CN113900116A - Dynamic detection method and device for geometrical parameters of contact network - Google Patents
Dynamic detection method and device for geometrical parameters of contact network Download PDFInfo
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- CN113900116A CN113900116A CN202111357696.XA CN202111357696A CN113900116A CN 113900116 A CN113900116 A CN 113900116A CN 202111357696 A CN202111357696 A CN 202111357696A CN 113900116 A CN113900116 A CN 113900116A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention provides a dynamic detection method and a dynamic detection device for contact line geometric parameters, which comprise the steps of acquiring three-dimensional scene data in a preset range of a track line by using a laser radar in the process of vehicle walking; analyzing and resolving three-dimensional scene data through computer software, and identifying a contact line and a locator; automatically detecting the geometric parameters of the contact line in real time; storing the geometric parameters in a database, and comparing the geometric parameters with a set threshold; whether sound and light alarm is carried out or not is determined according to the comparison result, so that full-line general investigation is achieved through a non-contact measurement mode, the measurement range is more comprehensive, the measurement speed is higher through a dynamic measurement mode, the labor intensity of an operator is reduced, the observation and detection result is more visual, the detection result is timely stored in a database, loss is avoided, and timely alarm can be carried out.
Description
Technical Field
The invention relates to the technical field of contact network detection, in particular to a method and a device for dynamically detecting geometric parameters of a contact network.
Background
The overhead contact system is a high-voltage transmission line which is erected along a zigzag shape above a steel rail in an electrified railway and is used for a pantograph to draw current. The overhead contact system is a main framework of the railway electrification engineering and is a special power transmission line which is erected along a railway line and supplies power to an electric locomotive.
At present, two detection modes of contact network data are mainly used, namely contact measurement and artificial observation.
In contact measurement, a measuring head of the device is in contact with each measuring point through an ultrahigh voltage insulating rod, data are wirelessly transmitted by using Zigbee technology, a ground special receiving device synchronously displays data and performs professional analysis, and the device has the defects that: the deviation of the contact line pulling value is large, the deviation from the central line of the track can reach 300mm, the contact measurement can reach the range of 600mm, the weight and the volume of the equipment are large, and the installation and the unloading are not easy.
In artificial observation, a measurement skylight point is established, and a measurer observes the abrasion condition of the contact line through the mounting bracket, and the defect is that: the measurement efficiency is low. Only sampling measurement can be carried out, and the full line inspection cannot be realized. The labor intensity is high. The measurement precision depends on the experience of measurement personnel, and the artificial influence is large.
Disclosure of Invention
In view of the above, the present invention aims to provide a method and an apparatus for dynamically detecting geometric parameters of a catenary, which achieve full-line general survey in a non-contact measurement manner, so that a measurement range is more comprehensive, a measurement speed is faster in a dynamic measurement manner, labor intensity of an operator is reduced, an observation detection result is more intuitive, an inspection result is timely stored in a database, so that loss is prevented, and an alarm can be timely given.
In a first aspect, an embodiment of the present invention provides a method for dynamically detecting a geometric parameter of a contact line, where the method includes:
in the vehicle traveling process, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar;
analyzing and resolving the three-dimensional scene data through computer software, and identifying a contact line and a locator;
automatically detecting the geometric parameters of the contact line in real time;
storing the geometric parameters in a database and comparing the geometric parameters with a set threshold;
and determining whether to carry out sound-light alarm or not according to the comparison result.
Further, the analyzing and resolving the three-dimensional scene data through computer software to identify a contact line and a locator includes:
acquiring a first preset range and a diameter of the contact line;
judging whether a data point exists in the first preset range or not;
if not, then there is no contact line within the first preset range;
if the geometric parameters exist, calculating the minimum value of the longitudinal direction of the vehicle body, wherein the minimum value of the longitudinal direction of the vehicle body is a lead-up value included by the geometric parameters;
determining a current data point according to the leading-up value, and obtaining a pull-out value included by the geometric parameter according to the current data point;
and clustering the current data points through a clustering algorithm to obtain a plurality of contact lines.
