CN113932773A

CN113932773A - Contact net suspension state detection device and longitudinal suspension and transverse suspension detection method

Info

Publication number: CN113932773A
Application number: CN202010668432.5A
Authority: CN
Inventors: 邓文; 徐阳; 林华巍; 张海宁; 龚俊杰; 林华杰; 李晓熹; 邓彧
Original assignee: Beijing G Linkwell Technology Co ltd
Current assignee: Beijing G Linkwell Technology Co ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2022-01-14
Anticipated expiration: 2040-07-13
Also published as: CN113932773B

Abstract

A device for detecting the suspension state of a contact network comprises an automatic travelling wheel mechanism, a control device, a mechanical arm, a device for detecting the longitudinal suspension of the contact network and a device for photographing the longitudinal suspension of the contact network, wherein the device for detecting the transverse suspension of the contact network is arranged on a camera bracket; a transverse suspension detection method of a contact net suspension state detection device comprises the following steps: the detection method comprises the steps that a contact net longitudinal suspension detection device and a contact net longitudinal suspension photographing device adopt a two-stage detection method to identify and photograph a contact net longitudinal suspension target object; a longitudinal suspension detection method of a contact net suspension state detection device is characterized in that a contact net transverse suspension detection device and a contact net transverse suspension photographing device realize identification and photographing of transverse suspension of a contact net by adopting a method of combining a double-laser judgment method and a diameter judgment method; the invention solves the problems that in the prior art, the contact net inspection is low in efficiency due to too many waste pieces or serious omission exists in inspection.

Description

Contact net suspension state detection device and longitudinal suspension and transverse suspension detection method

Technical Field

The invention belongs to the technical field of electrified railways, and particularly relates to a device for detecting suspension states of a contact network, and a method for detecting longitudinal suspension and transverse suspension of the contact network.

Background

In today's electrified railroad applications, the power source of the train is no longer fuel but is a high voltage power supply system. The high-voltage power supply mode is that a contact line above a track is in contact with a pantograph arranged on the roof of a train so as to supply power to the train, and the pantograph is a one-meter-wide bow-shaped metal and is transversely arranged on the roof of the train and in crossed contact with the contact line arranged above the track along the longitudinal direction of the track so as to supply power to the train.

In order to ensure that the contact wire can be contacted with the pantograph on the roof of the train, strict requirements are provided for the steepness, height and stretching degree of the contact wire, wherein the steepness is the degree of sagging and bending of the contact wire, and if the sagging and bending degree exceeds a certain degree, the pressure between the contact wire and the pantograph is too large, and the pantograph is easy to strike sparks; the height is that the height of the contact line is matched with the pantograph on the roof of the train, and the contact line cannot be contacted by the pantograph when the height is too high or too low, so that the train cannot be powered off due to the fact that the train cannot be conducted; the stretching degree is the degree of deviation of the contact line from the central line of the track, and generally the stretching degree is required to be not more than-45 cm to +45 cm, because the width of the pantograph is only 1 m, if the stretching degree exceeds the power receiving range of-45 cm to +45 cm, the train can have power failure, even serious accidents such as pantograph hitting and pantograph scraping can occur.

In order to solve the problems of gradient, height and stretching degree, the railway electrification engineering adopts a contact network as a main framework, and the contact network is a special power transmission line which is erected along a railway line and supplies power to an electric locomotive. The contact net is divided into a transverse suspension and a longitudinal suspension. The contact net is transversely suspended and distributed along the transverse direction of the rail, and a plurality of criss-cross auxiliary lines for assisting the fixation of the contact net are arranged around the contact net; the contact net is longitudinally suspended along the extending direction of the rail and is arranged at the position which is not more than minus 45 cm to plus 45 cm on the left and right of the central line of the rail, and the longitudinal suspension is a hanger which is connected with a carrier cable and a contact line up and down; the contact net also comprises a positioner, and the positioner is respectively connected with the contact net transverse suspension and the contact line and respectively connected with the contact net longitudinal suspension and the contact line, so that the positioning of different dimensions of the contact line space is realized. The method specifically comprises the following steps: one of the positioners: the positioner is respectively connected with a transverse suspension of a contact net and a contact line which are crossed at 90 degrees (two ends are connected by a screw), thereby realizing the positioning protection of the height and the stretching degree of the contact line; the second positioner: the dropper is arranged between the carrier cable and the contact line, the upper end of the dropper is connected with the carrier cable, and the lower end of the dropper is connected with the contact line, so that the contact line is prevented from sagging, and the positioning protection of the steepness of the contact line is realized.

Based on the importance of the contact net positioner, the contact net positioner needs to be regularly patrolled and examined. The inspection modes include inspection of a contact net transversely suspended and inspection of a contact net longitudinally suspended.

To the detection of the horizontal suspension of the contact net, the automatic inspection mode of the inspection vehicle in the prior art is as follows: the front end and the rear end of the inspection vehicle are respectively provided with 1 laser and 1 matched camera (the front and the rear laser are arranged for respectively inspecting the front side and the rear side of the transverse suspension of the contact net). The method has the defects that the detection mode does not distinguish the target object, and the detection device can detect the target object by taking one picture, so that a plurality of waste films are caused, and great inconvenience is caused to subsequent maintenance personnel. The reason is that only 1 laser head is adopted and the diameter and the thickness of the target object are not measured, 1 laser can only find the target object and can not detect whether the target object is transversely arranged or obliquely arranged or longitudinally arranged, in practical engineering, the transverse suspension of the contact net is not transversely arranged, and the transverse suspension of the contact net is formed by the auxiliary ropes which are staggered and complicated around, in the cross complex overhead line system transverse suspension, only transversely distributed suspension is a detection target, comprising a target soft span, a target hard span and a supporting device, because only the three targets are related to the positioner, one end of the positioner is respectively connected with the target soft cross, the target hard cross and the supporting device, and the other end of the positioner is connected with the contact wire, the inspection of the inspection vehicle aims to detect whether the screws at the joints of the positioner, the target soft cross, the target hard cross, the supporting device and the contact wire are loosened. The prior art cannot effectively identify target soft crossing, target hard crossing and supporting devices from complex lines and selectively take pictures, so that the waste is too much.

