CN113483666A - Contact net intelligent detector and measuring method thereof - Google Patents
Contact net intelligent detector and measuring method thereof Download PDFInfo
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- CN113483666A CN113483666A CN202110835535.0A CN202110835535A CN113483666A CN 113483666 A CN113483666 A CN 113483666A CN 202110835535 A CN202110835535 A CN 202110835535A CN 113483666 A CN113483666 A CN 113483666A
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- 238000005259 measurement Methods 0.000 claims abstract description 32
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- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 10
- 238000000691 measurement method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
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- 230000006854 communication Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an intelligent detector for a contact net and a measuring method thereof, wherein the detector comprises a main body frame, a track walking device, a detecting device, an image acquiring device and a data processing and transmitting device, wherein a track gauge measuring device aiming at a track is arranged on the side wall of the main body frame, an automatic dynamic measuring device and a static measuring device are arranged in the main body frame, the dynamic measuring device is a two-dimensional scanning radar arranged in the main body frame, and the static measuring device is a camera, a laser range finder and a motor arranged in the main body frame. The measuring method comprises a dynamic measuring method and a static measuring method, and the pulling value and the lead height value of the contact line are respectively obtained. The invention can realize the continuous measurement of geometrical parameters of the contact network and the accurate and automatic measurement of static fixed points, and the real-time acquisition and transmission of data and pictures and the real-time display of the position and the measurement mileage of the measuring instrument by a map system, thereby facilitating the real-time scheduling and improving the operation and maintenance efficiency of the contact network.
Description
Technical Field
The invention belongs to the technical field of rail train contact net detection, and particularly relates to an intelligent contact net detector and a measuring method thereof.
Background
The detection of the geometric parameters of the contact network is important for whether the train runs safely and runs at a high speed, but at present, the related railway departments basically adopt a static laser detection method. Static laser detection mainly carries out single-point measurement, needs bow and measure to the contact wire by manual alignment, and work load is big, and intensity is high, and is efficient. The dynamic detection device adopting the camera detection or the laser radar has the problems of precision deviation or repeated detection and the like during measurement, and the field use effect is poor. In summary, there is a need for an accurate and efficient detection device for overhead line system, which can realize static and dynamic measurements, and is convenient for operators to use, so as to reduce workload and improve working efficiency.
Disclosure of Invention
The invention is provided for solving the problems in the prior art, and aims to provide an intelligent full-automatic detector for a contact network, which has both dynamic and static functions.
The technical scheme of the invention is as follows: the utility model provides an intelligent detector of contact net, is including the main body frame who traveles, the main body frame both sides are provided with track T type wheel, main body frame lateral wall department is provided with the gauge to orbital gauge measuring device, be provided with the static measuring device who is used for dynamic measurement's dynamic measurement device and is used for static measurement in the main body frame, dynamic measurement device is the two-dimensional scanning radar who sets up in the main body frame, static measuring device is camera, laser range finder, the motor of setting in the main body frame.
Furthermore, an expansion adapter plate is arranged on the outer wall of the main body frame, and a contact net suspension image collector for image collection is arranged on the expansion adapter plate.
Furthermore, main body frame includes organism crossbeam side pipe, engine body shell, organism crossbeam side pipe one side is provided with the unilateral wheel fixed plate, be provided with on the unilateral wheel fixed plate along the rolling unilateral wheel of track, organism crossbeam side pipe opposite side directly is provided with the unilateral wheel.
Furthermore, a mileage encoder is arranged in the square tube of the cross beam of the machine body and is coaxially connected with a rotating shaft of the single-side wheel, so that mileage measurement is performed.
Furthermore, a T-shaped push rod capable of being folded, folded and unfolded is further arranged on the side wall of the square tube of the machine body cross beam, and a push handle is arranged on the T-shaped push rod.
Furthermore, a guide groove along the width direction of the track is formed in the side wall of the square tube of the machine body cross beam, a damping bolt sliding along the guide groove is arranged in the guide groove, the damping bolt is connected with the push handle connecting piece so as to drive the push handle connecting piece to transversely slide, and a T-shaped push rod is arranged on the push handle connecting piece.