Further, the clustering the current data point by a clustering algorithm to obtain a plurality of contact lines includes repeatedly performing the following processes until each data point is traversed:
marking the current data point, selecting data points with the distance from the current data point within the diameter range from the data points which are not marked, and marking the selected data points;
and if the number of the selected data points meets a first preset number threshold, forming the current data point and the selected data points into a contact line.
Further, the analyzing and resolving the three-dimensional scene data through computer software to identify a contact line and a locator includes:
obtaining a second preset range above the first preset range of the contact line;
judging whether a second preset number of data points with a threshold value exist in the second preset range or not;
if not, the positioner is not in the second preset range;
if yes, forming the data points in the second preset range into a first point set;
mapping the first point set according to a preset resolution ratio to obtain an image;
obtaining the number of straight lines in the image by a Hough straight line transformation method;
the first set of points is the locator if the number and relative angle of the lines satisfy a locator feature.
Further, the geometric parameters include pillar side limits, and the real-time automatic detection of the geometric parameters of the contact line includes:
acquiring strut point cloud data obtained by scanning of a laser radar, wherein the strut point cloud is the three-dimensional scene data in a railway scene;
obtaining a strut point set according to the strut point cloud data;
obtaining a plurality of second point sets from the strut point sets;
and acquiring the minimum value of the absolute value of the abscissa from a plurality of second point sets, and taking the minimum value as the side limit of the pillar.
Further, the geometric parameter includes a difference in height of a suspension wire, and the real-time automatic detection of the geometric parameter of the contact line includes:
identifying a dropper, and obtaining a carrier cable according to the dropper;
and taking the height difference between the carrier cable and the contact line as the height difference of the suspension string.
Further, the geometric parameters include a track gauge and an ultra-high, and the real-time automatic detection of the geometric parameters of the contact line includes:
identifying a left rail and a right rail;
forming a steel rail surface by the left steel rail and the right steel rail;
calculating a first inner side surface coordinate and a second inner side surface coordinate at a preset distance below the rail surface of the steel rail;
calculating the lengths of the first inner side surface coordinate and the second inner side surface coordinate, and taking the lengths as the track gauge;
calculating the superelevation according to the track gauge and the output angle detected by the tilt angle sensor;
wherein, the output angle is the included angle between the tilt angle sensor and the horizontal plane.
In a second aspect, an embodiment of the present invention provides an apparatus for dynamically detecting geometric parameters of a contact line, where the apparatus includes:
the acquisition module is used for acquiring three-dimensional scene data within a preset range of the track line identified by the laser radar in the vehicle traveling process;
the analysis and calculation module is used for analyzing and calculating the three-dimensional scene data through computer software and identifying a contact line and a locator;
the detection module is used for automatically detecting the geometric parameters of the contact line in real time;
the comparison module is used for storing the geometric parameters into a database and comparing the geometric parameters with a set threshold;
and the alarm module is used for determining whether to carry out sound-light alarm or not according to the comparison result.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the method described above when executing the computer program.
In a fourth aspect, embodiments of the invention provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method as described above.
The embodiment of the invention provides a dynamic detection method and a dynamic detection device for contact line geometric parameters, wherein the method comprises the following steps: in the vehicle traveling process, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar; analyzing and resolving three-dimensional scene data through computer software, and identifying a contact line and a locator; automatically detecting the geometric parameters of the contact line in real time; storing the geometric parameters in a database, and comparing the geometric parameters with a set threshold; whether sound and light alarm is carried out or not is determined according to the comparison result, so that full-line general investigation is achieved through a non-contact measurement mode, the measurement range is more comprehensive, the measurement speed is higher through a dynamic measurement mode, the labor intensity of an operator is reduced, the observation and detection result is more visual, the detection result is timely stored in a database, loss is avoided, and timely alarm can be carried out.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart of a method for dynamically detecting geometric parameters of a contact line according to an embodiment of the present invention;
FIG. 2 is a flowchart of a contact line dynamic detection method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a dynamic detection method for a locator according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a dynamic detection apparatus for contact line geometric parameters according to a second embodiment of the present invention;
fig. 5 is another schematic view of a contact line geometric parameter dynamic detection apparatus according to a third embodiment of the present invention.
