CN113932773B

CN113932773B - Contact net suspension state detection device, longitudinal suspension and transverse suspension detection method

Info

Publication number: CN113932773B
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: 2023-12-15
Anticipated expiration: 2040-07-13
Also published as: CN113932773A

Abstract

The overhead contact system suspension state detection device comprises an automatic travelling wheel mechanism, a control device, a mechanical arm, an overhead contact system longitudinal suspension detection device and an overhead contact system longitudinal suspension photographing device, wherein the overhead contact system transverse suspension detection device and a camera bracket; a transverse suspension detection method of a contact net suspension state detection device comprises the following steps: according to the detection method, the contact net longitudinal hanging detection device and the contact net longitudinal hanging photographing device are used for identifying and photographing a contact net longitudinal hanging target object by adopting a two-stage detection method; the contact net transverse suspension detection device and the contact net transverse suspension photographing device adopt a method combining a double laser judgment method and a diameter judgment method to realize the recognition and photographing of the transverse suspension of the contact net; the invention solves the problems of low efficiency of too many waste pieces or great omission of inspection in the inspection of the overhead contact system in the prior art.

Description

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

Technical Field

The invention belongs to the technical field of electrified railways, and particularly relates to a contact net suspension state detection device, a longitudinal suspension and a transverse suspension detection method.

Background

In today's electrified railway applications, the power source of the train is no longer fuel but a high voltage power supply system. The high-voltage power supply mode is to supply power to the train by contacting the contact line above the track with the pantograph arranged on the train roof, wherein the pantograph is one meter wide arch-shaped metal which is transversely arranged on the train roof and is in crisscross contact with the contact line above the track and longitudinally arranged along the track, so that the power is supplied to the train.

In order to ensure that the contact wire can be contacted with the pantograph of the train roof, strict requirements are imposed on the steepness, the height and the stretching degree of the contact wire, wherein the steepness is the sagging bending degree of the contact wire, and if the sagging bending degree exceeds a certain degree, the pressure between the contact wire and the pantograph is too high, and the pantograph is easy to strike fire; the height is that the height of the contact line is matched with the pantograph on the train roof, 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 conducted and is powered off; the stretching degree is the degree of deviation of the contact line from the central line of the track, and the stretching degree is generally required to be not more than-45 cm to +45 cm, because the width of the pantograph is only 1 m, and if the stretching degree exceeds the power receiving range of-45 cm to +45 cm, the power failure of the train can occur, and serious accidents such as bowing, scratching and the like can even occur.

In order to solve the problems of the steepness, the height and the stretching degree, the railway electrification engineering adopts a contact net as a main framework, and the contact net is a special type power transmission line which is erected along a railway line and supplies power to an electric locomotive. The overhead contact system is divided into overhead contact system transverse suspension and overhead contact system longitudinal suspension. The contact net is transversely hung and distributed along the transverse direction of the rail, and a plurality of crisscrossed auxiliary lines for assisting the fixation of the contact net are also arranged around the contact net; the contact net longitudinal suspension is distributed along the extending direction of the rail and is distributed at the position of not more than-45 cm to +45 cm on the left and right of the central line of the rail, and the longitudinal suspension is a hanger wire which is connected with a carrier rope and a contact line up and down; the overhead contact system further comprises a locator, wherein the locator is respectively connected with the overhead contact system transverse suspension and the contact line and the overhead contact system longitudinal suspension and the contact line, so that the positioning of the overhead contact system in different dimensions is realized. The method comprises the following steps: one of the positioners: the transverse suspension and contact wires (two ends are connected through screws) of the contact net which are crossed at 90 degrees are respectively connected through the localizer, so that the locating protection of the height and the stretching degree of the contact wires is realized; and a second positioner: through laying the dropper between carrier cable and contact line, carrier cable is connected to dropper upper end, lower extreme connection contact line to prevent the contact line sagging, realize the location protection of contact line gradient.

Based on the importance of the contact net positioner, the contact net positioner needs to be periodically inspected. The inspection mode is divided into inspection of transverse suspension of the contact net and inspection of longitudinal suspension of the contact net.

For the detection of the transverse suspension of the overhead line system, 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 mounting of the lasers are used for inspecting the front and the rear sides of the contact net transversely hung respectively). The method has the defects that the detection mode does not judge the target object, the detection device can detect the target object by taking a picture one by one, so that a plurality of waste chips are caused, and the subsequent maintenance personnel are inconvenient. The method is characterized in that only 1 laser head is adopted and the diameter thickness of the target object is not measured, 1 laser can only find out whether the target object is transversely arranged, obliquely arranged or longitudinally arranged, but in actual engineering, the transverse suspension of the overhead contact line is not transversely arranged, and the transverse suspension of the overhead contact line is formed by surrounding staggered complex auxiliary ropes, and only the transversely arranged suspension in the transverse suspension of the overhead contact line is a detection target, comprising a target soft span, a target hard span and a supporting device. The prior art cannot effectively identify the target soft span, the target hard span and the supporting device from the complex line and selectively take pictures, so that too many waste chips are caused.

