bright spot which is greater than the width of the contact line; the identification of the locator is based on: when line laser is projected on a positioner or a wrist arm, a long bright strip can be generated in an image;
step 3, generating a waveform diagram of the contact line height and the pull-out value of the contact network by taking the mileage as an abscissa and the contact line height and the pull-out value as an ordinate; and generating a geometric parameter ledger of the contact net of the subway by extracting the measurement data of the positioner and the dropper.
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