Icon:
11-an acquisition module; 12-an analysis and calculation module; 13-a detection module; 14-a comparison module; 15-an alarm module; 21-a vehicle body; 22-a wheel; 23-a lithium battery; 24-a handle; 25-computer push rod; 26-laser radar; 27-coder.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
the overhead contact system is a high-voltage transmission line which is erected along a zigzag shape above a steel rail in an electrified railway and is used for a pantograph to draw current. The overhead contact system is a main framework of the railway electrification engineering and is a special power transmission line which is erected along a railway line and supplies power to an electric locomotive. It is composed of contact suspension, supporting device, positioning device, supporting column and foundation.
The contact suspension comprises a contact wire, a dropper, a carrier cable, a connecting part and an insulator. The contact suspension is mounted on a support column by means of a support device and serves to supply the electric locomotive with electric energy obtained from the traction substation.
The support device is used to support the contact suspension and to transmit its load to the support post or other building. The contact system is different according to the section, station and large building where the contact system is located. The supporting device comprises a cantilever, a horizontal pull rod, a suspension insulator string, a rod insulator and other special supporting equipment of the building.
The positioning device comprises a positioning pipe and a positioner, and is used for fixing the position of the contact line, ensuring that the contact line is within the running track range of the pantograph slide plate, ensuring that the contact line is not separated from the pantograph and transmitting the horizontal load of the contact line to the support.
The support posts and the foundation are used to bear the entire load of the contact suspension, support and positioning device and to fix the contact suspension at a given position and height. The contact net in China adopts prestressed reinforced concrete pillars and steel columns, and the foundation is for the steel pillars, namely the steel pillars are fixed on the foundation made of the reinforced concrete below, and the foundation bears the whole load transmitted by the pillars and ensures the stability of the pillars. The prestressed reinforced concrete pillar and the foundation are made into a whole, and the lower end of the prestressed reinforced concrete pillar is directly buried underground.
Voltage class of contact net: the voltage of the single-phase power-frequency alternating current between 25KV and 30KV (for the ground) for the electric locomotive is as follows: 25 KV. Considering voltage loss, the output voltage of the traction substation is as follows: 27.5KV or 55KV, wherein 55KV is an AT power supply mode and is mainly used in high-speed electrified railways. The voltage of a contact net of the urban rail transit is generally 750V or 1500V of direct current.
In the detection process, the contact line cannot be electrified, the locator and the contact line are automatically identified in the process of pushing equipment, a large amount of contact line point cloud schematic diagrams are obtained through a laser radar, the contact line point cloud schematic diagrams comprise schematic diagrams of the contact line, the locator, the upright post, the dropper and the like, the contact line abrasion is automatically solved, the weight volume of a measuring end is small, the measuring range can be covered by a full section, the measuring speed can reach 5km/h, the original sampling measurement of selected measuring positions is improved into the full-line general survey, the labor intensity is reduced, an operator only needs to push the equipment to finish the measurement work without squatting the low bow for a long time, the detection result is observed in the process, the measurement result is recorded in a database, and field paper record is not needed.
Fig. 1 is a flowchart of a method for dynamically detecting geometric parameters of a contact line according to an embodiment of the present invention.
Referring to fig. 1, the dynamic detection method for contact line geometric parameters comprises the following steps:
s101, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar in the vehicle traveling process;
step S102, analyzing and resolving three-dimensional scene data through computer software, and identifying a contact line and a locator;
step S103, automatically detecting the geometric parameters of the contact line in real time;
step S104, storing the geometric parameters into a database, and comparing the geometric parameters with a set threshold;
step S105, determining whether to carry out sound and light alarm according to the comparison result;
here, in the vehicle traveling process, a laser radar is adopted to obtain three-dimensional scene data within a preset range of a track route, wherein the preset range can be preset according to actual conditions, and is set to be 10 meters in the embodiment;
the three-dimensional scene data comprises a contact line, a locator, a steel rail, a track plate, a strut and the like, and comprises a contact line three-dimensional point cloud projection diagram, a contact line point cloud schematic diagram, a contact line locator point cloud schematic diagram, a strut point cloud schematic diagram, a contact line dropper point cloud schematic diagram and the like;
the computer software analyzes and solves the three-dimensional scene data, can identify the contact line and the positioner, and can automatically detect the geometric parameters of the contact line in real time;
the geometric parameters of the contact line comprise parameters of a height guiding value, a pulling value, a pillar side limit, a positioner gradient, track super-height, a track gauge, a dropper height difference and the like of the contact line obtained by continuous dynamic measurement in the trolley traveling process;
in the parameter testing and inspection processes, the strut information with luxuriant pictures and texts can be established for each strut through the three-dimensional scene data;
a database is established, the basic data of the line is managed, once input and permanently used, and the parameter measurement and the positioning can be carried out on a new line without the input of the basic data; the database saves the inspection result in time to ensure that the inspection result is not lost, and the output report can be used as a parameter maintenance basis of the contact network;
the measured geometric parameters are analyzed in real time, and when the geometric parameters are not in the threshold range, the overrun geometric parameters are early warned in real time, so that potential safety hazards can be eliminated in time;
wherein, the threshold value can be preset according to the actual use requirement of a user.