For 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 limited to simply detecting the geometric parameters of the height and the stretching degree of the contact line, but an effective detection method (a method that the hanger state is relatively complex and a single laser height measurement cannot be adopted) is not available for detecting the state of the hanger (whether the hanger knot is loose) for preventing the contact line from sagging between the carrier rope and the contact line, and the hanger is used as one of contact line positioners, so that the effect is indispensable and not negligible, and the reason for the geometric parameter change is not checked if the geometric parameters of the contact line are simply measured, so that the symptom is not cured.

In summary, the following problems exist in the inspection of the overhead contact system in the prior art: or too many waste pieces are shot and inefficient, or there is a significant omission.

Disclosure of Invention

Aiming at the problems existing in the prior art, the invention provides a contact net suspension state detection device, a longitudinal suspension detection method and a transverse suspension detection method, and aims to solve the problems that in the prior art, the quantity of waste pieces is too large, the efficiency is low, or major omission exists in inspection.

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

The overhead line system 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 the central line of the rail and extend upwards in a fold line shape, overhead line system longitudinal suspension detection devices and overhead line system longitudinal suspension photographing devices which are fixedly arranged at the top ends of the two mechanical arms respectively, overhead line system transverse suspension detection devices and overhead line system transverse suspension photographing devices 5-4-2 which are respectively arranged below the top ends of the two mechanical arms are close to each other, and the camera support is arranged on a overhead line system transverse suspension camera support which is arranged on the upper surface of the control device and positioned between the mechanical arms at two sides; the control device comprises an industrial personal computer and a control board, wherein the industrial personal computer is connected with the mobile terminal upwards through a wireless network and receives man-machine interaction instructions of the mobile terminal, is connected with the control board downwards through a wire and sends instructions to the control board, and the control board receives the instructions of the industrial personal computer and controls the contact net longitudinal and transverse detection device, the contact net 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 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-level detection control module, the second-level detection control module, the double-laser judgment module and the target diameter judgment module are used for receiving the instruction of the central processing module, sending corresponding instructions to the control board and receiving the data fed back by the contact net transverse suspension detection device, the contact net transverse suspension photographing device, the contact net longitudinal suspension detection device and the contact net longitudinal suspension photographing device; the contact net longitudinal hanging detection device and the contact net longitudinal hanging photographing device are used for identifying and photographing a contact net longitudinal hanging target object by adopting a two-stage detection method under the instruction of the industrial personal computer; the contact net transverse suspension detection device and the contact net transverse suspension photographing device realize the recognition and photographing of the contact net transverse suspension by adopting a method combining a double laser judgment method and a diameter judgment method under the instruction of the industrial personal computer.

The contact net longitudinal suspension is distributed along the extending direction of the track and is positioned in a vertical plane which is from-45 cm to +45 cm away from the center line of the rail top; the contact net transverse suspension is distributed along the transverse direction of the track; the overhead line system transverse suspension comprises a supporting device, a target hard span and a target soft span, wherein the supporting device is arranged above the track along one side of the track; the supporting device is a cross rod extending out of the diagonal rod of the supporting device; the target hard span is a cross bar extending from a diagonal rod of a hanging column seat in the hard span; the target soft straddles are upper fixing ropes and lower fixing ropes which are distributed in the horizontal direction in a plurality of soft straddles which are distributed in a crisscross manner at a height of a few meters above the track; the contact net longitudinal suspension is a contact net longitudinal suspension target object between a contact line and a carrier rope.

The contact net longitudinal suspension detection device is arranged at the top end of each mechanical arm in a front-back two parts: the first-stage detection device is arranged relatively backward along the extending direction of the track, and the second-stage detection device is arranged relatively forward along the extending direction of the track; the first-level detection device detects the heights of a carrier cable above the track center line of-45 cm to +45 cm and a contact line below the carrier cable, and then takes the midpoint position of the two height differences as the height position of a contact net longitudinal suspension target object; the secondary detection device further searches the position of the overhead line system longitudinal suspension target object in the extending direction of the track according to the obtained height position of the overhead line system longitudinal suspension target object, and finally obtains the specific position of the overhead line system longitudinal suspension target object above the track.

The first-stage detection device is provided with first-stage detection laser and a first-stage detection rotary holder, the first-stage detection rotary holder receives an instruction of a control board and drives the first-stage detection laser to rotate along the transverse section direction of the carrier cable and the contact line, so that height data of the carrier cable and the contact line are obtained and fed back to the industrial personal computer, and the first-stage search is completed; the second-level detection device is provided with a second-level detection laser and a second-level detection rotary holder, the second-level detection rotary holder receives an instruction of a control board to drive the second-level 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 carrier cable, the inspection vehicle drives the laser to form a laser scanning plane between the contact line and the carrier cable along the extending direction of a track along with the continuous advancing of the inspection vehicle, and the contact net suspension target object on the plane is finally found and a laser signal is triggered along with the continuous extending of the scanning plane, so that the second-level search is completed; the photographing device comprises respective contact net longitudinal hanging cameras and respective contact net longitudinal hanging rotary cloud platforms, wherein the contact net longitudinal hanging rotary cloud platforms receive instructions of a control board and drive the respective cameras to photograph the left and right sides of the contact net longitudinal hanging targets.