Furthermore, the gauge measuring device comprises a gauge shell connected with a machine body cross beam square tube, two transverse mounting grooves are formed in the gauge shell, a gauge sensor and an air spring are respectively arranged in the mounting grooves, one end of the gauge sensor and one end of the air spring are connected with a gauge round shaft, a track contact wheel is arranged at the lower end of the gauge round shaft, and the track contact wheel is in contact with the inner wall of a track.
Furthermore, camera, laser range finder set up on the sliding block, the sliding block is fixed mutually with the output of worm gear driving medium, be provided with the motor that the wheel worm driving medium carries out the drive on the main body frame. The motor drives the camera and the laser range finder to rotate, the camera shoots a contact line picture, and the laser range finder outputs range data. A straight line is identified from a contact line picture shot by a camera by a straight line detection method, distance measurement data output by a laser distance meter are compared, a working contact line to be measured is found out according to the range of the geometric parameters of the working contact line, and the static automatic measurement of the parameters of the contact network is realized.
A measurement method of an intelligent detector of a contact network is a dynamic measurement method and comprises the following steps:
first, the coordinate horizontal quantity and the coordinate vertical quantity of the contact line are calculated
The distance of the contact line measured by the laser radar at the angle theta is RθThen its coordinate level quantity relative to the radar is Rθcos (θ) vertical amount Rθsin(θ)；
Then, coordinate positions of the contact lines are obtained
The center of the orbit is taken as the origin of coordinates, and the obtained radar coordinate is (X)R,YR,ZR) Then the coordinate of the contact line is (-X)R-Rθcos(θ)，YR，ZR+Rθsin(θ))；
Then, the coordinates of the contact line are corrected
The correction process is as follows:
when the radar is installed, when the small wheel plane forms an included angle alpha in the XZ direction, the plane forms an included angle beta in the YZ direction, the plane rotates around the Z direction by an angle gamma, the angle is positive in the counterclockwise direction and negative in the clockwise direction, and then the coordinate of the contact line is corrected to be (-X)R-Rθcos(θ+α)cos(γ)，YR，ZR+Rθsin(θ+α)cos(β))；
Then, the coordinate value of the radar is calculated
The track width is W, the calibration width is L, and the measured values of the track gauge measuring device are respectively LL、LRThen, then
XR＝(LL+LR+L)/2-LD-LR；
Finally, the pull-out value and the lead-up value of the contact line are obtained
The pull-out values for the contact lines were:
-(LL+LR+L)/2+LD+LR-Rθcos (θ + α) cos (γ) ═ pull-out;
the height of the contact line is:
ZR+Rθsin (θ + α) cos (β) is an upper value.
Furthermore, when the measuring method is a static measuring method, the horizontal quantity between the laser distance measuring device and the track gauge measuring device is Sx, the vertical distance between the laser distance measuring device and the track gauge measuring device is Sy, the length of the laser distance measuring device is SL,
the pull-out value for the contact line in the quiescent state is then:
(LL+LR+L)/2-Sx-LL-(SL+Rθ) cos (θ) is a pull-out value
The height conductance of the contact line in the quiescent state is then:
Sy+(SL+Rθ) sin (θ) is a leading value.
The invention adopts a novel structure and is reasonable in design, and the detection vehicle can be quickly folded through simple folding action, so that the problems of complex operation and easy component loss caused by the disassembly and assembly of a plurality of parts in the existing patent are solved.
The invention can realize the double-function automatic measurement functions of dynamic continuous measurement and static fixed point precision of the geometric parameters of the contact network, and meanwhile, the whole weight of the contact network is light and can be easily folded and carried by one person.
The invention can realize real-time acquisition and transmission of data and images, and real-time presentation of geographic information and mileage on a map system, and is convenient for real-time scheduling of departments such as electric affairs, work affairs and the like of a railway.