Further, fig. 2 is a flowchart of a dynamic contact line detection method according to an embodiment of the present invention.
Referring to fig. 2, step S101 includes:
step S201, acquiring a first preset range and diameter of a contact line;
step S202, judging whether a data point exists in a first preset range;
step S203, if not, no contact line exists in the first preset range;
step S204, if the geometric parameters exist, calculating the minimum value of the longitudinal direction of the vehicle body, wherein the minimum value of the longitudinal direction of the vehicle body is a lead-up value included by the geometric parameters;
step S205, clustering the current data points through a clustering algorithm to obtain a plurality of contact lines;
the laser radar acquires a contact line three-dimensional point cloud projection drawing, software automatically identifies the contact line, and coordinates of the contact line under a line scanning laser coordinate system are calculated;
constructing a laser radar coordinate system, taking a contact line geometric parameter dynamic detection device vehicle body as a main body, and taking an x axis as the transverse direction of the vehicle body, namely the vertical direction of a rail; the y axis is the longitudinal direction of the vehicle body, namely the vertical direction of the rail; the z-axis is along the rail travel direction.
A first predetermined range of known contact lines, set as a rectangular range (x1, y1, x2, y2), set as a contact line diameter D;
in the range of (x1, y1, x2, y2), if there are no object coordinate points, i.e., data points, obtained by scanning the object with the lidar, there is no contact line in the first preset range;
if there are data points, calculate the Y minimum as Ymin，YminIs the conductive height value of the contact line;
in the contact line three-dimensional point cloud projection drawing, a point with the vertical coordinate as the lead height value of the contact line is the current data point and is marked as a point P and coordinates (X, Y)min)；
The abscissa of the point P is the pull-out value of the contact line;
finding the point cluster (points with closer point distances) of the contact line in the range D before and after P, and considering the contact line as a contact line if the number of the contact line points is met;
clustering the current data points through a clustering algorithm to obtain a plurality of contact lines;
further, step S206 further includes:
the following process is repeatedly performed until each data point is traversed:
marking the current data point, selecting data points with the distance from the current data point within the diameter range from the data points which are not marked, and marking the selected data points;
if the number of the selected data points meets a first preset number threshold, forming a contact line by the current data point and the selected data points;
here, different contact lines correspond to different numbers;
the method is characterized in that the automatic numbering of the anchor sections of the lines is realized by identifying the contact lines, the length of one contact line is hundreds of meters, each contact line corresponds to one anchor section number, software automatically identifies whether the contact line is changed into another contact line, judges whether the anchor sections are switched, and realizes the automatic numbering of the anchor sections.
Further, fig. 3 is a flowchart of a dynamic detection method of a locator according to an embodiment of the present invention.