To the detection of the vertical suspension of the contact net, the automatic inspection mode of the inspection vehicle in the prior art is as follows: the method is only limited to simply detecting the height and the stretching degree of the contact line, but no effective detection method exists for the state of a dropper between a carrier cable and the contact line for preventing the contact line from sagging (whether the knot of the dropper is loosened), the dropper is indispensable and not neglectable to be used as one of contact line locators, and if the contact line geometric parameters are simply measured and the reason for changing the geometric parameters is not checked, the method is palliative and not permanent.

In summary, the prior art has the following problems in routing inspection of contact networks: or too many wasted photographs are inefficient or have significant omissions.

Disclosure of Invention

The invention provides a device for detecting the suspension state of a contact net and a method for detecting longitudinal suspension and transverse suspension, aiming at solving the problems that in the prior art, the contact net inspection is low in efficiency due to too many waste sheets or serious omission exists in inspection.

The invention provides the following technical scheme for solving the technical problems:

a contact net suspension state detection device comprises an automatic travelling wheel mechanism erected on a rail, a control device arranged on the upper surface of the automatic travelling wheel mechanism, mechanical arms which are fixedly arranged on two sides of the automatic travelling wheel mechanism and symmetrically arranged along a central line of the rail and extend upwards in a zigzag shape, contact net longitudinal suspension detection devices and contact net longitudinal suspension photographing devices, wherein the contact net longitudinal suspension detection devices and the contact net longitudinal suspension photographing devices are respectively fixedly arranged at the top ends of the two mechanical arms, the contact net transverse suspension photographing devices 5-4-2 are respectively arranged on a contact net transverse suspension camera support close to the lower parts of the top ends of the two mechanical arms, and the camera support is arranged on the upper surface of the control device and located between the mechanical arms on the two sides; the control device comprises an industrial personal computer and a control panel, the industrial personal computer is upwards connected with the mobile terminal through a wireless network and receives a man-machine interaction instruction of the mobile terminal, and downwards connected with the control panel through a wire and sends an instruction to the control panel, and the control panel receives the instruction of the industrial personal computer and controls the contact network longitudinal and transverse detection device, the contact network longitudinal and transverse photographing device and the automatic travelling wheel mechanism;

the method is characterized in that: the industrial personal computer comprises an industrial personal computer processing unit, wherein the industrial personal computer processing unit comprises a primary detection control module, a secondary detection control module, a double-laser judgment module, a target diameter judgment module and a central processing module; the central processing module is used for controlling the starting of the primary detection control module, the secondary detection control module, the double-laser judging module and the target diameter judging module and receiving the data fed back by the primary detection control module, the secondary detection control module, the double-laser judging module and the target diameter judging module; the first-stage detection control module, the second-stage detection control module, the double-laser judgment module and the target diameter judgment module are used for receiving instructions of the central processing module, sending corresponding instructions to the control panel, and receiving data fed back by the contact network transverse suspension detection device, the contact network transverse suspension photographing device, the contact network longitudinal suspension detection device and the contact network longitudinal suspension photographing device; the contact net longitudinal suspension detection device and the contact net longitudinal suspension photographing device adopt a two-stage detection method to identify and photograph a contact net longitudinal suspension target object under the instruction of an industrial personal computer; the contact net transverse suspension detection device and the contact net transverse suspension photographing device realize identification and photographing of the contact net transverse suspension by adopting a method of combining a double-laser judgment method and a diameter judgment method under the instruction of an industrial personal computer.

The contact net is longitudinally suspended and arranged along the extending direction of the rail and is positioned in a vertical plane which is-45 cm to +45 cm above the central line of the rail top; the contact net is transversely suspended and distributed along the transverse direction of the rail; the overhead line system transverse suspension comprises a supporting device arranged above the rails along one side of the rails, a target hard span and a target soft span spanning a plurality of rails; the supporting device is a cross bar extending from an inclined rod of the supporting device; the target hard span is a cross bar extending out of an inclined bar of a hanging post seat in the hard span; the target soft crossing is an upper fixed rope and a lower fixed rope which are arranged in a plurality of soft crossings arranged at the height of a plurality of meters above the track in a crisscross mode along the horizontal direction; the contact net longitudinal suspension is a contact net longitudinal suspension target between a contact line and a catenary.

The contact net longitudinal suspension detection device is divided into a front part and a rear part which are arranged at the top ends of respective mechanical arms: the first-stage detection device is arranged relatively to the back along the extending direction of the track, and the second-stage detection device is arranged relatively to the front along the extending direction of the track; the first-stage detection device detects the heights of the catenary above a track center line from-45 cm to +45 cm and the contact line below the track center line, and then takes the midpoint position of the height difference as the height position of a target object longitudinally suspended by the contact line; the second-level detection device is used for further searching the position of the overhead line system longitudinal suspension target object in the extending direction of the rail according to the obtained height position of the overhead line system longitudinal suspension target object, and finally obtaining the specific position of the overhead line system longitudinal suspension target object above the rail.