Drawings
FIG. 1 is a bottom perspective view of the present invention;
FIG. 2 is a front perspective view of the present invention;
FIG. 3 is a perspective view of the internal structure of the present invention;
FIG. 4 is a schematic view of the track gauge measuring device according to the present invention;
FIG. 5 is a schematic view of the fold of the present invention;
FIG. 6 is a schematic diagram of a dynamic measurement method of the present invention;
FIG. 7 is a schematic illustration of a static measurement method of the present invention;
wherein:
1T-shaped wheel 2 single side wheel fixing plate
3 gauge measuring device 4 machine body shell
5 power switch 6 interface that charges
7 dull and stereotyped computer 8 dull and stereotyped linking bridge
9 push handle 10 push handle steering hinge
11T-shaped push rod 12 contact net suspension image collector
13 expansion adapter plate 14 battery flip
15 machine body cross beam square tube 16 power supply conversion module
17 push handle connecting piece 18 hasp
19-mileage encoder 20 antenna box
21 organism handle 224G communication module
23 two-dimensional scanning radar 24 handle connecting piece
25 radar screen 26 battery energy device
27 camera 28 laser rangefinder
29 worm gear 30 motor
31 central control device
101 gauge sensor 102 gauge housing
103 gauge round shaft 104 fastening pull ring
105 air spring 106 locating pin
107 track contact wheels.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings and examples:
as shown in fig. 1-7, an intelligent detector for a contact network comprises a traveling main frame, rolling units erected on a track are arranged on two sides of the main frame, a track gauge measuring device 3 for the track is arranged on a side wall of the main frame, a dynamic measuring device for dynamic measurement and a static measuring device for static measurement are arranged in the main frame, the dynamic measuring device is a two-dimensional scanning radar 23 arranged in the main frame, and the static measuring device is a camera 27, a laser range finder 28 and a motor 30 arranged in the main frame.
An expansion adapter plate 13 is arranged on the outer wall of the main body frame, and a contact net suspension image collector 12 for collecting images is arranged on the expansion adapter plate 13.
Main body frame includes organism crossbeam side pipe 15, engine body shell 4, organism crossbeam side pipe 15 one side is provided with unilateral wheel fixed plate 2, be provided with on the unilateral wheel fixed plate 2 along the rolling unilateral wheel 1 of track, 15 opposite sides are managed in organism crossbeam side pipe directly is provided with unilateral wheel 1.
The machine body cross beam square tube 15 is internally provided with a mileage encoder 19, and the mileage encoder 19 is coaxially connected with a rotating shaft of the single-side wheel 1, so that mileage measurement is performed.
The side wall of the machine body cross beam square tube 15 is also provided with a T-shaped push rod 11 which can be folded, folded and unfolded, and the T-shaped push rod 11 is provided with a push handle 9.
A guide groove along the width direction of the track is formed in the side wall of the machine body cross beam square tube 15, a damping bolt sliding along the guide groove is arranged in the guide groove, the damping bolt is connected with a push handle connecting piece 17, so that the push handle connecting piece 17 is driven to transversely slide, and a T-shaped push rod 11 is arranged on the push handle connecting piece 17.
The gauge measuring device 3 comprises a gauge shell 102 connected with a machine body cross beam square tube 15, two transverse mounting grooves are formed in the gauge shell 102, a gauge sensor 101 and an air spring 105 are respectively arranged in the mounting grooves, one end of the gauge sensor 101 and one end of the air spring 105 are connected with a gauge round shaft 103, a rail contact wheel 107 is arranged at the lower end of the gauge round shaft 103, and the rail contact wheel 107 is in contact with the inner wall of a rail.
The camera 27 and the laser range finder 28 are arranged on a sliding block, the sliding block is fixed with the output end of the worm gear transmission member 29, a motor 30 for driving the worm gear transmission member 29 is arranged on the main body frame, and the motor 30 drives the camera 27 and the laser range finder 28 to rotate together. The camera 27 takes a picture of the contact line and the laser rangefinder 28 outputs the range data. And identifying a straight line from the shot contact line picture by a straight line detection method, comparing the distance measurement data, finding out the working contact line to be measured according to the geometric parameter range of the working contact line, and realizing the automatic measurement of the parameters of the contact network.
The battery turnover cover 14 capable of being opened in a rotating mode is arranged on the machine body shell 4, an opening section corresponding to the battery turnover cover 14 is prefabricated on the machine body shell 4, the battery turnover cover 14 and the machine body shell 4 are connected through a hinge, and the battery turnover cover 14 is turned over and opened around the hinge.
Correspondingly, a buckle 18 capable of firmly fixing the battery flip 14 and the machine body shell 4 is arranged between the battery flip and the machine body shell 4, so that the battery flip and the machine body shell are buckled.