Referring to fig. 2, step S101 further includes:
step S301, a second preset range is obtained above the first preset range of the contact line;
step S302, judging whether a second preset number of data points with a threshold value exist in a second preset range;
step S303, if the position information does not exist, no positioner exists in a second preset range;
step S304, if the data points exist, the data points in the second preset range form a first point set;
step S305, mapping the first point set according to a preset resolution ratio to obtain an image;
step S306, obtaining the number of straight lines in the image by a Hough straight line transformation method;
step S307, if the number and the relative angle of the straight lines meet the characteristics of the positioner, the first point set is the positioner;
the laser radar acquires a contact net locator point cloud schematic diagram, software automatically identifies the locator, and calculates coordinates of a contact line under an online scanning laser coordinate system;
defining the existence range of the positioner relative to the contact line above the first preset range of the contact line, and obtaining a second preset range of (dx1, dy1, dx2, dy 2);
finding locators over the contact line P (x, y) within the relative range (dx1, dy1, dx2, dy 2);
if there are no number of points within the range (x + dx1, y + dy1, x + dx2, y + dy2), then no locators are considered;
if so, then a locator is deemed possible and the set of points is defined as a first set of points Q (X, Y);
mapping the projection of the first point set Q according to a preset resolution ratio of 5mm to obtain an image I, wherein the image I reflects the shape of the side surface (the side surface vertical to the advancing direction) of the positioner;
according to a Hough line transformation method, calculating straight lines in the image I, and if the number and the relative angle of the straight lines meet the characteristics of a locator, considering a first point set Q as the locator;
the number of the straight lines of the positioner is more than or equal to 3, a first straight line and a second straight line which are approximately parallel and have an included angle smaller than 10 degrees are selected from the straight lines, a straight line between the first straight line and the second straight line is simultaneously selected as a third straight line, and when the third straight line forms an included angle with the first straight line and the second straight line respectively and the minimum acute angle is approximately equal, the characteristics of the positioner are met;
the locator is automatically numbered through the identification of the locator; each locator corresponds to a unique number on one anchor segment, the same locator possibly appears on two different anchor segments in an anchor segment joint area (anchor segment switching), and software judges which anchor segment the locator belongs to by identifying the connection relation between the locator and a contact line so as to carry out automatic numbering.
Further, the geometric parameters include the lateral limitation of the pillar, and the geometric parameters of the contact line are automatically detected in real time, and the method comprises the following steps:
acquiring strut point cloud data obtained by scanning of a laser radar, wherein the strut point cloud is three-dimensional scene data in a railway scene;
obtaining a strut point set according to the strut point cloud data;
obtaining a plurality of second point sets from the strut point set;
acquiring the minimum value of the absolute value of the abscissa from the plurality of second points in a set, and using the minimum value as the limit of the side surface of the strut;
here, a strut point cloud schematic diagram is obtained through a laser radar, and a strut point set is defined as PZZ (x, y, z); defining a set of points in the set of points PZZ with coordinate Y equal to 0 as a second set of points Q1(x, Y, z); the minimum value of the absolute value of x selected from the plurality of Q1 is the pillar side boundary.
Further, the geometric parameters include a height difference of a suspension wire, and the geometric parameters of the contact line are automatically detected in real time, and the method comprises the following steps:
identifying a dropper, and obtaining a carrier cable according to the dropper;
taking the height difference between the carrier cable and the contact line as the height difference of the suspension wire;
here, the dropper is above the contact line, and similar to the locator identification method, a contact line dropper point cloud schematic diagram is obtained, and the dropper is identified; finding out a carrier cable (similar to the shape of a contact line) above the hanger according to the hanger; and calculating the height difference between the carrier cable and the contact line to be the height difference of the suspension string.
Further, what parameters include gauge and superelevation, real-time automatic detection contact line geometry includes:
identifying a left rail and a right rail;
forming a steel rail surface by the left steel rail and the right steel rail;
calculating a first inner side surface coordinate and a second inner side surface coordinate at a preset distance below the rail surface of the steel rail;
calculating the lengths of the first inner side surface coordinate and the second inner side surface coordinate, and taking the lengths as the track gauge;
calculating superelevation according to the track gauge and the output angle detected by the tilt angle sensor;
wherein the output angle is an included angle between the tilt angle sensor and a horizontal plane;
here, the preset distance is 16mm below the rail surface of the steel rail, the first inner side surface coordinate is defined as P1, the second inner side surface coordinate is defined as P2, and the length of the line segment P1P2 is the gauge;
wherein, the superelevation is the track gauge multiplied by the output angle of the inclination angle sensor; the output angle is the included angle between the tilt angle sensor and the horizontal plane, namely the included angle between the vehicle body and the horizontal plane, namely the included angle between the rail surface and the horizontal plane;
the embodiment of the invention provides a dynamic detection method for contact line geometric parameters, which comprises the following steps: in the vehicle traveling process, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar; analyzing and resolving three-dimensional scene data through computer software, and identifying a contact line and a locator; automatically detecting the geometric parameters of the contact line in real time; storing the geometric parameters in a database, and comparing the geometric parameters with a set threshold; whether sound and light alarm is carried out or not is determined according to the comparison result, so that full-line general investigation is achieved through a non-contact measurement mode, the measurement range is more comprehensive, the measurement speed is higher through a dynamic measurement mode, the labor intensity of an operator is reduced, the observation and detection result is more visual, the detection result is timely stored in a database, loss is avoided, and timely alarm can be carried out.