The first-stage detection device is provided with a first-stage detection laser and a first-stage detection rotating tripod head, the first-stage detection rotating tripod head receives instructions of the control panel and drives the first-stage detection laser to rotate along the transverse section direction of the catenary cable and the contact line, so that height data of the catenary cable and the contact line are obtained and fed back to the industrial personal computer, and the first-stage search is completed; the secondary detection device is provided with a secondary detection laser and a secondary detection rotating holder, the secondary detection rotating holder receives an instruction of the control board to drive the secondary detection laser to rotate to a specific fixed angle, the angle corresponds to the height of a contact line between a contact line and a catenary cable for hanging a target object, the patrol car drives the laser to form a laser scanning plane between the contact line and the catenary cable along the extending direction of a track along with continuous advancing of the patrol car, and finally the contact line on the plane is found for hanging the target object and triggering a laser signal along with continuous extending of the scanning plane, so that secondary searching is completed; the contact net longitudinal suspension photographing device is used for symmetrically photographing left and right sides of a contact net longitudinal suspension target object, and comprises respective contact net longitudinal suspension cameras and respective contact net longitudinal suspension rotating holders, wherein the contact net longitudinal suspension rotating holders receive instructions of a control board and drive the respective cameras to photograph left and right sides of the contact net longitudinal suspension target object.

The primary detection laser and the primary detection rotating tripod head, the secondary detection laser and the secondary detection rotating tripod head at the top ends of the two mechanical arms and the contact net longitudinal suspension photographing device at the top ends of the two mechanical arms are inclined towards the central line of the track in a splayed manner, so that the scanning and photographing are conveniently carried out from the left side and the right side of a target object longitudinally suspended by the contact net; the inclination angle of the secondary detection laser is a synthetic angle which inclines forwards along the extending direction of the track and inclines leftwards or rightwards along the center direction of the track; the forward-inclined angle is an angle which enables a contact net longitudinal suspension camera behind the contact net longitudinal suspension camera to obtain a buffering time without missing shooting, and meanwhile, the front and the back of the contact net longitudinal suspension camera are separated by a certain distance in combination with the primary detection laser, and the distance and the forward-inclined angle of the primary detection laser jointly act to enable the camera not to miss shooting.

The device comprises a contact net transverse suspension detection device, a double-laser judgment method and a flexible span device, wherein one side of each contact net transverse suspension detection device is distributed below the top ends of two mechanical arms in a group, each group of suspension detection device comprises a contact net transverse suspension detection rotating holder and contact net transverse suspension detection lasers, when the device works, the two groups of lasers rotate and scan along the transverse section direction of the contact net transverse suspension, the double-laser judgment method is that the two groups of lasers are emitted at equal heights and at the same time, and the flexible span device is arranged in the horizontal direction in the criss-cross contact net transverse suspension by judging whether the two groups of lasers obtain trigger signals at the same time; the diameter judging method comprises the following steps: the method comprises the steps that two groups of lasers are rotated and scanned along the transverse section direction of the transverse suspension of the overhead line system, multiple groups of laser trigger signals related to the diameter of the transverse suspension of the overhead line system are obtained, the multiple groups of laser trigger signals are fed back to an industrial personal computer, and the industrial personal computer judges the diameter of a target object according to the number of the multiple groups of laser trigger signals.

The overhead line system transverse suspension photographing device comprises 1 overhead line system transverse suspension camera and 2 overhead line system transverse suspension rotating holders, wherein one of the 2 overhead line system transverse suspension rotating holders is arranged on the side surface of the camera, the axial direction of the holder is vertical to the direction of a camera lens, and the camera is driven to perform forward-leaning or backward-leaning angle transformation; the other is arranged below the camera, and the axial direction of the holder is parallel to the direction of the camera lens to drive the camera to perform 180-degree angle transformation in the left and right directions; the camera is driven by the camera side holder to change the forward or backward inclination angle, so that the contact net transverse suspension photographing device can photograph the front side and the rear side of the contact net transverse suspension.

The two mechanical arms which are symmetrically arranged along the central line of the track and extend upwards in a broken line shape tilt towards the outer side of the track at an angle respectively, and the distance between the two mechanical arms and the central line of the track is 1.5 m respectively.

A transverse suspension detection method of a contact net suspension state detection device is characterized in that: the method comprises the following steps:

the method comprises the following steps that firstly, the inspection vehicle is started to complete initialization and enters an inspection state;

secondly, the double-laser judgment module of the industrial personal computer sends a command to the control panel, and the control panel simultaneously sends a command to the two contact net transverse suspension detection rotating holders;

step three, the two overhead line system transverse suspension detection rotating holders drive respective lasers to have equal height along the cross section direction of the overhead line system transverse suspension cross section above the rail and simultaneously carry out rotary scanning;

step four, whether the laser is triggered to the signal? If not, returning to the third step;

feeding scanning data back to the double-laser judgment module of the industrial personal computer by the laser;

sixthly, calculating the diameter of the transverse suspension of the overhead line system by the target object diameter judgment module of the industrial personal computer according to the laser feedback data and feeding back the diameter to the central processing module;

seventhly, judging whether 1 or 2 beams of laser are received at the same time by the double-laser judgment module of the industrial personal computer, and feeding back a judgment result to the central processing module;

step eight, if 2 beams of laser with the diameter equal to 1.2 cm are received at the same time or 1 beam of laser with the diameter equal to 2.5 cm is received at the same time, the central processing module of the industrial personal computer sends the judgment result to the control panel, otherwise, the step three is returned;

step nine, the control panel controls a driving motor of the inspection vehicle to pause, stops the inspection vehicle and sends a command to a detection camera transversely suspended on a contact net;

step ten, the camera takes a picture of the current or support device, or the target soft crossing, or the target hard crossing.