The first-stage detection laser and the first-stage detection rotary holder at the top ends of the two mechanical arms, the second-stage detection laser and the second-stage detection rotary holder, and the contact net longitudinal hanging photographing devices at the top ends of the two mechanical arms are splayed and inclined towards the central line of the track, so that scanning and photographing are conveniently carried out on the left side and the right side of a contact net longitudinal hanging target object; the inclination angle of the secondary detection laser is a combined angle, and the secondary detection laser is inclined forwards along the extending direction of the track and is inclined leftwards or rightwards along the center of the track; the forward tilting angle is an angle which enables the rear contact net longitudinal hanging camera to obtain a buffer time without missing a shooting, and meanwhile, the front and rear of the contact net longitudinal hanging camera are separated by a certain distance by combining the primary detection laser, and the distance and the forward tilting angle of the primary detection laser jointly act, so that the camera cannot missing the shooting.

One side of the contact net transverse suspension detection device is arranged below the top ends of the two mechanical arms, each suspension detection device comprises a contact net transverse suspension detection rotary cradle head and contact net transverse suspension detection lasers, when the contact net transverse suspension detection device works, the two sets of lasers rotate and scan along the transverse section direction of the contact net transverse suspension, the dual-laser judgment method is that the two sets of lasers are at the same height and emit simultaneously, and whether the two sets of lasers acquire trigger signals simultaneously or not is adopted to identify the softspan arranged along the horizontal direction in the crisscross contact net transverse suspension; the diameter judgment method comprises the following steps: and (3) rotating and scanning the two groups of lasers along the transverse section direction of the transverse suspension of the overhead line system to obtain a plurality of groups of laser trigger signals related to the diameter of the transverse suspension of the overhead line system, feeding the plurality of groups of laser trigger signals back to the industrial personal computer, and judging the diameter of the target object by the industrial personal computer according to the number of the plurality of groups of laser trigger signals.

The overhead line system transverse hanging photographing device comprises 1 overhead line system transverse hanging camera and 2 overhead line system transverse hanging rotary holders, wherein one of the 2 overhead line system transverse hanging rotary holders is arranged on the side face of the camera, the axial direction of the holder is perpendicular to the direction of a camera lens, and the camera is driven to perform forward-tilting or backward-tilting 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 conversion in the left-right direction; the camera is driven by the camera side holder to perform forward-tilting or backward-tilting angle transformation, so that the photographing device for the transverse suspension of the contact net can photograph the front side and the rear side of the transverse suspension of the contact net.

The mechanical arms which are symmetrically distributed along the central line of the track and extend upwards in a fold line shape respectively incline to the outer side of the track and then extend upwards, and the distances between the two mechanical arms and the central line of the track are 1.5 meters respectively.

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

step one, starting up a patrol car to finish initialization and entering a patrol state;

step two, the dual laser judgment module of the industrial personal computer sends a command to the control board, and the control board simultaneously sends commands to the two contact net transverse hanging detection rotary holders;

Step three, the two contact net transverse suspension detection rotary holders drive respective lasers to have the same height along the transverse cross section direction of the contact net transverse suspension above the track, and simultaneously perform rotation scanning;

step four, trigger laser to signal? If not, returning to the step three;

step five, feeding back scanning data to a dual-laser judging module of the industrial personal computer by laser;

step six, the diameter judgment module of the industrial personal computer target calculates the diameter of the transverse suspension of the overhead line system according to the laser feedback data and feeds the diameter back to the central processing module;

step seven, the dual laser judgment module of the industrial personal computer judges whether 1 beam of laser or 2 beams of laser are received simultaneously, and feeds back the judgment result to the central processing module;

step eight, if the diameter of the laser is equal to 1.2 cm when the laser is simultaneously connected with 2 beams of laser, or the diameter of the laser is equal to 2.5 cm when the laser is simultaneously connected with 1 beam of laser, the central processing module of the industrial personal computer sends a judging result to a control board, otherwise, the step three is returned;

step nine, a control board controls a driving motor of the inspection vehicle to pause, the inspection vehicle is stopped, and a command is sent to a contact net transverse hanging detection camera;

and step ten, the camera photographs the current or supporting device, or the target soft span or the target hard span.

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

step two, a first-level detection control module of the industrial personal computer sends a command to a control board, and the control board simultaneously sends commands to a first-level detection rotary cradle head longitudinally hung by two overhead lines;

step three, driving a first-stage detection laser to rotate and scan along the transverse section direction of a force bearing lock above the longitudinal suspension of the contact net and a contact line below the longitudinal suspension of the contact net by a first-stage detection cradle head of the contact net;

step four, trigger laser to signal? If not, returning to the third step;

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

step six, the first-level detection control module of the industrial personal computer calculates the heights of the bearing lock above the longitudinal suspension of the contact net and the contact line below the longitudinal suspension of the contact net respectively and feeds the heights back to the central processing unit;

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

Step eight, the central processing unit of the industrial personal computer sends a control board to a specific angle of the vertical hanging camera of the overhead contact system, and the secondary detection control module of the industrial personal computer sends a command to the control board;

step nine, the control board simultaneously sends commands to two contact net longitudinal hanging secondary detection cloud platforms,

step ten, the contact net longitudinal suspension second-level detection cradle head drives the contact net longitudinal suspension second-level detection laser to rotate to a specific fixed angle, 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 goes forward, the inspection vehicle drives the laser to form a laser scanning plane along the extending direction of the track, and the scanning plane continuously extends;

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

thirteen, a contact net longitudinally hangs a secondary detection laser 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 a signal to the control board;

fifteen, the control board sends a command to the contact net longitudinal suspension detection camera;

sixthly, the camera photographs the longitudinally suspended target object of the current contact net.