Example two:
fig. 4 is a schematic view of a contact line geometric parameter dynamic detection apparatus according to a second embodiment of the present invention.
Referring to fig. 4, the dynamic detection device for contact line geometric parameters comprises:
the acquisition module 11 is used for acquiring three-dimensional scene data within a preset range of a track line identified by a laser radar in the vehicle traveling process;
the analysis and calculation module 12 is used for analyzing and calculating the three-dimensional scene data through computer software and identifying a contact line and a locator;
the detection module 13 is used for automatically detecting the geometric parameters of the contact line in real time;
a comparison module 14, configured to store the geometric parameters in a database, and compare the geometric parameters with a set threshold;
the alarm module 15 is used for determining whether to carry out sound-light alarm according to the comparison result;
the locator and the contact wire are automatically identified in the process of pushing equipment, the abrasion of the contact wire is automatically solved, the weight and the volume of a measuring end are small, the measuring range can be covered on the full section, the measuring speed can reach 5km/h, the original sampling measurement of the selected measuring position is improved into the whole-line general survey, the labor intensity is reduced, an operator only needs to push the equipment to finish the measuring work without squatting for a long time at the low bow waist, the detection result is observed in the process, the measuring result is recorded in a database, and the field paper record is not needed.
The embodiment of the invention provides a contact line geometric parameter dynamic detection device, which comprises: in the vehicle traveling process, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar; analyzing and resolving three-dimensional scene data through computer software, and identifying a contact line and a locator; automatically detecting the geometric parameters of the contact line in real time; storing the geometric parameters in a database, and comparing the geometric parameters with a set threshold; whether sound and light alarm is carried out or not is determined according to the comparison result, so that full-line general investigation is achieved through a non-contact measurement mode, the measurement range is more comprehensive, the measurement speed is higher through a dynamic measurement mode, the labor intensity of an operator is reduced, the observation and detection result is more visual, the detection result is timely stored in a database, loss is avoided, and timely alarm can be carried out.
Example three:
fig. 5 is another schematic view of a contact line geometric parameter dynamic detection apparatus according to a third embodiment of the present invention.
Referring to fig. 5, the contact line geometric parameter dynamic detection device comprises: the device comprises a vehicle body 21, wheels 22, a lithium battery 23, a handle 24, a computer push rod 25, a laser radar 26 and an encoder 27;
the wheels 22 comprise two large wheels at the left side of the vehicle body 21 and one large wheel at the right side of the vehicle body 21, and two small wheels are arranged below each large wheel; two large wheels on the left side of the vehicle body 21 and one large wheel on the right side of the vehicle body 21 roll on the surface of the steel rail, so that the equipment runs; the small wheel on the left side surface of the vehicle body 21 and the small wheel on the right side surface of the vehicle body 21 are both positioned below the rail surface, contact with the side surface of the steel rail and roll, and are used for positioning and preventing the detection device from derailing; the wheel structure on the right side of the vehicle body 21 is connected with the inside of the vehicle body 21 through a gas spring and can stretch left and right, so that the vehicle body 21 can stably move forward under the condition that the track gauge of the steel rail is changed.
The handle 24 is located beside the lithium battery 23, connected with the gas spring, and the handle 24 is pulled off, so that the wheels on the right side can be greatly stretched, and the vehicle body 21 can be conveniently placed on the track. After the trolley is placed on the track, the gas spring is connected, and the right wheel still has certain telescopic elasticity, so that the trolley body 21 can stably move forward under the condition that the track gauge of the steel rail changes.