A longitudinal suspension detection method of a contact net suspension state detection device is characterized in that: the method comprises the following steps:

secondly, a primary detection control module of the industrial personal computer sends a command to a control panel, and the control panel simultaneously sends a command to a primary detection rotating holder longitudinally suspended by two contact networks;

thirdly, the contact net is longitudinally suspended with a primary detection holder to drive primary detection laser to rotate and scan along the transverse section direction of a bearing lock above the contact net longitudinally suspended and a contact line below the contact net longitudinally suspended;

feeding scanning data back to a first-stage detection control module of the industrial personal computer by using laser;

sixthly, the primary detection control module of the industrial personal computer respectively calculates the heights of a bearing lock above the contact net longitudinal suspension and a contact line below the contact net longitudinal suspension and feeds the heights back to the central processing unit;

step seven, a central processing unit of the industrial personal computer further calculates the height of the contact net longitudinal suspension target object according to the bearing lock and the height of the contact line, and calculates the specific angle of the contact net longitudinal suspension camera according to the height; the contact net longitudinal suspension target is positioned in a vertical plane between the bearing lock and the contact line;

step eight, the central processing unit of the industrial personal computer sends a control panel to a specific angle of a contact net longitudinally suspended camera, and the secondary detection control module of the industrial personal computer sends a command to the control panel;

step nine, the control panel simultaneously sends commands to two second-stage detection holders longitudinally suspended on the contact net,

step ten, driving the contact net longitudinal suspension secondary detection laser to rotate to a specific fixed angle by the contact net longitudinal suspension secondary detection holder, wherein the angle corresponds to the height of a contact net longitudinal suspension target object between the bearing lock and the contact line;

step eleven, the inspection vehicle moves forward, and the inspection vehicle drives the laser to form a laser scanning plane along the extension direction of the track, and the scanning plane continuously extends;

step twelve, whether the laser is triggered to signal? If not, returning to the step eleven;

thirteen, longitudinally suspending a secondary detection laser of the contact network to send a signal to a secondary detection control module of the industrial personal computer;

fourteen, the central processing unit of the industrial personal computer sends signals to the control panel;

fifteen, the control panel sends a command to a detection camera longitudinally suspended on the overhead line system;

sixthly, photographing a current contact net longitudinally suspended target by a camera.

Advantageous effects of the invention

1. The invention judges whether the target object is transversely arranged or not by adopting a method of double laser heads, having equal height and simultaneously triggering the target object, judges the diameter of the target object by adopting a method of rotating and scanning the laser along the cross section of the target object, combines the two methods and mutually supports and depends on each other, solves the problem of effectively identifying the target soft crossing, the hard crossing and the supporting device from the transverse suspension of a contact net which is complicated in a staggered way, realizes the unique photographing of each type of target object, thereby avoiding a large amount of useless non-target objects, determining the maintenance place for subsequent maintenance personnel according to the photos in the early period, saving the precious time and accelerating the maintenance period of the electrified railway.

2. According to the method, the vertical position of the target object is identified by adopting a first-stage identification method for longitudinal suspension of the overhead line system, the longitudinal position of the target object is identified by adopting a second-stage identification method, the inspection vehicle is skillfully used for driving the laser head to move forward, the fixed angle of the laser head is unchanged, so that a laser scanning plane in the extending direction of the track is formed, the vertical position and the longitudinal position of the target object longitudinally suspended by the overhead line system are finally found through continuous extension of the laser scanning plane, the technical problem which is difficult to solve for a long time in the field is solved, and an unexpected effect is obtained.

Drawings

FIG. 1 is a schematic diagram of a patrol car of the present invention;

FIG. 2 is an enlarged view A of FIG. 1;

FIG. 3 is an enlarged view of C of FIG. 2;

FIG. 4 is an enlarged view B of FIG. 1;

FIG. 5a is a side view A (left side) of FIG. 1;

FIG. 5b is a side view A (right side) of FIG. 1;

FIG. 6 is an enlarged view D of FIG. 5;

FIG. 7 is a flow chart of a method for detecting longitudinal suspension of a catenary;

FIG. 8 is a flow chart of a method for detecting the lateral suspension of a catenary;

FIG. 9 is a schematic view of a processing unit of an industrial personal computer according to the present invention;

in the figure: 1: an automatic wheel-moving mechanism; 2: a control device; 3-1, 3-2: a mechanical arm; 4-1, 4-2: a contact net longitudinal suspension detection device; 4-1-2,4-2-2: a primary detection device; 4-1-1,4-2-1: a secondary detection device; 4-1-3,4-2-3: longitudinally suspending a camera on a contact net; 5-1, 5-2: a catenary transverse suspension detection device; 5-3-1, 5-3-2: a camera holder is transversely suspended on the overhead line system; 5-4-2: transversely suspending a camera on a contact net; 5-4-1: a camera support.