Advantageous effects of the invention

1. The invention judges whether the targets are transversely arranged by adopting the method of triggering the targets at the same time with the same height by adopting the double laser heads, and judges the diameter of the targets by adopting the method of rotating and scanning the laser along the cross section of the targets, combines the two methods and supports the two methods mutually and is mutually dependent, thereby solving the problem of effectively identifying the target soft crossing, hard crossing and supporting devices from the transverse suspension of the staggered complex contact net, realizing the unique photographing of each type of targets, avoiding a large number of waste non-target pieces, determining the maintenance site for the subsequent maintenance personnel according to the photos in the early stage, saving precious time and accelerating the maintenance period of the electrified railway.

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

Drawings

FIG. 1 is a schematic diagram of an inspection vehicle of the present invention;

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

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

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

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

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

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

FIG. 7 is a flow chart of a method for detecting the 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 diagram of a processing unit of an industrial personal computer according to the present invention;

in the figure: 1: an automatic travelling wheel mechanism; 2: a control device; 3-1, 3-2: a mechanical arm; 4-1, 4-2: the contact net longitudinal suspension detection device; 4-1-2,4-2-2: a first-stage detection device; 4-1-1,4-2-1: a secondary detection device; 4-1-3,4-2-3: the contact net hangs the camera longitudinally; 5-1, 5-2: a contact net transverse suspension detection device; 5-3-1, 5-3-2: transversely suspending a camera cradle head on the contact net; 5-4-2: transversely suspending a camera by the contact net; 5-4-1: a camera support.

Detailed Description

Principle of design of the invention

1. Recognition method for transverse suspension target object of overhead contact system

The contact net transverse suspension comprises a supporting device, a soft span and a hard span, and all three facilities are designed by positioning contact lines: the support device is simple and flexible to install, most road sections are support devices, and the small branch sections are distributed with soft straddles or hard straddles according to requirements. The support device is arranged on one side of the track at one side and consists of a support device upright post and a zigzag support rod above the upright post. One end of the locator is connected with a cross rod extending out of the diagonal rod on the supporting device, the other end of the locator is connected with the contact line, and the height or the stretching degree of the contact line is adjusted by adjusting the height of the locator on the diagonal rod (specifically adjusting the height of the extending cross rod on the diagonal rod). The soft straddling consists of an upright post crossing two sides of a plurality of railway rails, an upper fixing rope and a lower fixing rope in the middle of the upright post, and a carrier rope and a straight hanger which assist in supporting the upper fixing rope and the lower fixing rope, and the upper fixing rope and the lower fixing rope are used as targets for inspection as the positioner is only connected with the upper fixing rope and the lower fixing rope so as to position the contact wire; similarly, the hard span is also composed of a stand column crossing two sides of a plurality of railway rails, an upper hard beam in the middle of the stand column, a lower hard beam and a hanging column seat, the hanging column seat is equivalent to a supporting device, the difference is that the stand column of the hanging column seat is not vertically hung on the ground but is vertically hung from the lower hard beam crossing the hard span, and in the same way, the lower part of the hanging column seat is also composed of a zigzag supporting rod, a cross rod extending from the zigzag inclined rod is connected with a locator, and the other end of the locator is connected with a contact line, so the cross rod extending from the inclined rod of the hanging column seat in the hard span is the target of inspection vehicle inspection, and the cross rod extending from the inclined rod of the hanging column seat is called as the target hard span in the embodiment;

The invention discloses a method for identifying a supporting device, a target soft crossing and a target hard crossing, which comprises the following steps: the judging method of the supporting device comprises the following steps: because the supporting device is arranged at one side of the track, only one of the two laser beams can trigger a target object signal, and if only a feedback signal of one laser beam is received and the diameter of the target object is 2.5 cm, the target can be judged as the supporting device (the diameter of a transverse rod extending out of a diagonal rod of the supporting device is 2.5 cm); the judging method of the target soft crossing comprises the following steps: since the diameter of the target softspan is 1.2 cm, the diameter of the target stiff span is 2.5 cm (the diameter of the extended beam on the boom is 2.5 cm), if the laser triggers two target signals simultaneously and the diameter of the target is 1.2 cm, then the current target can be determined to be the target softspan. If the laser triggers two target signals simultaneously and the target diameter is 2.5 cm, then it can be determined that the current target is a target hard span. The method for judging the diameter thickness of the target comprises the following steps: because the laser rotates along the cross section direction of the target, the laser collects the signal of each point on the diameter of the target and feeds the signal back to the industrial personal computer, and because the energy of the same material is the same, the industrial personal computer can judge the diameter of the target according to more and less signals with the same energy.

2. Recognition method for contact net longitudinal suspension target object

The contact net is longitudinally hung and arranged on a vertical plane near the central line of the track above the track, a contact line is arranged below the contact line, a carrier rope is arranged above the contact line, and a target object (fully called a contact line longitudinally hung target object) for connecting the contact line and the carrier rope is arranged in the middle of the contact line; the structure of the target object is relatively complex 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 rope, the other 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 sagging positioning of the target object on the contact line can be influenced.

The difficulty and the solution for identifying the contact line to longitudinally suspend the target object are as follows:

first point: the height of the dropper dynamically changes with the height of the carrier cable and the contact line. The heights of the carrier ropes and the contact wires are not fixed on a long railway line, and the heights of the carrier ropes and the contact wires are allowed to have a range of 1.6 meters on the railway line of tens of kilometers or even hundreds of kilometers, so that the heights of the hanger wires positioned in the middle of the carrier ropes and the contact wires also dynamically change along with the heights of the carrier ropes and the contact wires, and a fixed height cannot be used as the height of the hanger wires, but the height of the hanger wires must be calculated dynamically.

Second point: because the hanger is longitudinally arranged along the center line of the track, laser and a camera need to scan or photograph from the left and right directions of the hanger instead of the front and back directions, so that the laser and the camera need to be arranged side by side instead of front and back, and the difficulty is how to arrange front and back to prevent the camera from missing shooting. If the overhead line system is transversely hung, a long transverse line is contacted with the laser and the camera in the transverse hanging mode, the problem of missing shooting is avoided even if delay exists from laser scanning to camera shooting, the dropper is an upright line, a point is contacted with the camera, the shooting time of the camera is quite accurate, and otherwise the problem of missing shooting is generated.

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

first, 4-1-1 before, 4-1-2 after; 4-1-1 is responsible for adjusting the angle, 4-1-2 is responsible for scanning the heights of the carrier ropes and contact lines.

The second, 4-1-1, 4-1-2, 4-1-3 are all inclined to the left, i.e. towards the track centre line, and after synthesis with the right half of fig. 2, 4-1-1 and 4-2-1,4-2-1 and 4-2, 4-1-3 and 4-2-3 are each inclined in a splayed fashion.

The angle of the third, 4-1-1 laser tilt is a resultant angle, both to the left and to the front, the angle of 4-1-1 forward tilt being manually adjusted, the purpose of forward tilting an angle being to scan the object in advance, leaving the camera with a photographing time, the time difference being determined by the distance between 4-1-1 and camera 4-1-3, and the angle of 4-1-1 forward tilt.

Fourth, the action sequence of each part: first step, 4-1-2 laser scanning height, second step: 4-1-1 receives the instruction and adjusts the angle to a fixed angle inclined leftwards, and the camera photographs the object, wherein the object is a contact net longitudinal hanging object, namely a hanger.

Based on the principle of the invention, the invention designs a contact net suspension state detection device.

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) fixedly arranged on two sides of the automatic travelling wheel mechanism 1 and symmetrically arranged along the central line of the rail and extending upwards in a fold line shape, contact net longitudinal suspension detection devices (4-1, 4-2) and contact net longitudinal suspension photographing devices (4-1; 4-2) respectively fixedly arranged on the top ends of the two mechanical arms, contact net transverse suspension detection devices (5-1; 5-2) are respectively arranged below the top ends of the two mechanical arms close to the contact net longitudinal suspension photographing devices, the contact net transverse suspension photographing devices 5-4-2 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 are positioned between the mechanical arms (3-1; 3-2) on two sides; the control device 2 comprises an industrial personal computer and a control board, wherein the industrial personal computer is connected with the mobile terminal upwards through a wireless network and receives man-machine interaction instructions of the mobile terminal, is connected with the control board downwards through a wire and sends instructions to the control board, and the control board receives the instructions of the industrial personal computer and controls the contact net longitudinal and transverse detection device, the contact net 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, where the industrial personal computer processing unit includes a primary detection control module, a secondary detection control module, a dual 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 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-level detection control module, the second-level detection control module, the double-laser judgment module and the target diameter judgment module are used for receiving the instruction of the central processing module, sending corresponding instructions 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 hanging detection device and the contact net longitudinal hanging photographing device are used for identifying and photographing a contact net longitudinal hanging target object by adopting a two-stage detection method under the instruction of the 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 are used for realizing the recognition and photographing of the contact net transverse suspension by adopting a method combining a double laser judgment method and a diameter judgment method under the instruction of an industrial personal computer.

Supplementary explanation:

the vicinity of the rail top centerline is in the range of-45 cm to +45 cm from the rail top centerline.