The computer push rod 25 is used for placing a computer, can rotate 360 degrees in the horizontal direction, is convenient for reverse pushing, and can adjust the angle between the push rod and the vertical direction, so that people with different heights can use the computer conveniently;
the computer can be a tablet computer or a notebook computer.
The front of the vehicle body 21 is provided with a socket of a laser radar 26, a voltage display panel, a power switch and a buzzer, and the front of the vehicle body 21 can be inserted with a lithium battery 23.
An encoder 27 is mounted on the left hand wheel, wherein the encoder is used for odometry counting and for transmitting pulses to the laser radar 26.
An inclination angle sensor is arranged in the vehicle body 21 and used for measuring the height of the track.
The inside of the vehicle body 21 is also provided with a power panel, and the power panel is used for supplying power to each device of the dynamic detection device for the geometric parameters of the contact line by the lithium battery 23.
Wherein, the data of the laser radar 21 is transmitted to a computer, and the data of the tilt sensor is transmitted to the computer;
the laser radar can automatically seek a line to intelligently aim, automatically and continuously measure geometric parameters, intelligently identify positioning points and position kilometer posts of the measured parameters;
the support of the vehicle body 21 can be customized to different supports according to different models of laser radars and different contact networks.
The embodiment of the invention provides a contact line geometric parameter dynamic detection device, which comprises: in the vehicle traveling process, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar; analyzing and resolving three-dimensional scene data through computer software, and identifying a contact line and a locator; automatically detecting the geometric parameters of the contact line in real time; storing the geometric parameters in a database, and comparing the geometric parameters with a set threshold; whether sound and light alarm is carried out or not is determined according to the comparison result, so that full-line general investigation is achieved through a non-contact measurement mode, the measurement range is more comprehensive, the measurement speed is higher through a dynamic measurement mode, the labor intensity of an operator is reduced, the observation and detection result is more visual, the detection result is timely stored in a database, loss is avoided, and timely alarm can be carried out.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the contact line geometric parameter dynamic detection method provided in the foregoing embodiments are implemented.
The embodiment of the present invention further provides a computer readable medium having non-volatile program codes executable by a processor, where the computer readable medium stores a computer program, and the computer program is executed by the processor to perform the steps of the contact line geometric parameter dynamic detection method of the above embodiment.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should 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. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A dynamic detection method for contact line geometric parameters is characterized by comprising the following steps:
in the vehicle traveling process, acquiring three-dimensional scene data in a preset range of a track line by using a laser radar;
analyzing and resolving the three-dimensional scene data through computer software, and identifying a contact line and a locator;
automatically detecting the geometric parameters of the contact line in real time;
storing the geometric parameters in a database and comparing the geometric parameters with a set threshold;
and determining whether to carry out sound-light alarm or not according to the comparison result.
2. The dynamic detection method for geometric parameters of a contact line according to claim 1, wherein the resolving the three-dimensional scene data by computer software analysis, identifying the contact line and the locator, comprises:
acquiring a first preset range and a diameter of the contact line;
judging whether a data point exists in the first preset range or not;
if not, then there is no contact line within the first preset range;
if the geometric parameters exist, calculating the minimum value of the longitudinal direction of the vehicle body, wherein the minimum value of the longitudinal direction of the vehicle body is a lead-up value included by the geometric parameters;
determining a current data point according to the leading-up value, and obtaining a pull-out value included by the geometric parameter according to the current data point;
and clustering the current data points through a clustering algorithm to obtain a plurality of contact lines.
3. The method of claim 2, wherein said clustering said current data points by a clustering algorithm to obtain a plurality of said contact lines comprises repeatedly performing the following processes until each data point is traversed:
marking the current data point, selecting data points with the distance from the current data point within the diameter range from the data points which are not marked, and marking the selected data points;
and if the number of the selected data points meets a first preset number threshold, forming the current data point and the selected data points into a contact line.
4. The dynamic detection method for geometric parameters of a contact line according to claim 1, wherein the resolving the three-dimensional scene data by computer software analysis, identifying the contact line and the locator, comprises:
obtaining a second preset range above the first preset range of the contact line;
judging whether a second preset number of data points with a threshold value exist in the second preset range or not;
if not, the positioner is not in the second preset range;
if yes, forming the data points in the second preset range into a first point set;
mapping the first point set according to a preset resolution ratio to obtain an image;
obtaining the number of straight lines in the image by a Hough straight line transformation method;
the first set of points is the locator if the number and relative angle of the lines satisfy a locator feature.
5. The method for dynamically detecting geometric parameters of a contact line according to claim 1, wherein the geometric parameters include pillar side bounds, and the real-time automatic detection of the geometric parameters of the contact line comprises:
acquiring strut point cloud data obtained by scanning of a laser radar, wherein the strut point cloud is the three-dimensional scene data in a railway scene;
obtaining a strut point set according to the strut point cloud data;
obtaining a plurality of second point sets from the strut point sets;
and acquiring the minimum value of the absolute value of the abscissa from a plurality of second point sets, and taking the minimum value as the side limit of the pillar.
6. The dynamic detection method for geometric parameters of a contact line according to claim 1, wherein the geometric parameters include a difference in chord height, and the automatic detection of the geometric parameters of the contact line in real time includes:
identifying a dropper, and obtaining a carrier cable according to the dropper;
and taking the height difference between the carrier cable and the contact line as the height difference of the suspension string.
7. The dynamic detection method for geometric parameters of a contact line according to claim 1, wherein the geometric parameters include a track gauge and an ultra-high, and the automatic detection of the geometric parameters of the contact line in real time comprises:
identifying a left rail and a right rail;
forming a steel rail surface by the left steel rail and the right steel rail;
calculating a first inner side surface coordinate and a second inner side surface coordinate at a preset distance below the rail surface of the steel rail;
calculating the lengths of the first inner side surface coordinate and the second inner side surface coordinate, and taking the lengths as the track gauge;
calculating the superelevation according to the track gauge and the output angle detected by the tilt angle sensor;
wherein, the output angle is the included angle between the tilt angle sensor and the horizontal plane.
8. A dynamic contact line geometry inspection apparatus, comprising:
the acquisition module is used for acquiring three-dimensional scene data within a preset range of the track line identified by the laser radar in the vehicle traveling process;
the analysis and calculation module is used for analyzing and calculating the three-dimensional scene data through computer software and identifying a contact line and a locator;
the detection module is used for automatically detecting the geometric parameters of the contact line in real time;
the comparison module is used for storing the geometric parameters into a database and comparing the geometric parameters with a set threshold;
and the alarm module is used for determining whether to carry out sound-light alarm or not according to the comparison result.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 7.
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| CN202111357696.XA CN113900116A (en) | 2021-11-16 | 2021-11-16 | Dynamic detection method and device for geometrical parameters of contact network |
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| CN202111357696.XA CN113900116A (en) | 2021-11-16 | 2021-11-16 | Dynamic detection method and device for geometrical parameters of contact network |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114509044A (en) * | 2022-01-26 | 2022-05-17 | 成都唐源电气股份有限公司 | System and method for continuously measuring geometrical parameters of contact net |
| CN114897197A (en) * | 2022-07-14 | 2022-08-12 | 中铁电气化勘测设计研究院有限公司 | Contact net maintenance strategy adjusting method based on defect statistics and prediction |
| CN117471261A (en) * | 2023-12-28 | 2024-01-30 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
-
2021
- 2021-11-16 CN CN202111357696.XA patent/CN113900116A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114509044A (en) * | 2022-01-26 | 2022-05-17 | 成都唐源电气股份有限公司 | System and method for continuously measuring geometrical parameters of contact net |
| CN114897197A (en) * | 2022-07-14 | 2022-08-12 | 中铁电气化勘测设计研究院有限公司 | Contact net maintenance strategy adjusting method based on defect statistics and prediction |
| CN114897197B (en) * | 2022-07-14 | 2022-10-04 | 中铁电气化勘测设计研究院有限公司 | Contact net maintenance strategy adjusting method based on defect statistics and prediction |
| CN117471261A (en) * | 2023-12-28 | 2024-01-30 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
| CN117471261B (en) * | 2023-12-28 | 2024-03-29 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
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