Detailed Description

Design principle of the invention

1. Method for identifying transversely suspended target of contact net

The overhead line system transverse suspension comprises a supporting device, a soft span and a hard span, and the three facilities are all designed by positioning the overhead line: the supporting device is simple and flexible to install, most of the road sections are the supporting device, and the small road sections are provided with soft spans or hard spans according to requirements. The supporting device is arranged on one side of the track at one side and consists of a supporting device upright post and a zigzag supporting rod above the upright post. One end of the locator is connected with a cross rod extending out of an inclined rod on the supporting device, the other end of the locator is connected with the contact wire, and the height or the stretching degree of the contact wire is adjusted by adjusting the height of the locator on the inclined rod (specifically, the height of the locator is adjusted by adjusting the height of the extending cross rod on the inclined rod). The flexible span consists of upright columns crossing two sides of a plurality of rails, upper fixing ropes and lower fixing ropes in the middle of the upright columns, carrier cables and straight hanging strings for assisting in supporting the upper fixing ropes and the lower fixing ropes; similarly, the hard span also comprises upright posts crossing both sides of a plurality of rails, an upper hard cross beam in the middle of the upright posts, a lower hard cross beam and a hanging post seat, wherein the hanging post seat is equivalent to the supporting device, and the difference is that the upright posts of the hanging post seat are not hung on the ground but are vertically hung from the lower hard cross beam of the hard span;

the invention discloses a recognition support device, a target soft crossing method and a target hard crossing method, which comprise the following steps: the judgment method of the support device comprises the following steps: because the supporting device is arranged at one side of the track, only one laser beam in the two laser beams can trigger a target object signal, if only a feedback signal of one laser beam is received and the diameter of the target object is also 2.5 cm, the target can be judged as the supporting device (the diameter of a transverse rod extending out of an inclined rod of the supporting device is 2.5 cm); the method for judging the target soft crossing comprises the following steps: since the diameter of the target soft cross is 1.2 cm and the diameter of the target hard cross is 2.5 cm (the diameter of the cross bar extending from the suspension pole diagonal bar is 2.5 cm), if the laser triggers two target signals simultaneously and the diameter of the target is 1.2 cm, it can be determined that the current target is the target soft cross. If the laser triggers two target signals simultaneously and the target diameter is 2.5 cm, it can be determined that the current target is a target hard cross. The method for judging the diameter of the target object comprises the following steps: because the laser rotates along the cross section direction of the target object, the laser collects the signals of each point on the diameter of the target object and feeds the signals back to the industrial personal computer, and the industrial personal computer can judge the diameter of the target object according to the quantity and quantity of the signals with the same energy because the energy of the same substance is the same.

2. Method for identifying longitudinal suspension target of contact net

The contact net is longitudinally suspended on a vertical plane near the central line of the track above the track, a contact line is arranged below the contact net, a carrier cable is arranged above the contact net, and a target object for connecting the contact line and the carrier cable is arranged in the middle of the contact net (the contact line is wholly referred to as a contact line longitudinally suspended target object); the target object is relatively complex in structure and is divided into an upper section and a lower section, one end of each end is connected with a contact line or a carrier cable, the other ends of the ends are mutually connected through respective lock catches, and if any one of the 2 lock catches in the middle of the target object is loosened or broken, the sag positioning of the lock catch on the contact line can be influenced.

The difficulty and the solution for identifying the contact line longitudinal suspension target are as follows:

the first point is as follows: the height of the dropper dynamically varies with the height of the carrier wire, the line of contact. The heights of the catenary and the contact line are not fixed on a long railway line, the heights of the catenary and the contact line are allowed to have a variation range of 1.6 meters on the railway line of dozens of kilometers or even hundreds of kilometers, and thus, the height of a dropper in the middle of the catenary and the contact line also dynamically varies along with the heights of the catenary and the contact line, a fixed height cannot be used as the height of the dropper, and dynamic calculation is required.

And a second point: because the dropper is longitudinally arranged along the central line of the track, the laser and the camera are required to scan or shoot from the left and right directions of the dropper instead of the front and back directions, so that the laser and the camera must be arranged from side to front and back, and the difficulty lies in that the camera cannot be missed to shoot if the front and back are arranged. If the overhead line system is transversely suspended, the transverse suspension is in contact with the laser and the camera to form a long transverse line, the problem of missed shooting cannot be caused even if the shooting of the camera is delayed from laser scanning to the shooting of the camera, the dropper is a vertical line and is in contact with the camera to form a point, the shooting time of the camera must be accurate, and otherwise, the problem of missed shooting can be caused.

The solution of the present invention is shown in fig. 2 and 5, fig. 5 is a left half portion of fig. 2,

first, 4-1-1 is in front of and 4-1-2 is in back of; 4-1-1 is responsible for adjusting the angle, and 4-1-2 is responsible for scanning the height of the carrier cable and the contact line.

The second, 4-1-1, 4-1-2, 4-1-3 are all inclined to the left, i.e. to the track centre line, and after combination with the right half of fig. 2, 4-1-1 and 4-2-1, 4-2-1 and 4-2-2, 4-1-3 and 4-2-3 are respectively inclined in a figure of eight.

The third, 4-1-1 laser tilt angle is a composite angle, both to the left and to the front, the 4-1-1 forward tilt angle being adjusted manually, the forward tilt angle being aimed at scanning ahead of the object, leaving the camera with a time to take a picture, the time difference being determined by the distance between 4-1-1 and camera 4-1-3, and the 4-1-1 forward tilt angle.

Fourthly, the action sequence of each part is as follows: the method comprises the following steps of a first step, 4-1-2 laser scanning height, and a second step: 4-1-1, receiving an instruction, adjusting to a fixed angle inclined to the left, and taking a picture of the target object by the camera in the third step, wherein the target object is a target object longitudinally suspended on the overhead line system, namely a dropper.

Based on the invention principle, the invention designs a device for detecting the suspension state of a contact network.