As shown in fig. 5, the contact net longitudinal suspension detection device is arranged at the top end of each mechanical arm in a front-back two parts: the first-stage detection device 4-1-2 is arranged relatively backward along the extending direction of the track, and the second-stage detection device 4-1-1 is arranged relatively forward along the extending direction of the track; the primary detection device 4-1-2 detects the heights of the carrier cable above the track center line of-45 cm to +45 and the contact line below the carrier cable, and then takes the midpoint position of the two height differences as the height position of the contact net longitudinal suspension target object; the secondary detection device 4-1-1 further searches the position of the contact net longitudinal hanging target object in the extending direction of the track according to the obtained height position of the contact net longitudinal hanging target object, and finally obtains the specific position of the contact net longitudinal hanging target object above the track.

The first-stage detection device 4-1-2 is provided with first-stage detection laser and a first-stage detection rotary holder, the first-stage detection rotary holder receives an instruction of a control board and drives the first-stage detection laser to rotate along the transverse section direction of the carrier cable and the contact line, so that height data of the carrier cable and the contact line are obtained and fed back to the industrial personal computer, and the first-stage search is completed; the second-level detection device 4-1-1 is provided with a second-level detection laser and a second-level detection rotary holder, the second-level detection rotary holder receives an instruction of a control board to drive the second-level 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 carrier cable, the inspection vehicle drives the laser to form a laser scanning plane between the contact line and the carrier cable along the track extending direction along with the continuous advancing of the inspection vehicle, and finally the contact net suspension target object on the plane is found and a laser signal is triggered along with the continuous extending of the scanning plane, so that the second-level search is completed;

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

As shown in fig. 2, the first-stage detection laser and the first-stage detection rotary holder (4-1-2, 4-2-2) at the top ends of the two mechanical arms, the second-stage detection laser and the second-stage detection rotary holder (4-1, 4-2-1), and the overhead line longitudinal hanging photographing devices (4-1-3, 4-2-3) at the top ends of the two mechanical arms are splayed and inclined towards the central line of the track, so that scanning and photographing can be conveniently performed from the left side and the right side of an overhead line longitudinal hanging target object; the inclination angle of the secondary detection laser is a combined angle, and the secondary detection laser is inclined forwards along the extending direction of the track and is inclined leftwards or rightwards along the center of the track; the forward tilting angle is an angle which enables the rear contact net longitudinal hanging camera (4-1-3, 4-2-3) to obtain a buffer time without missing a beat, and meanwhile, the front and rear of the contact net longitudinal hanging camera are separated by a certain distance by combining the secondary detection laser, and the distance and the forward tilting angle of the primary detection laser jointly act, so that the camera cannot missing a beat.

As shown in fig. 1, one side of the contact net transverse suspension detection device (5-1; 5-2) is arranged below the top ends of two mechanical arms, each suspension detection device comprises a contact net transverse suspension detection rotary cradle head and contact net transverse suspension detection lasers, when the device works, the two sets of lasers rotate and scan along the transverse section direction of the contact net transverse suspension, the two sets of lasers are emitted at the same height and simultaneously, and whether the two sets of lasers simultaneously obtain trigger signals is determined, so that the softspan arranged along the horizontal direction in the crisscross contact net transverse suspension is recognized; the diameter judgment method comprises the following steps: and (3) rotating and scanning the two groups of lasers along the transverse section direction of the transverse suspension of the overhead line system to obtain a plurality of groups of laser trigger signals related to the diameter of the transverse suspension of the overhead line system, feeding the plurality of groups of laser trigger signals back to the industrial personal computer, and judging the diameter of the target object by the industrial personal computer according to the number of the plurality of groups of laser trigger signals.

As shown in fig. 1 and 4, the overhead line horizontal hanging photographing device 5-4-2 comprises 1 overhead line horizontal hanging camera 5-4-2 and 2 overhead line horizontal hanging rotary holders (5-3-1; 5-3-2), wherein one of the 2 overhead line horizontal hanging rotary holders is arranged on the side surface of the camera, and the axial direction of the holder is perpendicular to the direction of the camera lens, so that the camera is driven to perform forward-tilting or backward-tilting angle conversion; 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 conversion in the left-right direction; the camera is driven by the camera side holder 5-3-1 to perform forward-tilting or backward-tilting angle transformation, so that the contact net transverse hanging photographing device 5-4-2 can photograph the front side and the rear side of the contact net transverse hanging.

Supplementary explanation:

1. when the contact net transversely hangs a camera to photograph an object (the object is an upper fixing rope and a lower fixing rope in the transverse hanging of the contact net), the photographing range is a range from a track center line of-3.5 meters to +3.5 meters, the range of 7 meters needs four times of photographing from one side to the other side, and each time of photographing is performed, the camera adjusts an angle. Specifically, the control panel controls the touch screen to transversely hang the rotary cradle head 5-3-2, and then the touch screen to transversely hang the rotary cradle head 5-3-2 controls the camera to adjust the angle along the horizontal plane, so that the target object in the range of 7 meters is shot completely.

2. Because the target softside 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 of the tracks, and generally inspects the tracks in idle time periods according to the regulations of railway departments.

supplementary explanation:

the inspection vehicle is assembled on site manually and then placed on a specified track, the specified track is an idle track, the idle track is the track with idle time of about 4 hours, the inspection vehicle completes inspection within the time range, and the 4-hour inspection vehicle can detect the road length of about 12 km.