The machine body cross beam square tube 15 is provided with a machine body handle 21 which can be conveniently and integrally carried, the machine body handle 21 is rectangular, and a hand-held sleeve is sleeved on the machine body handle 21.
Be provided with handle connecting piece 24 on organism crossbeam square pipe 15, handle connecting piece 24 is the carriage, be provided with the installation cover on the carriage, one side setting of organism handle 21 is sheathe in the installation, and with the installation between the cover for clearance fit to make it be not suitable for under the state, can place on the carriage.
Preferably, the support frame can support the machine body housing 4.
An antenna box 20 is arranged on the machine body shell 4, and the antenna box 20 is used for receiving and transmitting signals in the communication process.
The machine body cross beam square tube 15 is provided with a 4G communication module 22, the 4G communication module 22 can realize communication with a remote end, and real-time data is transmitted.
Correspondingly, a central control device 31 is further arranged on the machine body cross beam square tube 15, and the central control device 31 realizes central control of the whole machine.
Correspondingly, be provided with battery energy device 26 on organism crossbeam square pipe 15, battery energy device 26 is corresponding with battery flip 14 to can realize its getting through battery flip 14 and put the installation.
The lower end of the engine body cross beam square tube 15 is provided with a power supply conversion module 16, and the power supply conversion module 16 is arranged aiming at different power supply voltages, so that the power supply requirements of multiple execution pieces are met.
And a radar shielding plate 25 is arranged at the lower end of the machine body cross beam square tube 15 corresponding to the two-dimensional scanning radar 23.
The radar light screen 25 is an L-shaped plate, the horizontal section of the radar light screen 25 is fixed with the lower end face of the engine body cross beam square tube 15, and the fixing mode between the radar light screen and the engine body cross beam square tube can be but is not limited to bolt fixing. The vertical section of the radar shade 25 corresponds to the two-dimensional scanning radar 23, thereby achieving a function of shading it.
One side of the engine body shell 4 correspondingly forms a switch hole site and a charging port hole site, a power switch 5 is arranged in the switch hole site, and a charging port communicated with the battery energy device 26 is arranged in the charging port hole site.
The T-shaped push rod 11 is provided with a flat plate connecting support 8, a flat plate computer 7 is placed on the flat plate connecting support 8, and the flat plate computer 7 can display detected data image-text information.
The T-shaped push rod 11 is connected with the push handle 9 through a push handle steering hinge 10, and the push handle steering hinge 10 is a damping hinge.
Be provided with two unilateral wheels 1 on unilateral wheel fixed plate 2, two unilateral wheels 1 are connected with unilateral wheel fixed plate 2 through fixation nut, and unilateral wheel fixed plate 2 passes through bolted connection to be fixed in 15 left sides on organism crossbeam side pipe, and 15 right sides on organism crossbeam side pipe also are connected with unilateral wheel 1 through the nut.
The three unilateral wheels 1 are arranged in an isosceles triangle shape, so that the whole body is in a stable state in the moving process, and simultaneously, a mileage encoder 19 is conveniently installed aiming at the unilateral wheel 1 on the independent side.
Correspondingly, mileage encoder module 19 passes through the shaft coupling with the axle center with unilateral wheel 1 and is connected, form the mounting groove that holds mileage encoder 19 in the organism crossbeam side pipe 15, mileage encoder module 19 passes through the fix with screw in the mounting groove.
Threaded holes are formed in the front side and the rear side of the machine body cross beam square tube 15, the machine body shell 4 is fixed with the machine body cross beam square tube 15 through screws, and an internal installation cavity is formed between the machine body cross beam square tube 15 and the machine body shell 4.
The two buckles 18 are connected with the battery flip 14 and the machine body shell 4 through screws, so that the rotation switch control of the battery flip 14 can be realized.
The track gauge measuring devices 3 are two, and the two track gauge measuring devices 3 are arranged in a back-to-back manner, so that the distance between the two tracks, namely LR、LLAnd feeding back the measurement quantity to obtain the center position of the track.
The expansion adapter plate 13 is fixed to the rear side of the machine body cross beam square tube 15 through screws, and the contact net suspension image collector 12 is fixed to the expansion adapter plate 13 through screws.
The guide groove at the rear side of the engine body cross beam square tube 15 is an -shaped groove; the push handle connecting piece 17 is connected with the machine body cross beam square tube 15 through a damping bolt, so that the push handle connecting piece 17 can transversely slide in the groove.
Correspondingly, the T-shaped push rod 11 is connected with the push handle connecting piece 17 through a screw, a supporting vertical plate is formed at the upper end of the push handle connecting piece 17, two lug plates are formed at the lower end of the T-shaped push rod 11, the two lug plates form a rotating joint, and a spring is further arranged between the T-shaped push rod 11 and the push handle connecting piece 17, so that the control of the rotating angle of the T-shaped push rod 11 and the push handle connecting piece 17 is realized.
The push handle 9 is connected to a T-shaped push rod 11 via a push handle steering hinge 10, wherein the rotation of the push handle 9 is damped.
The push handle steering hinge 10 enables the push handle 9 to be folded to be perpendicular to the T-shaped push rod 11.
The flat connecting support 8 forms a mounting sleeve portion, the T-shaped push rod 11 is connected with the flat connecting support 8 through a jackscrew, and the detachable flat computer 7 is clamped above the flat connecting support 8.
The 4G communication module is fixed in the machine body shell 4 through a screw; the two-dimensional scanning radar 23 is fixed on the right side of the 4G communication module inside the machine body cross beam square tube 15 through a screw; the two-dimensional scanning radar 23 is fixed at the bottom of the square tube 15 of the cross beam of the machine body through screws, and the two handle connecting pieces 24 are fixed through screws.
The battery energy device 26 is fixed between the two handle connecting pieces 24 through screws, a worm and gear transmission piece 29 is fixed on the machine body beam square tube 15 through screws, the camera 27 and the laser range finder 28 are connected with the worm and gear transmission piece 29 through shaft transmission, power is provided by a motor driving device 30 connected through a coupler, and a central control device 31 is fixed on the rightmost side above the machine body beam square tube 15 through screws.
The expansion adapter plate 13 can also support the T-shaped push rod 11 in a folded state.
The track gauge measuring module 3 is provided with two track gauge shells 102 connected by screws; the gauge sensor 101 and the air spring 105 are fixed in a groove of the gauge housing 102; the track gauge sensor 101 and the air spring 105 are connected with the track gauge round shaft 103 through threads; the track contact wheel 107 is fixed to the bottom of the gauge circular shaft 103 by an elastic snap spring which prevents the track contact wheel 107 from disengaging from the gauge circular shaft 103.
The gauge housing 102 is further provided with a positioning pin 106, and the positioning pin 106 realizes positioning in the mounting process of the gauge housing 102.
The air spring 105 is parallel to the track gauge sensor 101, so that the accuracy of measurement is guaranteed.
The gauge circular shaft 103 is further provided with a fastening pull ring 104, and the fastening pull ring 104 is used for being buckled on the positioning pin 106, so that the gauge sensor 101 is in a contracted state.
The folding process of the present invention is as follows:
firstly, a push handle 9 is connected with a T-shaped push rod 11 through a push handle steering hinge 10, and the push handle 9 can be directly turned downwards to be parallel to the T-shaped push rod 11; the T-shaped push rod 11 is connected with the push handle connecting piece 17 through a screw, and the T-shaped push rod 11 and the push handle connecting piece 17 are positioned vertically by pulling the handle.
Then, the rear side of the machine body cross beam square tube 15 is provided with an -shaped groove, and the push handle connecting piece 17 is connected with the machine body cross beam square tube 15 through a bolt, so that the push handle connecting piece 17 can transversely slide in the groove and transversely slide to the leftmost side of the groove.
And finally, the pushing handle connecting piece 17 is connected with the machine body cross beam square tube 15 through a damping bolt, the connecting piece 17 is rotated around the damping bolt, so that the T-shaped pushing rod 11 is horizontally contacted with the expansion adapter plate 13, and the whole folding and retracting step is completed.
A measurement method of an intelligent detector of a contact network is a dynamic measurement method and comprises the following steps:
first, the coordinate horizontal quantity and the coordinate vertical quantity of the contact line are calculated
The distance of the contact line measured by the laser radar at the angle theta is RθThen its coordinate level quantity relative to the radar is Rθcos (θ) vertical amount Rθsin(θ)；
Then, coordinate positions of the contact lines are obtained
The center of the orbit is taken as the origin of coordinates, and the obtained radar coordinate is (X)R,YR,ZR) Then the coordinate of the contact line is (-X)R-Rθcos(θ)，YR，ZR+Rθsin(θ))；
Then, the coordinates of the contact line are corrected
The correction process is as follows:
when the radar is installed, when the small wheel plane forms an included angle alpha in the XZ direction, the plane forms an included angle beta in the YZ direction, the plane rotates around the Z direction by an angle gamma, the angle is positive in the counterclockwise direction and negative in the clockwise direction, and then the coordinate of the contact line is corrected to be (-X)R-Rθcos(θ+α)cos(γ)，YR，ZR+Rθsin(θ+α)cos(β))；
Then, the coordinate value of the radar is calculated
The track width is W, the calibration width is L, and the measured values of the track gauge measuring device are respectively LL、LRThen, then
XR＝(LL+LR+L)/2-LD-LR；
Finally, the pull-out value and the lead-up value of the contact line are obtained
The pull-out values for the contact lines were:
-(LL+LR+L)/2+LD+LR-Rθcos (θ + α) cos (γ) ═ pull-out;
the height of the contact line is:
ZR+Rθsin (θ + α) cos (β) is an upper value.
Furthermore, when the measuring method is a static measuring method, the horizontal distance between the laser distance measuring device and the track gauge measuring device is Sx, the vertical distance between the laser distance measuring device and the track plane is Sy, and the length of the laser distance measuring device is SL.
The pull-out value for the contact line in the quiescent state is then:
(LL+LR+L)/2-Sx-LL-(SL+Rθ) cos (θ) is a pull-out value
The height conductance of the contact line in the quiescent state is then:
Sy+(SL+Rθ) sin (θ) is a leading value.
The invention adopts a novel structure and is reasonable in design, and the detection vehicle can be quickly folded through simple folding action, so that the problems of complex operation and easy component loss caused by the disassembly and assembly of a plurality of parts in the existing patent are solved.
The invention can realize the double functions of dynamic continuous measurement and static fixed point accurate measurement of geometrical parameters of the contact network, increases the detection accuracy through a stable structure, and simultaneously has lighter overall weight and can be easily lifted by one person.
The invention can realize a map system for real-time data transmission, image acquisition and mileage display, is convenient for real-time scheduling of departments such as electric affairs, work affairs and the like of railways, and has higher popularization.
Claims (10)
1. The utility model provides an intelligent detector of contact net, includes the main part frame that can go on the track, its characterized in that: the utility model discloses a dynamic measurement device, including main body frame, main body frame lateral wall department, dynamic measurement device and static measuring device, main body frame both sides are provided with T type track wheel, main body frame lateral wall department is provided with gauge measuring device (3) to orbital, be provided with in the main body frame and be used for dynamic measurement's dynamic measurement device and be used for static measurement's static measuring device, dynamic measurement device is two-dimensional scanning radar (23) of setting in the main body frame, static measuring device is camera (27), laser range finder (28), motor (30) of setting in the main body frame.
2. The intelligent detector of claim 1, wherein the detector comprises: an expansion adapter plate (13) is arranged on the outer wall of the main body frame, and a contact net suspension image collector (12) for collecting images is arranged on the expansion adapter plate (13).
3. The intelligent detector of claim 2, wherein: the main body frame comprises a machine body cross beam square tube (15) and a machine body shell (4), the rolling unit comprises a single-side wheel fixing plate (2) arranged on one side of the machine body cross beam square tube (15), a single-side wheel (1) rolling along a track is arranged on the single-side wheel fixing plate (2), and the other side of the machine body cross beam square tube (15) is directly provided with the single-side wheel (1).
4. The intelligent detector of claim 3, wherein the detector comprises: a mileage encoder (19) is arranged in the machine body cross beam square tube (15), and the mileage encoder (19) is coaxially connected with a rotating shaft of the single-side wheel (1) so as to measure mileage.