A contact net suspension state detection device comprises an automatic travelling wheel mechanism 1 erected on a rail, a control device 2 arranged on the upper surface of the automatic travelling wheel mechanism 1, mechanical arms (3-1; 3-2) which are fixedly arranged on two sides of the automatic travelling wheel mechanism 1 and symmetrically arranged along a central line of the rail and extend upwards in a zigzag manner, contact net longitudinal suspension detection devices (4-1, 4-2) and contact net longitudinal suspension photographing devices (4-1; 4-2) which are respectively fixedly arranged at the top ends of the two mechanical arms, contact net transverse suspension detection devices (5-1; 5-2) and contact net transverse suspension photographing devices (5-4-2) which are arranged below the top ends of the two mechanical arms respectively are arranged on contact net transverse suspension camera supports 5-4-1, and the camera supports 5-4-1 are arranged on the upper surface of the control device 2, And is positioned between the mechanical arms (3-1; 3-2) at the two sides; the control device 2 comprises an industrial personal computer and a control panel, the industrial personal computer is upwards connected with the mobile terminal through a wireless network and receives a man-machine interaction instruction of the mobile terminal, and downwards connected with the control panel through a wire and sends an instruction to the control panel, and the control panel receives the instruction of the industrial personal computer and controls the contact network longitudinal and transverse detection device, the contact network longitudinal and transverse photographing device and the automatic travelling wheel mechanism;

as shown in fig. 9, the industrial personal computer includes an industrial personal computer processing unit, which includes a primary detection control module, a secondary detection control module, a dual laser determination module, a target diameter determination module, and a central processing module; the central processing module is used for controlling the starting of the primary detection control module, the secondary detection control module, the double-laser judging module and the target diameter judging module and receiving the data fed back by the primary detection control module, the secondary detection control module, the double-laser judging module and the target diameter judging module; the primary detection control module, the secondary detection control module, the double-laser judgment module and the target diameter judgment module are used for receiving an instruction of the central processing module, sending a corresponding instruction to the control board, and receiving data fed back by the contact net transverse suspension detection device (5-1; 5-2), the contact net transverse suspension photographing device 5-4-2, the contact net longitudinal suspension detection device and the contact net longitudinal suspension photographing device; the contact net longitudinal suspension detection device and the contact net longitudinal suspension photographing device adopt a two-stage detection method to identify and photograph a contact net longitudinal suspension target object under the instruction of an industrial personal computer; the contact net transverse suspension detection device (5-1; 5-2) and the contact net transverse suspension photographing device 5-4-2 realize identification and photographing of the contact net transverse suspension by adopting a method of combining a double-laser judgment method and a diameter judgment method under the instruction of an industrial personal computer.

Supplementary explanation:

the distance between the center line of the top of the rail and the center line of the top of the rail is-45 cm to +45 cm.

As shown in fig. 5, the catenary longitudinal suspension detection device is divided into a front part and a rear part, which are arranged at the top ends of the respective mechanical arms: the first-stage detection device 4-1-2 is arranged relatively to the back along the extending direction of the track, and the second-stage detection device 4-1-1 is arranged relatively to the front along the extending direction of the track; the first-level detection device 4-1-2 detects the heights of the catenary above a track center line from-45 cm to +45 cm and the contact line below the track center line, and then takes the midpoint position of the two height differences as the height position of a contact net longitudinal suspension target; the secondary detection device 4-1-1 further searches the position of the object in the extending direction of the rail according to the obtained height position of the object longitudinally suspended by the overhead line system, and finally obtains the specific position of the object longitudinally suspended by the overhead line system above the rail.

The first-stage detection device 4-1-2 is provided with a first-stage detection laser and a first-stage detection rotating tripod head, the first-stage detection rotating tripod head receives an instruction of the control panel and drives the first-stage detection laser to rotate along the cross section direction of the catenary cable and the contact line, so that height data of the catenary cable and the contact line are obtained and fed back to the industrial personal computer, and the first-stage search is completed; the secondary detection device 4-1-1 is provided with a secondary detection laser and a secondary detection rotating holder, the secondary detection rotating holder receives an instruction of the control board to drive the secondary detection laser to rotate to a specific fixed angle, the angle corresponds to the height of a contact net suspension target object between a contact line and a catenary cable, the patrol car drives the laser to form a laser scanning plane between the contact line and the catenary cable along the extension direction of a track along with continuous advance of the patrol car, and the contact net suspension target object on the contact line plane is finally found and a laser signal is triggered along with continuous extension of the scanning plane, so that secondary search is completed;

as shown in fig. 2, the contact network longitudinal suspension photographing device is used for symmetrically photographing left and right sides of a contact network longitudinal suspension target object, and comprises respective contact network longitudinal suspension cameras (4-1-3, 4-2-3) and respective contact network longitudinal suspension rotating holders, wherein the contact network longitudinal suspension rotating holders receive instructions of a control board and drive the respective cameras to photograph left and right sides of the contact network longitudinal suspension target object.

As shown in fig. 2, the first-stage detection laser and the first-stage detection rotating pan-tilt (4-1-2, 4-2-2), the second-stage detection laser and the second-stage detection rotating pan-tilt (4-1-1, 4-2-1), and the contact net longitudinal suspension photographing devices (4-1-3, 4-2-3) at the top ends of the two mechanical arms are inclined towards the central line of the track in a splayed manner, so that the scanning and photographing are conveniently carried out from the left side and the right side of the contact net longitudinal suspension target object; the inclination angle of the secondary detection laser is a synthetic angle which inclines forwards along the extending direction of the track and inclines leftwards or rightwards along the center direction of the track; the forward inclination angle is such that the contact net longitudinal suspension camera (4-1-3, 4-2-3) behind it gets a buffer time without missing shooting, and the forward and backward distance of the contact net longitudinal suspension camera in combination with the secondary detection laser is a certain distance which cooperates with the forward inclination angle of the primary detection laser so that the camera does not miss shooting.