The initialization is that the inspection vehicle receives instructions of a tablet personal computer or other mobile terminals, and the instructions are realized through a man-machine interaction interface of the mobile terminals. And the manager inputs the inspection start time and the inspection stop time on the man-machine interaction interface and presses the start button, so that the initialization work of the inspection vehicle is completed.

step four, trigger laser to signal? If not, returning to the step three;

supplementary explanation:

the detection of 2 laser beams is only used for judging whether the target straddles or not, and the target straddles or not are actually detected by the target straddles or not by the aid of the supporting device, and the target straddles or not are judged by the aid of 1 laser beam if the target straddles or not are detected by the aid of the supporting device, and the target straddles or not are judged by the aid of the supporting device, wherein the target straddles or not are detected by the aid of the supporting device, and the target straddles or not are detected by the aid of the supporting device.

Supplementary explanation:

when the inspection vehicle carries out the transverse suspension detection (supporting device, target soft crossing and target hard crossing) of the current contact net, the inspection vehicle detects the front side and the rear side according to the extending direction of the track, and detects the other side after the detection of one side is finished. When the inspection vehicle detects the other side of each contact net transversely hung, the inspection vehicle continues to move forwards to a distance of one end and then stops, the forward moving 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 surface of the current target, at the moment, the angles of the two laser holders of the contact net transverse suspension detection devices (5-1 and 5-2) are unchanged, and only the camera angle is adjusted in the opposite direction of the contact net transverse suspension camera holder 5-3-1 relative to the last angle, so that the camera 5-4-2 is changed from forward tilting to backward tilting.

supplementary explanation:

step four, trigger laser to signal? If not, returning to the step three;

supplementary explanation:

step four, trigger laser to signal? If not, returning to the third step;

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 examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims

1. The overhead line system 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 the central line of the rail and extend upwards in a fold line shape, overhead line system longitudinal suspension detection devices and overhead line system longitudinal suspension photographing devices respectively fixedly arranged on the top ends of the two mechanical arms, overhead line system transverse suspension detection devices are respectively arranged below the top ends of the two mechanical arms, overhead line system transverse suspension photographing devices are arranged on overhead line system transverse suspension camera supports, and the camera supports are arranged on the upper surface of the control device and positioned between the mechanical arms on two sides; the control device comprises an industrial personal computer and a control board, wherein the industrial personal computer is connected with the mobile terminal upwards through a wireless network, receives a man-machine interaction instruction of the mobile terminal, downwards connected with the control board through a wire, and sends an instruction to the control board, and the control board receives the instruction of the industrial personal computer and controls the contact net longitudinal suspension and transverse suspension detection device, the contact net longitudinal suspension and transverse suspension 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 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-level detection control module, the second-level detection control module, the double-laser judgment module and the target diameter judgment module are used for receiving the instruction of the central processing module, sending corresponding instructions to the control board and receiving data fed back by the contact net transverse suspension detection device, the contact net transverse suspension photographing device, the contact net longitudinal suspension detection device and the contact net longitudinal suspension photographing device; the contact net longitudinal hanging detection device and the contact net longitudinal hanging photographing device are used for identifying and photographing a contact net longitudinal hanging target object by adopting a two-stage detection method under the instruction of the industrial personal computer; the contact net transverse suspension detection device and the contact net transverse suspension photographing device realize the recognition and photographing of the contact net transverse suspension by adopting a method combining a double laser judgment method and a diameter judgment method under the instruction of an industrial personal computer;

The contact net longitudinal suspension detection device is divided into a front part and a rear part, and is arranged at the top ends of the mechanical arms respectively: the first-stage detection device is arranged relatively backward along the extending direction of the track, and the second-stage detection device is arranged relatively forward along the extending direction of the track; the first-level detection device is used for detecting the heights of a carrier cable above the central line of the track from-45 cm to +45 cm and a contact line below the central line of the track, and then taking the midpoint position of the two height differences as the height position of a contact net longitudinal suspension target object; the secondary detection device further searches the position of the overhead line system longitudinal suspension target object in the extending direction of the track according to the obtained height position of the overhead line system longitudinal suspension target object, and finally obtains the specific position of the overhead line system longitudinal suspension target object above the track;

the first-stage detection device is provided with first-stage detection laser and a first-stage detection rotary holder, the first-stage detection rotary holder receives an instruction of the control board and drives the first-stage detection laser to rotate along the transverse plane direction of the carrier cable and the contact line, so that the height data of the carrier cable and the contact line are obtained and fed back to the industrial personal computer, and the first-stage search is completed; the second-level detection device is provided with a second-level detection laser and a second-level detection rotary holder, the second-level detection rotary holder receives an instruction of a control board to drive the second-level 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 carrier cable, the second-level detection laser is driven by a patrol car to form a laser scanning plane between the contact line and the carrier cable along the extending direction of a track along with the continuous advancing of the patrol car, and the contact net suspension target object on the plane is finally found and a laser signal is triggered along with the continuous extending of the scanning plane, so that the second-level search is completed; the photographing device comprises respective contact net longitudinal hanging cameras and respective contact net longitudinal hanging rotary cloud platforms, wherein the contact net longitudinal hanging rotary cloud platforms receive instructions of a control board and drive the respective cameras to photograph the left and right sides of the contact net longitudinal hanging target;

One side of the contact net transverse suspension detection device is arranged below the top ends of the two mechanical arms, each contact net transverse suspension detection device comprises a contact net transverse suspension detection rotary holder and contact net transverse suspension detection lasers, when the contact net transverse suspension detection device works, the two sets of lasers rotate and scan along the transverse section direction of the contact net transverse suspension, the two sets of lasers are at the same height and emit simultaneously, and whether the two sets of lasers acquire triggering signals simultaneously or not is judged, so that the softstraddles arranged along the horizontal direction in the crisscross contact net transverse suspension are recognized; the diameter judgment method comprises the following steps: and (3) rotating and scanning the two groups of lasers along the transverse section direction of the transverse suspension of the overhead line system to obtain a plurality of groups of laser trigger signals related to the diameter of the transverse suspension of the overhead line system, feeding the plurality of groups of laser trigger signals back to the industrial personal computer, and judging the diameter of the target object by the industrial personal computer according to the number of the plurality of groups of laser trigger signals.

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

the contact net longitudinal suspension is arranged along the extending direction of the track and is positioned in a vertical plane which is from-45 cm to +45 cm away from the central line of the track; the contact net transverse suspension is distributed along the transverse direction of the track; the overhead line system transverse suspension comprises a supporting device, a target hard span and a target soft span, wherein the supporting device is arranged above the track along one side of the track; the supporting device is a cross rod extending out of the diagonal rod of the supporting device; the target hard span is a cross bar extending from a diagonal rod of a hanging column seat in the hard span; the target soft straddles are upper fixing ropes and lower fixing ropes which are distributed along the horizontal direction in a plurality of soft straddles which are distributed above the track in a crisscross manner; the contact net longitudinal suspension is a contact net longitudinal suspension target object between a contact line and a carrier rope.

3. The overhead line system suspension state detection device according to claim 1, wherein: the first-stage detection laser and the first-stage detection rotary holder at the top ends of the two mechanical arms, the second-stage detection laser and the second-stage detection rotary holder, and the contact net longitudinal hanging photographing devices at the top ends of the two mechanical arms are splayed and inclined towards the central line of the track, so that scanning and photographing are conveniently carried out on the left side and the right side of a contact net longitudinal hanging target object; the inclination angle of the secondary detection laser is a combined angle, and the secondary detection laser is inclined forwards along the extending direction of the track and is inclined leftwards or rightwards along the central direction of the track; the forward tilting angle is an angle which enables the rear contact net longitudinal hanging camera to obtain a buffer time without missing shooting, and meanwhile, the first-stage detection laser and the contact net longitudinal hanging camera are combined to be separated from each other at a certain distance, and the distance and the forward tilting angle of the first-stage detection laser are combined to act together, so that missing shooting of the camera cannot occur.

4. The overhead line system suspension state detection device according to claim 1, wherein: the overhead line system transverse hanging photographing device comprises 1 overhead line system transverse hanging camera and 2 overhead line system transverse hanging rotary holders, wherein one of the 2 overhead line system transverse hanging rotary holders is arranged on the side face of the camera, the axial direction of the holder is perpendicular to the direction of a camera lens, and the camera is driven to perform forward-tilting or backward-tilting 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 conversion in the left-right direction; the camera is driven by the camera side holder to perform forward-tilting or backward-tilting angle transformation, so that the photographing device for the transverse suspension of the contact net can photograph the front side and the rear side of the transverse suspension of the contact net.

5. The overhead line system suspension state detection device according to claim 1, wherein: the mechanical arms which are symmetrically distributed along the central line of the track and extend upwards in a fold line shape respectively incline to the outer side of the track and then extend upwards, and the distances between the two mechanical arms and the central line of the track are 1.5 meters respectively.

6. A transverse suspension detection method based on the suspension state detection device of the contact net according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:

step three, two contact net transverse suspension detection rotary holders drive respective lasers to have the same height along the transverse cross section direction of the contact net transverse suspension above the track, and simultaneously perform rotation scanning;

judging whether the laser triggers a signal or not, if not, returning to the step III;

7. A longitudinal suspension detection method based on the suspension state detection device of the overhead line system according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:

step three, driving a first-stage detection laser to rotate and scan along the transverse section direction of a carrier cable above the longitudinal suspension of the contact net and a contact line below the longitudinal suspension of the contact net by a first-stage detection cradle head of the contact net;

step six, the first-level detection control module of the industrial personal computer calculates the heights of the carrier cable above the longitudinal suspension of the contact net and the contact line below the longitudinal suspension of the contact net respectively and feeds the heights back to the central processing unit;

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

step ten, the contact net longitudinal suspension secondary detection cradle head drives the contact net longitudinal suspension secondary detection laser to rotate to a specific fixed angle, wherein the angle corresponds to the height of a contact net longitudinal suspension target object between a carrier rope and a contact line;

step twelve, judging whether the laser triggers a signal, if not, returning to step eleven;