5. The intelligent detector of claim 4, wherein the detector comprises: the machine body cross beam square tube (15) is characterized in that a T-shaped push rod (11) capable of being folded, folded and unfolded is further arranged on the side wall of the machine body cross beam square tube (15), and a push handle (9) is arranged on the T-shaped push rod (11).
6. The intelligent detector of claim 5, wherein: the machine body cross beam square tube (15) is characterized in that a guide groove along the width direction of the track is formed in the side wall of the machine body cross beam square tube, a damping bolt sliding along the guide groove is arranged in the guide groove, the damping bolt is connected with a pushing handle connecting piece (17), so that the pushing handle connecting piece (17) is driven to transversely slide, and a T-shaped push rod (11) is arranged on the pushing handle connecting piece (17).
7. The intelligent detector of claim 6, wherein: gauge measuring device (3) include gauge shell (102) that link to each other with organism crossbeam side pipe (15), form two horizontal mounting grooves in gauge shell (102), be provided with gauge sensor (101) and air spring (105) in the mounting groove respectively, the one end of gauge sensor (101), air spring (105) links to each other with gauge round axle (103), gauge round axle (103) lower extreme is provided with track contact wheel (107), track contact wheel (107) contact with the track inner wall.
8. The intelligent detector of claim 1, wherein the detector comprises: the camera (27) and the laser range finder (28) are arranged on a sliding block, the sliding block is fixed with the output end of a worm and gear transmission piece (29), and a motor (30) for driving the worm and gear transmission piece (29) is arranged on the main body frame. The motor (30) drives the transmission piece (29) to drive the camera (27) and the laser range finder (28) to rotate. The camera (27) takes a contact line picture, and the laser range finder (28) outputs range data. And identifying a straight line from the contact line picture by a straight line detection method, comparing the distance measurement data, finding out a working contact line to be measured according to the geometric parameter range of the working contact line, and realizing the automatic measurement of the geometric parameters of the fixed-point contact line.
9. A measuring method of an intelligent detector of a contact network is characterized by comprising the following steps: the measuring method is a dynamic measuring method and comprises the following steps:
firstly, the horizontal quantity and the vertical quantity of the contact line relative to the radar are calculated
The distance of the contact line measured by the laser radar at the angle theta is RθThen its coordinate level quantity relative to the radar is Rθcos (θ) vertical amount Rθsin(θ)；
Then, coordinate positions of the contact lines are obtained
The center of the orbit is taken as the origin of coordinates, and the obtained radar coordinate is (X)R,YR,ZR) The coordinate of the contact line is (X)R-Rθcos(θ)，YR，ZR+Rθsin(θ))；
Then, the coordinates of the contact line are corrected
The correction process is as follows:
when the radar is installed and the plane of the small wheel forms an included angle alpha in the XZ direction, the plane forms an included angle beta in the YZ direction, and the plane rotates around the Z direction by an angle gammaIf the counter clockwise direction is positive and the clockwise direction is negative, the coordinate of the contact line is corrected to be (-X)R-Rθcos(θ+α)cos(γ)，YR，ZR+Rθsin(θ+α)cos(β))；
Then, the coordinate value of the radar is calculated
The track width is W, the calibration width is L, and the measured values of the track gauge measuring device are respectively LL、LRThen, then
XR＝(LL+LR+L)/2-LD-LR；
Finally, the pull-out value and the lead-up value of the contact line are obtained
The pull-out values for the contact lines were:
-(LL+LR+L)/2+LD+LR-Rθcos (θ + α) cos (γ) ═ pull-out;
the height of the contact line is:
ZR+ZR+Rθsin (θ + α) cos (β) is an upper value.
10. The measurement method of the intelligent detector for the overhead line system according to claim 9, wherein the measurement method comprises the following steps: when the measuring method is a static measuring method, the horizontal quantity between the laser range finder and the track gauge measuring device is Sx, the vertical distance between the laser range finder and the track plane is Sy, the length of the laser range finder is SL,
the pull-out value for the contact line in the quiescent state is then:
(LL+LR+L)/2-Sx-LL-(SL+Rθ) cos (θ) is a pull-out value
The height conductance of the contact line in the quiescent state is then:
Sy+(SL+Rθ) sin (θ) is a leading value.
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