As shown in fig. 1, one side of each contact net transverse suspension detection device (5-1; 5-2) is arranged below the top ends of two mechanical arms in a group, each group of suspension detection device comprises a contact net transverse suspension detection rotating holder and contact net transverse suspension detection lasers, when the device works, two groups of lasers rotate and scan along the transverse section direction of the contact net transverse suspension, the double laser judgment method is that the two groups of lasers are transmitted at the same height and at the same time, and soft spans arranged along the horizontal direction in the criss-cross contact net transverse suspension are identified through whether the two groups of lasers obtain trigger signals at the same time; the diameter judging method comprises the following steps: the method comprises the steps that two groups of lasers are rotated and scanned along the transverse section direction of the transverse suspension of the overhead line system, multiple groups of laser trigger signals related to the diameter of the transverse suspension of the overhead line system are obtained, the multiple groups of laser trigger signals are fed back to an industrial personal computer, and the industrial personal computer judges the diameter of a target object according to the number of the multiple groups of laser trigger signals.

As shown in fig. 1 and 4, the overhead line system transverse suspension photographing device 5-4-2 comprises 1 overhead line system transverse suspension camera 5-4-2 and 2 overhead line system transverse suspension rotating pan heads (5-3-1; 5-3-2), wherein one of the 2 overhead line system transverse suspension rotating pan heads 5-3-1 is installed on the side surface of the camera, the axial direction of the pan head is vertical to the direction of a camera lens, and the camera is driven to change the forward inclination angle or the backward inclination angle; the other 5-3-2 is arranged below the camera, and the axial direction of the holder is parallel to the direction of the camera lens to drive the camera to perform 180-degree angle transformation in the left and right directions; the camera is driven to change the forward or backward inclination angle by the camera side holder 5-3-1, so that the contact net transverse suspension photographing device 5-4-2 realizes photographing of the front and rear side surfaces of the contact net transverse suspension.

Supplementary explanation:

1. when the contact net transversely hangs the camera to photograph the target object (the target object is the upper fixing rope and the lower fixing rope in the contact net transversely hanging), the photographing range is the range from-3.5 meters to +3.5 meters of the central line of the track, the 7-meter range needs to be photographed for four times from one side to the other side, and the camera is adjusted to an angle every time in the four-time photographing. Specifically, the control panel controls the touch screen to transversely hang the rotating holder 5-3-2, and then the touch screen transversely hangs the rotating holder 5-3-2 to control the camera to adjust the angle along the horizontal plane, so that a target object within the range of 7 meters can be completely shot.

2. Because the target is soft across and spans a plurality of tracks, the inspection vehicle needs to inspect the plurality of tracks in batches, but needs to inspect the tracks in idle time periods, and the rails in idle time periods are generally inspected according to the regulations of railway departments.

supplementary explanation:

the inspection vehicle is assembled on site manually and then placed on the designated track, the designated track is an idle track, the idle track is about 4 hours of idle time of the track, the inspection vehicle finishes inspection within the time range, and the 4-hour inspection vehicle can detect the road length of about 12 kilometers.

The initialization is that the patrol car receives an instruction of a tablet personal computer or other mobile terminals, and the instruction is realized through a human-computer interaction interface of the mobile terminal. And the manager inputs the inspection starting time and the inspection ending time on the man-machine interaction interface and presses the start button, so that the initialization work of the inspection vehicle is completed.

supplementary explanation:

the detection with 2 laser beams is only used for judging the target soft crossing, the target hard crossing is actually detected by a cross rod extending from an inclined rod below a suspension pole, the diameter of the cross rod is 2.5 cm, and the supporting device is used for actually measuring the diameter of the cross rod extending from the inclined rod, the diameter of the cross rod is 2.5 cm, so that if 1 laser beam is received at the same time, the target hard crossing or the supporting device can be judged.

Supplementary explanation:

when the inspection vehicle carries out the current catenary transverse suspension detection (supporting device, target soft crossing and target hard crossing), the detection is carried out according to the front side and the rear side of the rail extension direction, and when one side is detected, the other side is detected. When the inspection vehicle detects the other surface of each contact net transversely suspended, the inspection vehicle continues to move forwards to a distance from one end and then stops, the forward movement direction of the inspection vehicle is unchanged, and only the angle of the camera is adjusted. For example: if the inspection vehicle measures the other side of the current target soft crossing, at the moment, the angles of the two laser cloud platforms of the overhead line system transverse suspension detection devices (5-1 and 5-2) are unchanged, and only the angle of the overhead line system transverse suspension camera cloud platform 5-3-1 is adjusted in the opposite direction relative to the previous angle, so that the camera 5-4-2 is changed from forward inclination to backward inclination.

supplementary explanation:

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. A detection device for suspension state of a contact net comprises an automatic travelling wheel mechanism erected on a rail, a control device arranged on the upper surface of the automatic travelling wheel mechanism, mechanical arms which are fixedly arranged on two sides of the automatic travelling wheel mechanism and symmetrically arranged along a central line of the rail and extend upwards in a zigzag shape, a contact net longitudinal suspension detection device and a contact net longitudinal suspension photographing device, wherein the contact net longitudinal suspension detection device and the contact net longitudinal suspension photographing device are respectively fixedly arranged at the top ends of the two mechanical arms; the control device comprises an industrial personal computer and a control panel, the industrial personal computer is upwards connected with the mobile terminal through a wireless network and receives a man-machine interaction instruction of the mobile terminal, and downwards connected with the control panel through a wire and sends an instruction to the control panel, and the control panel receives the instruction of the industrial personal computer and controls the contact network longitudinal and transverse detection device, the contact network longitudinal and transverse photographing device and the automatic travelling wheel mechanism;

2. The overhead line system suspension state detection device of claim 1, wherein:

3. The overhead line system suspension state detection device of claim 1, wherein: the contact net longitudinal suspension detection device is divided into a front part and a rear part which are arranged at the top ends of respective mechanical arms: the first-stage detection device is arranged relatively to the back along the extending direction of the track, and the second-stage detection device is arranged relatively to the front along the extending direction of the track; the first-stage detection device detects the heights of the catenary above a track center line from-45 cm to +45 cm and the contact line below the track center line, and then takes the midpoint position of the height difference as the height position of a target object longitudinally suspended by the contact line; the second-level detection device is used for further searching the position of the overhead line system longitudinal suspension target object in the extending direction of the rail according to the obtained height position of the overhead line system longitudinal suspension target object, and finally obtaining the specific position of the overhead line system longitudinal suspension target object above the rail.

4. The overhead line system suspension state detection device of claim 3, characterized in that: the first-stage detection device is provided with a first-stage detection laser and a first-stage detection rotating tripod head, the first-stage detection rotating tripod head receives instructions of the control panel and drives the first-stage detection laser to rotate along the transverse section direction of the catenary cable and the contact line, so that height data of the catenary cable and the contact line are obtained and fed back to the industrial personal computer, and the first-stage search is completed; the secondary detection device is provided with a secondary detection laser and a secondary detection rotating holder, the secondary detection rotating holder receives an instruction of the control board to drive the secondary detection laser to rotate to a specific fixed angle, the angle corresponds to the height of a contact line between a contact line and a catenary cable for hanging a target object, the patrol car drives the laser to form a laser scanning plane between the contact line and the catenary cable along the extending direction of a track along with continuous advancing of the patrol car, and finally the contact line on the plane is found for hanging the target object and triggering a laser signal along with continuous extending of the scanning plane, so that secondary searching is completed; the contact net longitudinal suspension photographing device is used for symmetrically photographing left and right sides of a contact net longitudinal suspension target object, and comprises respective contact net longitudinal suspension cameras and respective contact net longitudinal suspension rotating holders, wherein the contact net longitudinal suspension rotating holders receive instructions of a control board and drive the respective cameras to photograph left and right sides of the contact net longitudinal suspension target object.

5. The overhead line system suspension state detection device of claim 4, wherein: the primary detection laser and the primary detection rotating tripod head, the secondary detection laser and the secondary detection rotating tripod head at the top ends of the two mechanical arms and the contact net longitudinal suspension photographing device at the top ends of the two mechanical arms are inclined towards the central line of the track in a splayed manner, so that the scanning and photographing are conveniently carried out from the left side and the right side of a target object longitudinally suspended by the contact net; the inclination angle of the secondary detection laser is a synthetic angle which inclines forwards along the extending direction of the track and inclines leftwards or rightwards along the center direction of the track; the forward-inclined angle is an angle which enables a contact net longitudinal suspension camera behind the contact net longitudinal suspension camera to obtain a buffering time without missing shooting, and meanwhile, the front and the back of the contact net longitudinal suspension camera are separated by a certain distance in combination with the primary detection laser, and the distance and the forward-inclined angle of the primary detection laser jointly act to enable the camera not to miss shooting.

6. The overhead line system suspension state detection device of claim 1, wherein: the device comprises a contact net transverse suspension detection device, a double-laser judgment method and a flexible span device, wherein one side of each contact net transverse suspension detection device is distributed below the top ends of two mechanical arms in a group, each group of suspension detection device comprises a contact net transverse suspension detection rotating holder and contact net transverse suspension detection lasers, when the device works, the two groups of lasers rotate and scan along the transverse section direction of the contact net transverse suspension, the double-laser judgment method is that the two groups of lasers are emitted at equal heights and at the same time, and the flexible span device is arranged in the horizontal direction in the criss-cross contact net transverse suspension by judging whether the two groups of lasers obtain trigger signals at the same time; the diameter judging method comprises the following steps: the method comprises the steps that two groups of lasers are rotated and scanned along the transverse section direction of the transverse suspension of the overhead line system, multiple groups of laser trigger signals related to the diameter of the transverse suspension of the overhead line system are obtained, the multiple groups of laser trigger signals are fed back to an industrial personal computer, and the industrial personal computer judges the diameter of a target object according to the number of the multiple groups of laser trigger signals.

7. The overhead line system suspension state detection device of claim 1, wherein: the overhead line system transverse suspension photographing device comprises 1 overhead line system transverse suspension camera and 2 overhead line system transverse suspension rotating holders, wherein one of the 2 overhead line system transverse suspension rotating holders is arranged on the side surface of the camera, the axial direction of the holder is vertical to the direction of a camera lens, and the camera is driven to perform forward-leaning or backward-leaning angle transformation; the other is arranged below the camera, and the axial direction of the holder is parallel to the direction of the camera lens to drive the camera to perform 180-degree angle transformation in the left and right directions; the camera is driven by the camera side holder to change the forward or backward inclination angle, so that the contact net transverse suspension photographing device can photograph the front side and the rear side of the contact net transverse suspension.

8. The overhead line system suspension state detection device of claim 1, wherein: the two mechanical arms which are symmetrically arranged along the central line of the track and extend upwards in a broken line shape tilt towards the outer side of the track at an angle respectively, and the distance between the two mechanical arms and the central line of the track is 1.5 m respectively.

9. A transverse suspension detection method based on the contact net suspension state detection device of any one of claims 1 to 8 is characterized in that: the method comprises the following steps:

10. A longitudinal suspension detection method based on the contact net suspension state detection device of any one of claims 1 to 8 is characterized in that: the method comprises the following steps: