CN116358422B

CN116358422B - Method and device for measuring guide height and pull-out value of railway contact net

Info

Publication number: CN116358422B
Application number: CN202310626895.9A
Authority: CN
Inventors: 段书用; 王昱; 韩旭; 鲁奕君; 徐福田; 赵熙灼; 章霖鑫
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2023-05-31
Filing date: 2023-05-31
Publication date: 2023-08-25
Anticipated expiration: 2043-05-31
Also published as: CN116358422A

Abstract

The invention provides a method and a device for measuring the guide height and the pull-out value of a railway contact net, wherein the method comprises the following steps: moving the telescopic bracket into a measuring plane, wherein the measuring plane is perpendicular to the rail, and a first camera and a second camera are respectively arranged at two ends of the telescopic bracket; adjusting shooting directions of the first camera and the second camera to enable the first camera and the second camera to face the tail end of the railway locator; and measuring the first angle, the second angle, the third angle and the baseline length value, calculating the second distance and the third distance, and finally calculating the guide height and the pull-out value. When the tail end of the railway positioner moves, the position of the telescopic bracket is not required to be adjusted, the shooting directions and the positions of the two cameras are adjusted, so that the intersection point of the two shooting directions coincides with the tail end of the railway positioner and the included angle of the intersection point of the two shooting directions is equal to the included angle of the telescopic bracket, and the height guiding and pulling-out values can be repeatedly measured. The mode is simple in adjustment mode, errors caused by repeated measurement can be greatly reduced, measurement accuracy is guaranteed, and normal operation of a high-speed railway carriage is guaranteed.

Description

Method and device for measuring guide height and pull-out value of railway contact net

Technical Field

The invention relates to the technical field of guide height and pull-out value measurement, in particular to a guide height and pull-out value measurement method and device for a railway contact net.

Background

In the current railway system, a high-speed railway carriage needs to acquire electric energy from a contact net through a pantograph, so that the whole car is driven to start and stop. In order to ensure stable operation of the high-speed railway carriage, the relative position between the end position of the railway locator and the rail needs to be fixed along with the extension of the rail, even if the guide height and the pull-out value of the railway are fixed. Therefore, whether the guide height and the pull-out value can be accurately measured directly affects the running stability and safety of the high-speed railway carriage.

Specifically, the elevation refers to the difference in elevation of the end of the rail locator from the ground; the pull-out value represents the difference in horizontal distance of the railway locator end from the rail centerline.

The actual railway road conditions are complex, and particularly in mountain areas, it is difficult to ensure that different railway positioners keep the same distance and height with the rails; therefore, railway positioners with different heights and widths can be arranged in the construction process. In this case, if it is desired to ensure that the guide height and pull-out values are within the error range, it is necessary to adjust the horizontal and vertical positions of the railway locator end relative to the locator body. The adjustment process needs to repeatedly measure the guide height and the pull-out value so as to ensure that the guide height and the pull-out value of the whole railway are equal.

In the prior art, a binocular camera is often used for ranging, and under the condition, the parameters such as the position, the angle and the like of the binocular camera are difficult to repeatedly adjust, and then the measurement is performed. The repeated adjustment is very tedious, and simultaneously, the repeated adjustment of the position of the binocular camera in the prior art can also increase measurement errors to cause inaccurate guiding height and pulling-out value, thereby influencing the normal operation of the high-speed railway carriage.

Disclosure of Invention

In view of the above-mentioned drawbacks or shortcomings in the prior art, it is desirable to provide a method and apparatus for measuring the guide height and pull-out value of a railway catenary.

On the one hand, the invention provides a method for measuring the guide height and the pull-out value of a railway contact net, which comprises the following steps:

moving the telescopic bracket into a measuring plane; the measuring plane is perpendicular to the extending direction of the rail and coplanar with the end of the railway locator; the telescopic bracket is provided with a first end and a second end, the telescopic direction of the telescopic bracket and the connecting lines of the first end and the second end are parallel to the measuring plane; the telescopic bracket is arranged in parallel with the measuring plane and is clamped at a first angle with the horizontal direction; the first angle is an acute angle;

adjusting the shooting direction of a first camera to enable the tail end of the railway locator to pass through the shooting direction of the first camera; the first camera is rotatably mounted at the first end;

Measuring the angle between the shooting direction of the first camera and the telescopic bracket to obtain a second angle;

adjusting the pose of a second camera to enable the shooting direction of the second camera to pass through the tail end of the railway locator; the second camera is rotatably mounted at the second end;

measuring the length of the telescopic bracket to obtain a baseline length value; measuring the angle clamped between the shooting direction of the second camera and the telescopic bracket to obtain a third angle;

acquiring the height difference between the first end and the ground to obtain a second distance; obtaining a horizontal distance between the first end and a rail center line to obtain a third distance;

and calculating according to the first angle, the second angle, the third angle, the baseline length value, the second distance and the third distance to obtain the guide height and the pull-out value.

According to the technical scheme provided by the invention, the step of adjusting the pose of the second camera comprises the following steps:

controlling the second camera to rotate by taking parallel lines of the extending direction of the rail as axes;

and stopping rotating the second camera when the shooting direction of the second camera passes through the tail end of the railway locator.

Adjusting the shooting direction of the second camera to enable the included angle between the shooting direction of the second camera and the telescopic bracket to be equal to the second angle;

and controlling the telescopic bracket to perform telescopic movement, so that the shooting direction of the second camera passes through the tail end of the railway locator.

adjusting the shooting direction of the second camera to enable the shooting direction of the second camera to be perpendicular to the telescopic bracket;

According to the technical scheme provided by the invention, when the telescopic bracket is controlled to perform telescopic movement and the shooting direction of the second camera cannot pass through the tail end of the railway positioner, the following steps are performed:

controlling the second camera to shoot an image of the tail end of the railway locator to obtain a first image; the first image comprises a first center pixel point coordinate and a first pixel point coordinate corresponding to the tail end of the railway locator;

judging the relative position of the tail end of the railway locator and the shooting direction of the second camera according to the first center pixel point coordinates and the first pixel point coordinates;

When the position of the tail end of the railway locator is higher than the shooting direction of the second camera, the telescopic bracket is controlled to rotate by taking a parallel line of the extending direction of the rail as an axis, so that the included angle between the telescopic bracket and the horizontal direction is reduced;

when the position of the tail end of the railway locator is lower than the shooting direction of the second camera, controlling the telescopic bracket to rotate by taking a parallel line of the extending direction of the rail as an axis, and increasing an included angle between the telescopic bracket and the horizontal direction;

adjusting the shooting direction of the first camera to enable the shooting direction of the first camera to pass through the tail end of the railway locator;

measuring the included angle between the telescopic bracket and the horizontal direction in the current state, and taking the included angle as a first angle again; measuring the included angle between the telescopic bracket and the connecting line of the first camera and the tail end of the railway positioner in the current state, and taking the included angle as a second angle again; and measuring the included angle between the telescopic bracket and the connecting line of the second camera and the tail end of the railway positioner in the current state, and taking the included angle as a third angle again.

According to the technical scheme provided by the invention, the first central pixel point coordinates comprise first central pixel point horizontal coordinates and first central pixel point vertical coordinates, and the first pixel point coordinates comprise first pixel point horizontal coordinates and first pixel point vertical coordinates;

The specific step of judging the relative position of the tail end of the railway locator and the shooting direction of the second camera according to the first center pixel point coordinate and the first pixel point coordinate comprises the following steps:

acquiring a first pixel point vertical coordinate and a first center pixel point vertical coordinate;

determining the vertical coordinates of the first pixel point and the vertical coordinates of the first central pixel point,

when the vertical coordinate of the first pixel point is smaller than that of the first central pixel point, judging that the position of the tail end of the railway locator is higher than the shooting direction of the second camera;

and when the vertical coordinate of the first pixel point is larger than that of the first central pixel point, judging that the position of the tail end of the railway locator is lower than the shooting direction of the second camera.

According to the technical scheme provided by the invention, the specific steps for controlling the telescopic bracket to rotate by taking the parallel lines of the rail extending direction as axes comprise the following steps:

s71, acquiring an adjusting direction of an included angle between the telescopic bracket and the horizontal direction;

s72, adjusting the included angle between the telescopic bracket and the horizontal direction in the adjusting direction at a first set angle;

s73, acquiring an image of the tail end of the railway locator by the second camera to obtain a second image; the second image comprises a second center pixel point coordinate and a second pixel point coordinate corresponding to the tail end of the railway locator; the second center pixel point coordinates comprise second center pixel point horizontal coordinates and second center pixel point vertical coordinates, and the second pixel point coordinates comprise second pixel point horizontal coordinates and second pixel point vertical coordinates;

S74, judging the vertical coordinates of the second pixel point and the vertical coordinates of the second center pixel point, and performing the next step when the vertical coordinates of the second pixel point and the vertical coordinates of the second center pixel point are equal; otherwise, returning to the step of S71;

and S75, stopping adjusting the included angle between the telescopic bracket and the horizontal direction.

According to the technical scheme provided by the invention, the specific steps of moving the telescopic bracket into a measuring plane comprise the following steps:

acquiring an image of the tail end of the railway locator to obtain a third image; the third image comprises a third center pixel point coordinate and a third pixel point coordinate corresponding to the tail end of the railway locator; the third central pixel point coordinates comprise third central pixel point horizontal coordinates and third central pixel point vertical coordinates, and the third pixel point coordinates comprise third pixel point horizontal coordinates and third pixel point vertical coordinates;

calculating the difference value between the horizontal coordinate of the third pixel point and the horizontal coordinate of the third central pixel point to obtain a coordinate difference;

acquiring the pixel size in the third image;

calculating a first set distance according to the coordinate difference and the pixel size;

when the coordinate difference is positive, moving the telescopic bracket forward in a first direction for a first set distance; when the coordinate difference is negative, reversely moving the telescopic bracket in a first direction for a first set distance; the first direction is parallel to the rail extension direction.

According to the technical scheme provided by the invention, the specific steps of calculating the guide height and the pull-out value according to the baseline length value, the first angle, the second distance and the third distance comprise the following steps:

calculating the distance between the first end and the tail end of the railway locator according to the baseline length value and the second angle to obtain a first distance;

calculating the altitude according to the first distance, the first angle, the second angle and the second distance by utilizing a triangular conversion relation;

and calculating a pull-out value according to the first distance, the first angle, the second angle and the third distance by utilizing a triangular conversion relation.

On the other hand, the invention provides a device for measuring the guide height and the pull-out value of a railway contact net, which is used for executing the method for measuring the guide height and the pull-out value of the railway contact net, and comprises the following steps:

a telescoping support having a first end and a second end; the telescopic bracket is arranged in parallel with the measuring plane and is clamped with a first angle in the horizontal direction, and the telescopic direction of the telescopic bracket and the connecting line of the first end and the second end are parallel to the measuring plane;

A first camera rotatably mounted at the first end;

a second camera rotatably mounted at the second end;

the driving assembly is connected with the telescopic bracket and used for driving the telescopic bracket to stretch and retract and adjusting the relative position between the first camera and the second camera;

the first end of the telescopic bracket is rotatably arranged on the measuring trolley; the driving assembly is mounted on the measuring trolley; the measuring trolley is arranged on the rail and used for driving the telescopic bracket and the driving assembly to move along the rail;

the control assembly is arranged on the measuring trolley and is respectively connected with the driving assembly, the first camera and the second camera; the control assembly is used for receiving images shot by the first camera and the second camera, driving the driving assembly to drive the telescopic bracket to perform telescopic movement, and measuring the first angle, the second angle, the third angle and the baseline length value; acquiring the height difference between the first end and the ground to obtain a second distance; obtaining a horizontal distance between the first end and the rail center line to obtain a third distance; and calculating according to the first angle, the second angle, the third angle, the baseline length value, the second distance and the third distance to obtain the guide height and the pull-out value.

The invention has the beneficial effects that:

arranging the telescopic bracket on the rail so that the telescopic bracket is coplanar with the railway locator; the telescopic bracket has an included angle of a first angle with the horizontal direction, and the first camera and the second camera are respectively rotatably arranged at the first end and the second end of the telescopic bracket; the driving component is used for driving the telescopic bracket to stretch and retract and adjusting the relative position between the first camera and the second camera. Moving the telescopic bracket into a measuring plane, wherein the measuring plane is perpendicular to the rail, and a first camera and a second camera are respectively arranged at two ends of the telescopic bracket; adjusting shooting directions of the first camera and the second camera to enable the first camera and the second camera to face the tail end of the railway locator; and measuring the first angle, the second angle, the third angle and the baseline length value, calculating the second distance and the third distance, and finally calculating the guide height and the pull-out value. When the tail end of the railway positioner moves, the position of the telescopic bracket is not required to be adjusted, the shooting directions and the positions of the two cameras are adjusted, so that the intersection point of the two shooting directions coincides with the tail end of the railway positioner and the included angle of the intersection point of the two shooting directions is equal to the included angle of the telescopic bracket, and the height guiding and pulling-out values can be repeatedly measured. The mode is simple in adjustment mode, errors caused by repeated measurement can be greatly reduced, measurement accuracy is guaranteed, and normal operation of a high-speed railway carriage is guaranteed.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

fig. 1 is a schematic flow chart of a method for measuring the guide height and pull-out value of a railway contact net;

FIG. 2 is a schematic diagram of a driving assembly according to an embodiment;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic diagram of a geometric model for calculating the lead-up and pull-out values;

FIG. 5 is a schematic diagram of a pixel coordinate system in an image;

FIG. 6 is a schematic diagram of a driving assembly according to another embodiment;

FIG. 7 is a schematic diagram of a second camera pose in an embodiment;

FIG. 8 is a schematic view of a second camera pose in another embodiment;

FIG. 9 is a top view of the measurement trolley;

wherein: 1. a railroad locator end; 2. a telescopic bracket; 3. a first camera; 4. a second camera; 5. a drive assembly; 6. a first end; 7. a second end; 8. a measuring trolley; 9. a rail; 10. a first driving device; 11. a screw rod; 12. a lead screw nut; 13. a second driving device; 14. a third driving device; 15. a center pixel point; 16. a terminal pixel point; 17. a mobile station; 18. and a guide rail.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

Example 1

Referring to fig. 1, a flow chart of a method for measuring a guide height and a pull-out value of a railway catenary according to the present embodiment includes:

s1: moving the telescopic bracket 2 into a measuring plane; the measuring plane is perpendicular to the extension direction of the rail 9 and coplanar with the railroad locator end 1; the telescopic bracket 2 is provided with a first end 6 and a second end 7, the telescopic direction of the telescopic bracket 2 and the connecting lines of the first end 6 and the second end 7 are parallel to the measuring plane; the telescopic bracket 2 is arranged in parallel with the measuring plane and forms a first angle with the horizontal direction; the first angle is an acute angle;

S2: adjusting the shooting direction of a first camera 3 to enable the railway locator end 1 to pass through the shooting direction of the first camera 3; the first camera 3 is rotatably mounted at a first end 6;

s3: measuring the angle between the shooting direction of the first camera 3 and the telescopic bracket 2 to obtain a second angle;

s4: adjusting the pose of a second camera 4 to enable the shooting direction of the second camera 4 to pass through the tail end 1 of the railway locator; the second camera 4 is rotatably mounted at a second end 7;

s5: measuring the length of the telescopic bracket 2 to obtain a baseline length value; measuring the angle between the shooting direction of the second camera 4 and the telescopic bracket 2 to obtain a third angle;

s6: acquiring the height difference between the first end 6 and the ground to obtain a second distance; obtaining a horizontal distance between the first end 6 and the center line of the rail 9 to obtain a third distance;

s7: and calculating according to the first angle, the second angle, the third angle, the baseline length value, the second distance and the third distance to obtain the guide height and the pull-out value.

Specifically, the shooting view of the camera is conical, and the shooting direction is a straight line from the conical top to the perpendicular line of the conical bottom, namely, the shooting direction is perpendicular to the lens of the camera. Before measurement, the measuring trolley 8 is preferentially controlled to move along the rail 9, so that the tail end 1 of the railway locator enters the field of view of the two cameras; the default railroad locator end 1 in this embodiment is always within the field of view of the camera.

In some embodiments, the first angle, the second angle and the third angle are measured by a plurality of angle sensors mounted on the telescopic bracket 2, respectively;

the length of the telescopic support 2 is measured by a servo cylinder and an encoder, the encoder can convert the telescopic quantity of the servo cylinder into an electric signal, the telescopic quantity of the telescopic end of the servo cylinder can be accurately detected, and the length of the telescopic support 2 under the current telescopic quantity can be calculated by combining the minimum length of the telescopic support 2.

The telescopic support 2 is arranged on a measuring trolley 8, and the measuring trolley 8 is arranged on a rail 9. The second distance is obtained by adding the height of the measuring trolley 8 to the height of the rail 9, and the third distance is the width of the measuring trolley 8 (the default measuring trolley 8 and the rail 9 are the same in width here); the second distance and the third distance are measured in advance before the actual detection of the guide height and the pull-out value, and can be measured by using any conventional ranging mode.

Specifically, each locator is printed with a number of each locator toward the train traveling direction. The measuring trolley 8 moves along the rail 9, detects the guide height and the pull-out value of each locator in turn, and records the number and the guide height and the pull-out value of each locator. After measuring the locators of the whole line or a certain road section, counting the guide height and pull-out values of all the locators, comparing the guide height and pull-out values with the standard guide height and pull-out values respectively, marking the guide height and pull-out values which are more than 5% different from the standard guide height and pull-out values as abnormal data, displaying the numbers of the locators corresponding to the abnormal data, and reminding operators to overhaul.

Further, the step of adjusting the pose of the second camera 4 includes:

controlling the second camera 4 to rotate by taking parallel lines of the extending direction of the rail 9 as axes;

when the photographing direction of the second camera 4 passes the railroad locator end 1, the rotation of the second camera 4 is stopped.

In some embodiments, referring to fig. 8, the second camera 4 is controlled to rotate such that the shooting direction passes through the railroad locator end 1. At this time, the first camera 3, the second camera 4 and the tail end 1 of the railway positioner form a triangle, and the length of the telescopic bracket 2, the included angle (first angle) between the telescopic bracket 2 and the horizontal direction, the included angle (second angle) between the connecting line of the tail end 1 of the railway positioner and the first camera 3 and the telescopic bracket 2, the included angle (third angle) between the connecting line of the tail end 1 of the railway positioner and the second camera 4 and the telescopic bracket 2, the height of the measuring trolley 8 plus the rail 9 and the width of the rail 9 are further measured.

In fig. 8, L represents the length of the line connecting the railway locator end 1 and the first camera 3, B represents the length of the telescopic bracket 2, F represents the length of the line connecting the railway locator end 1 and the second camera 4, α represents the angle (first angle) between the telescopic bracket 2 and the horizontal direction, β represents the angle (second angle) between the line connecting the railway locator end 1 and the first camera 3 and the telescopic bracket 2, and η represents the angle (third angle) between the line connecting the railway locator end 1 and the second camera 4 and the telescopic bracket 2.

Δh represents the difference in height between the rail locator end 1 and the first end 6, Δd represents the horizontal distance between the rail locator end 1 and the first end 6, h represents the height of the measurement trolley 8 plus the rail 9, and d represents the width of the rail 9.

The length of the connecting line between the railway locator end 1 and the first camera 3 is calculated by using the cosine theorem of the triangle in combination with the letter marks in the figure, and the specific calculation formula is shown as the formula (I):

(one);

the length L of the connecting line of the railway locator end 1 and the first camera 3 and the length F of the connecting line of the railway locator end 1 and the second camera 4 can be obtained through calculation, and then the height difference delta h between the railway locator end 1 and the first end 6 and the horizontal distance delta d between the railway locator end 1 and the first end 6 are calculated by utilizing a formula (II); and finally calculating to obtain the guide height and the pull-out value.

(II) the second step;

the height difference delta h between the tail end 1 of the railway locator and the first end 6 is added with the height h of the measuring trolley 8 plus the rail 9 to obtain the guide height; the horizontal distance Δd of the rail locator end 1 from the first end 6 plus half the width of the rail 9 gives the pull-out value. The default rail 9 width is here equal to twice the distance of the first camera 3 from the centre line of the rail 9, i.e. the first camera 3 is vertically co-linear with one of the tracks of the rail 9. When the first camera 3 is not collinear with the track in the vertical direction, the double of the distance of the first camera 3 from the centre line of the rail 9 is taken as d into the calculation.

The mode can adapt to more measuring environments, and the guide height and the pull-out value can be obtained through calculation by only needing that the tail end 1 of the railway positioner and the first camera 3 and the second camera 4 are coplanar to form a triangle, adjusting the shooting directions of the two cameras to pass through the tail end 1 of the railway positioner and measuring various data; the method has the advantages of low measurement requirement, simple and convenient measurement process and capability of meeting the actual requirement of rapid measurement.

Further, the step of adjusting the pose of the second camera 4 includes:

adjusting the shooting direction of the second camera 4, so that the angle between the shooting direction of the second camera 4 and the telescopic bracket 2 is equal to the second angle;

the telescopic support 2 is controlled to perform telescopic movement so that the shooting direction of the second camera 4 passes through the railway locator end 1.

In some embodiments, referring to fig. 4, l represents the length of the line connecting the rail locator end 1 and the first camera 3, B represents the length of the telescopic bracket 2, F represents the length of the line connecting the rail locator end 1 and the second camera 4, α represents the angle (first angle) between the telescopic bracket 2 and the horizontal direction, β represents the angle (second angle) between the line connecting the rail locator end 1 and the first camera 3 and the telescopic bracket 2, η represents the angle (third angle) between the line connecting the rail locator end 1 and the second camera 4 and the telescopic bracket 2, H represents the altitude, and D represents the pull-out value.

The third angle eta is adjusted to be equal to the second angle beta, and the telescopic bracket 2 is controlled to extend and retract so that the shooting direction of the second camera 4 passes through the tail end 1 of the railway positioner, thereby constructing an isosceles triangle. The length B of the adjusted telescopic bracket 2, the adjusted first angle α, the adjusted second angle β, the height h of the trolley 8 plus the rail 9 and the width d of the rail 9 are measured. Since the third angle has been made equal to the second angle, there is no need to measure the third angle again.

Calculating the length L of the connecting line of the first camera 3 and the tail end 1 of the railway locator by using a formula (III) in combination with the letter marks in the figure;

(III);

after obtaining the length L of the connection line between the first camera 3 and the railway locator end 1, the altitude guiding and pulling-out values are further calculated by using a formula (II).

The isosceles triangle is constructed in the way that the third angle is equal to the second angle, and the third angle is not required to be measured, so that the data needing to be measured is reduced, and the error caused by measuring the third angle can be eliminated. Meanwhile, the measurement accuracy is kept unchanged when other data are measured, so that the error is effectively reduced, the measurement accuracy is improved, and the accuracy of the calculated guide height and the pull-out value is ensured.

Further, the step of adjusting the pose of the second camera 4 includes:

adjusting the shooting direction of the second camera 4 to enable the shooting direction of the second camera 4 to be perpendicular to the telescopic bracket 2;

In some embodiments, the process of adjusting the pose of the second camera 4 to construct a right triangle may also be implemented by:

rotating the telescopic bracket 2 while keeping the photographing direction of the second camera 4 perpendicular to the telescopic bracket 2; the shooting direction of the second camera 4 is rotated along with the telescopic bracket 2;

when the photographing direction of the second camera 4 passes the railroad locator end 1, the rotation of the telescopic bracket 2 is stopped.

In some embodiments, referring to fig. 7, l represents the length of the line connecting the rail locator end 1 and the first camera 3, B represents the length of the telescopic bracket 2, F represents the length of the line connecting the rail locator end 1 and the second camera 4, α represents the angle between the telescopic bracket 2 and the horizontal (first angle), β represents the angle between the line connecting the rail locator end 1 and the first camera 3 and the telescopic bracket 2 (second angle), and η represents the angle between the line connecting the rail locator end 1 and the second camera 4 and the telescopic bracket 2 (third angle).

The shooting direction of the second camera 4 is adjusted so that the shooting direction of the second camera 4 is perpendicular to the telescopic bracket 2, namely, the third angle is adjusted to 90 degrees, and then the length of the telescopic bracket 2 is adjusted so that the shooting direction of the second camera 4 passes through the railway locator tail end 1. At this time, the two cameras and the railway locator end 1 form a right triangle.

In the embodiment, according to the first angle alpha, the second angle beta and the length B of the telescopic bracket 2, the length L of the connecting line of the tail end 1 of the railway positioner and the first camera 3 is calculated by combining the formula (IV);

(IV);

after obtaining the length L of the connecting line between the railway locator end 1 and the first camera 3, the altitude guiding and pulling-out values are further calculated by using a formula (II).

Compared with the previous embodiment, the method of constructing the right triangle further reduces the data to be measured, namely, the height guiding and pulling-out values can be calculated by only measuring the first angle alpha, the second angle beta and the length B of the telescopic bracket 2, and the height h of the trolley 8 plus the rail 9 and the width d of the rail 9. In the process of multiple measurement, as the second camera 4 moves along with the telescopic bracket 2, the shooting direction of the second camera 4 does not need to be adjusted repeatedly, namely, the size of the third angle is only required to be adjusted once before the measurement is started, and angle errors caused by multiple adjustment are avoided. The method for constructing the right triangle not only can simplify calculation, but also can reduce errors caused by measuring angle data, and further improves measurement accuracy.

Further, when the telescopic bracket 2 is controlled to perform telescopic movement and the shooting direction of the second camera 4 cannot be made to pass through the railway locator end 1, the following steps are performed:

controlling the second camera 4 to shoot an image of the tail end 1 of the railway locator to obtain a first image; the first image comprises a first center pixel point coordinate and a first pixel point coordinate corresponding to the tail end 1 of the railway locator;

judging the relative position of the tail end 1 of the railway locator and the shooting direction of the second camera 4 according to the first center pixel point coordinates and the first pixel point coordinates;

when the position of the tail end 1 of the railway locator is higher than the shooting direction of the second camera 4, the telescopic bracket 2 is controlled to rotate by taking a parallel line of the extending direction of the rail 9 as an axis, so that the included angle between the telescopic bracket 2 and the horizontal direction is reduced;

when the position of the tail end 1 of the railway locator is lower than the shooting direction of the second camera 4, the telescopic support 2 is controlled to rotate by taking a parallel line of the extending direction of the rail 9 as an axis, and the included angle between the telescopic support 2 and the horizontal direction is increased;

adjusting the shooting direction of a first camera 3, so that the shooting direction of the first camera 3 passes through the tail end 1 of the railway locator;

Measuring the included angle between the telescopic bracket 2 and the horizontal direction in the current state, and taking the included angle as a first angle again; measuring the included angle between the telescopic bracket 2 and the connecting line of the first camera 3 and the tail end 1 of the railway locator in the current state, and taking the included angle as a second angle again; and measuring the included angle between the telescopic bracket 2 and the connecting line of the second camera 4 and the tail end 1 of the railway locator in the current state, and taking the included angle as a third angle again.

Specifically, in the present embodiment, since the telescopic amount of the telescopic bracket 2 is limited, when the position of the positioner is special and the shooting direction of the second camera 4 cannot pass through the railroad positioner end 1 regardless of the telescopic bracket 2 telescopic, it is necessary to consider a scheme calculated by the cosine law or a scheme of performing the present embodiment.

In some embodiments, referring to fig. 5, the center pixel 15 is at the very center of the image and the end pixel 16 is the imaging location of the railroad locator end 1 in the image. The image shot by the camera comprises a plurality of pixels arranged in an array, wherein the upper left corner of the image is taken as an origin of coordinates, the ordinate is taken as a V axis, and the abscissa is taken as a U axis. For the plane of the image, the coordinates of the pixel point gradually increase from left to right along the U axis, and gradually increase from top to bottom along the V axis.

Taking a 300×300 image as an example, the origin of coordinates is (0, 0) at the upper left corner, the coordinates of the lower right corner pixels are (300 ), and the coordinates of the center pixel are (150 ).

In the present embodiment, the V axis is used as the vertical direction, and the U axis is used as the horizontal direction. When the railway locator end 1 is too high, the coordinates (vertical coordinates) of the pixel point corresponding to the railway locator end 1 along the V axis are smaller than the coordinates of the central pixel point along the V axis. When the railway locator end 1 is too low, the coordinates of the pixel point corresponding to the railway locator end 1 along the V axis are larger than those of the central pixel point along the V axis.

In some embodiments, when special situations are encountered, for example, the height of the end 1 of the railway positioner is too high or too low, and the telescopic bracket 2 stretches to a maximum length or a minimum length, so that the intersection point of the shooting directions of the two cameras cannot coincide with the end of the railway positioner and the included angle between the two cameras and the telescopic bracket 2 is equal (i.e., the line between the first camera and the end 1 of the railway positioner, the line between the second camera 4 and the end 1 of the railway positioner and the straight line where the telescopic bracket 2 is located form an isosceles triangle), then the included angle between the telescopic bracket 2 and the horizontal direction needs to be adjusted, so that the telescopic bracket 2 can reach the above condition.

In particular, when the height of the rail locator end 1 is too high, the magnitude of the first angle needs to be reduced; when the height of the rail locator end 1 is too low, the magnitude of the first angle needs to be increased.

For the telescopic bracket 2, when the telescopic bracket 2 is telescopic to the maximum or minimum length, the above condition cannot be met, and the relative position of the railway locator end 1 relative to the straight line in the shooting direction of the second camera 4 needs to be determined first.

Specifically, referring to fig. 5, an image of the railroad locator end 1 is taken using the second camera 4, and coordinates of corresponding pixels in the image are compared with coordinates of a center pixel of the image using the railroad locator end 1, and when the coordinates of the two are equal, it is indicated that the railroad locator end 1 is already in the taking direction of the second camera 4.

Since the telescopic bracket 2 has been made coplanar with the rail locator end 1 in the previous step, the horizontal coordinate of the rail locator end 1 in the image is equal to the horizontal coordinate of the center pixel point, that is, the coordinates in the U-axis direction are equal; at this time, the included angle between the telescopic bracket 2 and the horizontal direction is adjusted, so that the imaging point of the railway locator end 1 in the image is continuously changed along the V-axis direction, namely, the pixel point corresponding to the railway locator end 1 is changed, and finally, the pixel point corresponding to the railway locator end 1 is positioned at the central pixel point.

In some embodiments, since both cameras move with the telescopic bracket 2, the shooting direction of the first camera 3 needs to be readjusted after rotating the telescopic bracket 2, so that both shooting directions pass through the railway locator end 1.

Since the above-mentioned mode is exemplified by the mode of constructing a right triangle, when the included angle between the second camera 4 and the telescopic bracket 2 is equal to the included angle between the first camera 3 and the telescopic bracket 2, the distances between the two cameras and the railway locator end 1 are also equal, so that the two shooting directions can be ensured to pass through the railway locator end 1.

Further, the first central pixel point coordinates comprise first central pixel point horizontal coordinates and first central pixel point vertical coordinates, and the first pixel point coordinates comprise first pixel point horizontal coordinates and first pixel point vertical coordinates;

the specific step of judging the relative position of the railway locator end 1 and the shooting direction of the second camera 4 according to the first center pixel point coordinate and the first pixel point coordinate comprises the following steps:

when the vertical coordinate of the first pixel point is smaller than that of the first central pixel point, judging that the position of the tail end 1 of the railway locator is higher than the shooting direction of the second camera 4;

And when the vertical coordinate of the first pixel point is larger than that of the first central pixel point, judging that the position of the tail end 1 of the railway locator is lower than the shooting direction of the second camera 4.

In some embodiments, when the angle of the telescopic bracket 2 needs to be adjusted, the adjustment direction needs to be determined first, and in this embodiment, the rotation direction is determined by capturing the image of the end 1 of the railway locator by the camera and determining the pixel coordinates.

Processing the acquired image by using the existing image processing means, and identifying all pixel points contained in the position of the tail end 1 of the railway locator; since the railroad locator terminal 1 occupies a plurality of pixel points in the image, the pixel points included in the railroad locator terminal 1 are randomly sampled, the average pixel coordinates (rounding) of the plurality of sample pixel points are calculated, and the calculated pixel coordinates are used as the pixel coordinates corresponding to the railroad locator terminal 1.

In particular, in the present embodiment, it is necessary to ensure that the placement direction of the camera is fixed, i.e., horizontally along the extending direction of the rail 9. By adopting a mode of calculating the pixel vertical coordinate difference, calculation errors caused by the fact that the telescopic bracket 2 is not strictly coplanar with the tail end 1 of the railway positioner can be eliminated.

The rotation direction of the telescopic bracket 2 can be judged through the image, automatic identification and automatic adjustment are realized, and the measurement efficiency is improved.

Further, the specific step of controlling the telescopic bracket 2 to rotate around the parallel line of the extending direction of the rail 9 comprises the following steps:

s71, acquiring an adjusting direction of an included angle between the telescopic bracket 2 and the horizontal direction;

s72, adjusting the included angle between the telescopic bracket 2 and the horizontal direction in the adjusting direction by a first set angle;

s73, acquiring an image of the tail end 1 of the railway locator by the second camera 4 to obtain a second image; the second image comprises a second center pixel point coordinate and a second pixel point coordinate corresponding to the tail end 1 of the railway locator; the second center pixel point coordinates comprise second center pixel point horizontal coordinates and second center pixel point vertical coordinates, and the second pixel point coordinates comprise second pixel point horizontal coordinates and second pixel point vertical coordinates;

And S75, stopping adjusting the included angle between the telescopic bracket 2 and the horizontal direction.

In some embodiments, the shooting direction of the second camera 4 is directly aligned to the railway locator end 1 by adjusting the angle of the telescopic bracket 2, so that the next measurement can be performed without adjusting the length of the telescopic bracket 2 again, errors caused by adjusting the length of the telescopic bracket 2 are reduced, and the detection precision is improved.

In some embodiments, the first setting angle is set to any value between 0.2 degrees and 1 degree, and may be set according to the adjustable precision of the device. In this embodiment, the manner of adjusting the angle a small number of times and collecting the image to perform the pixel coordinate analysis can more accurately adjust the first angle.

In some embodiments, when the telescopic bracket 2 reaches the maximum or minimum length and the angle between the telescopic bracket 2 and the horizontal direction needs to be adjusted, the angle of the telescopic bracket 2 can be adjusted appropriately so that the adjustment amount is slightly larger than the actually required adjustment amount.

For example, when the end 1 of the railroad locator is too high, the telescopic bracket 2 has been adjusted to the maximum length, and assuming that the precise value of the first angle is reduced to 10 degrees, the actual reduced angle may be 10 to 15 degrees, and then the telescopic bracket 2 is controlled to shorten by an appropriate length so that the intersection point of the two camera shooting directions coincides with the end of the railroad locator and is equal to the included angle of the telescopic bracket 2. In this way, measurement errors caused by insufficient accuracy of the angle of the rotary telescopic bracket 2 can be reduced.

In some embodiments, if a special situation is encountered in the manner of constructing an isosceles triangle in the previous embodiment, that is, if the telescopic bracket 2 cannot form an isosceles triangle anyway, the manner of calculating by using the cosine law in the above embodiment or the manner of constructing a right triangle in the present embodiment is used for continuous measurement.

Further, the specific steps of moving the telescopic support 2 into the measurement plane include:

acquiring an image of the tail end 1 of the railway locator to obtain a third image; the third image comprises a third center pixel point coordinate and a third pixel point coordinate corresponding to the tail end 1 of the railway locator; the third central pixel point coordinates comprise third central pixel point horizontal coordinates and third central pixel point vertical coordinates, and the third pixel point coordinates comprise third pixel point horizontal coordinates and third pixel point vertical coordinates;

acquiring the pixel size in the third image;

when the coordinate difference is positive, moving the telescopic bracket 2 forward in a first direction for a first set distance; when the coordinate difference is negative, reversely moving the telescopic bracket 2 in a first direction for a first set distance; said first direction being parallel to the direction of extension of the rail 9.

In some embodiments, the pixels are each square, with sides of the square being the size of the pixel. For example, a pixel size of 0.02mm and a coordinate difference of 100 indicates that the first set distance is 2mm.

In some embodiments, the top surface of the measuring trolley 8 is slidably provided with a moving table 17, and the telescopic bracket 2 is arranged on the moving table; the moving table 17 can generate a tiny offset along the moving direction of the measuring trolley 8 under the cooperation of the servo motor and the rack, and is used for driving the telescopic bracket 2 to generate a tiny offset along the extending direction of the rail 9. When the camera detects that the telescopic bracket 2 is not coplanar with the tail end 1 of the railway locator, the moving table 17 drives the telescopic bracket 2 to move by a first set distance so as to ensure that the telescopic bracket 2 is coplanar with the tail end 1 of the railway locator.

The measuring trolley 8 is arranged on the rail 9 and can move along the rail 9, and is pre-aligned before measurement, so that the telescopic bracket 2 is basically aligned with the tail end 1 of the railway positioner, and then the method of the embodiment is utilized for fine adjustment, so that the coplanarity of the telescopic bracket and the tail end 1 is ensured.

Further, the specific steps of calculating the guide height and the pull-out value according to the baseline length value, the first angle, the second distance and the third distance include:

Calculating the distance between the first end 6 and the tail end 1 of the railway locator according to the baseline length value and the second angle to obtain a first distance;

Specifically, the invention calculates the guide height and the pull-out value by constructing a triangle and utilizing the conversion relation of the triangle. Specifically, the triangle to be constructed includes any of three different ways, triangle, isosceles triangle and right triangle.

The calculation methods of different triangles are also different, for example, constructing a triangle with an arbitrary shape calculates the guide height and the pull value by using the cosine law of the triangle, as shown in the formula (one) and the formula (two). The detection condition of this way is low, can be applicable to various detection environment, carries out quick detection measurement.

The isosceles triangle is constructed, so that less data needs to be detected, errors caused by data measurement can be reduced, and the detection precision is improved; the method uses the formula (III) and the formula (II) to calculate the guide height and the pull value, is suitable for the condition that higher detection precision is required, and can also verify the accuracy of data after one detection is completed. For example, the length F of the second camera 4 connected to the railway locator end 1 is calculated by using the length of the telescopic bracket 2 and the third angle, and whether the length F of the second camera 4 connected to the railway locator end 1 is equal to the length L of the first camera 3 connected to the railway locator end 1 is determined to verify the accuracy of the data.

The method for constructing the right triangle can further reduce the data to be detected, the calculation process of the right triangle is simpler and more convenient while the error is further reduced, the guide height and the pull-out value can be calculated by using the formula (IV) and the formula (II), the calculation complexity is lower, and the detection precision is higher; can be suitable for various complex environments of quick detection and high-precision detection.

Example 2

Fig. 2 is a schematic structural diagram of a driving assembly in an embodiment, configured to execute the method for measuring the guide height and the pull-out value of the railway catenary according to the foregoing embodiment, where the device for measuring the guide height and the pull-out value of the railway catenary includes:

a telescopic bracket 2, said telescopic bracket 2 having a first end 6 and a second end 7; the telescopic bracket 2 is arranged in parallel with the measuring plane and forms a first angle with the horizontal direction, and the telescopic direction of the telescopic bracket 2 and the connecting lines of the first end 6 and the second end 7 are parallel to the measuring plane;

a first camera 3, said first camera 3 being rotatably mounted at a first end 6;

a second camera 4, said second camera 4 being rotatably mounted at a second end 7;

the driving assembly 5 is connected with the telescopic bracket 2 and is used for driving the telescopic bracket 2 to stretch and retract and adjusting the relative position between the first camera 3 and the second camera 4;

A measuring trolley 8, wherein the first end 6 of the telescopic bracket 2 is rotatably arranged on the measuring trolley 8; the driving assembly 5 is mounted on the measuring trolley 8; the measuring trolley 8 is arranged on a rail 9 and is used for driving the telescopic bracket 2 and the driving assembly 5 to move along the rail 9;

the control assembly is arranged on the measuring trolley 8 and is respectively connected with the driving assembly 5, the first camera 3 and the second camera 4; the control component is used for receiving images shot by the first camera 3 and the second camera 4, driving the driving component 5 to drive the telescopic bracket 2 to perform telescopic motion, and measuring the first angle, the second angle, the third angle and the baseline length value; acquiring the height difference between the first end 6 and the ground to obtain a second distance; obtaining a horizontal distance between the first end 6 and the center line of the rail 9 to obtain a third distance; and calculating according to the first angle, the second angle, the third angle, the baseline length value, the second distance and the third distance to obtain the guide height and the pull-out value.

In some embodiments, the control component includes a computer, a PLC, and the like. The second distance and the third distance are measured by an operator and input into a computer so that the control component can acquire the second distance and the third distance.

The device for measuring the guide height and the pull-out value of the railway contact net further comprises a power supply module for supplying power to the driving device and the camera.

In some embodiments, referring to fig. 6, the drive assembly 5 comprises:

the first driving device 10 is fixedly arranged on the measuring trolley 8, and the driving end of the first driving device 10 faces to the vertical direction;

the screw rod 11, one end of the screw rod 11 is fixedly connected with the driving end of the first driving device 10; the driving end of the first driving device 10 is used for driving the screw rod 11 to rotate by taking the vertical direction as an axis;

the screw nut 12 is sleeved on the screw 11, and the second end 7 of the telescopic bracket 2 is rotatably connected with the screw nut 12 and is used for driving the telescopic bracket 2 to rotate relative to the measuring trolley 8 and to stretch under the action of the first driving device 10 and the screw 11.

Specifically, the first driving device 10 is a servo motor, so that the rotation of the screw 11 can be controlled more precisely, and the height of the screw nut 12 can be adjusted more precisely. Since the second end 7 of the telescopic bracket 2 is rotatably connected with the screw nut 12, the change of the height of the screw nut 12 drives the telescopic bracket 2 to rotate, and simultaneously, the telescopic bracket stretches.

In some special cases, the intersection point of the shooting directions of the two cameras cannot coincide with the tail end 1 of the railway positioner by adjusting the telescopic bracket 2 anyway, and meanwhile, the included angles between the two shooting directions and the telescopic bracket 2 are equal; at this time, the telescopic bracket 2 needs to be rotated.

In some embodiments, referring to fig. 2 and 3, the driving assembly 5 includes:

the second driving device 13 is fixedly arranged on the measuring trolley 8, and the driving end of the second driving device 13 is fixedly connected with the first end 6 and is used for driving the telescopic bracket 2 to rotate relative to the measuring trolley 8;

and one end of the third driving device 14 is fixedly connected with the first end 6, and the other end of the third driving device 14 is fixedly connected with the second end 7 and is used for driving the telescopic bracket 2 to stretch out and draw back.

Specifically, the second driving device 13 is a servo motor, and the third driving device 14 is a servo cylinder, so that the telescopic bracket 2 can be adjusted more accurately to ensure measurement accuracy.

In some embodiments, two cameras are rotatably installed at two ends of the telescopic bracket 2 respectively, and the distance between the cameras and the tail end 1 of the railway locator is calculated by using an isosceles triangle formed by the shooting directions of the two cameras and the telescopic direction of the telescopic bracket 2; and calculates the guiding height and the pulling value according to the length of the current telescopic bracket 2, the distance between the camera and the tail end 1 of the railway positioner, the included angle between the telescopic bracket 2 and the horizontal direction and the included angle between the connecting line of the camera and the tail end 1 of the railway positioner and the telescopic bracket 2.

In some embodiments, fig. 4 is a schematic diagram of a geometric model for calculating the guide height and the pull-out value, the shooting directions of the two cameras and the telescopic direction of the telescopic bracket 2 are adjusted to form an isosceles triangle, and the length B of the current telescopic bracket 2, the included angle α between the telescopic bracket 2 and the horizontal direction, and the included angle β between the camera and the connecting line L of the railway locator terminal 1 and the telescopic bracket 2 are obtained through measurement. At this time, the perpendicular bisector of the telescopic bracket 2, the telescopic bracket 2 and the line L connecting the camera and the railway locator end 1 form a right triangle, and then the length L connecting the camera and the railway locator end 1 can be calculated according to the formula (III).

In some embodiments, the first camera 3 and the second camera 4 are further provided with parallel light emitters, and the direction of the parallel light emitted by the parallel light emitters is parallel to the shooting direction of the cameras. When the shooting direction of the camera is aligned with the railway locator end 1, the parallel light emitters can make the railway locator end 1 show light spots so as to assist operators in observing and monitoring whether the camera is aligned with the railway locator end 1.

The first camera 3 and the second camera 4 can be respectively provided with parallel light emitters emitting different colors, when the light spots of the two colors are simultaneously displayed at the tail end 1 of the railway locator, an operator can know that the intersection point of the two shooting directions coincides with the tail end 1 of the railway locator and is equal to the included angle of the telescopic bracket 2, and further the measurement can be started to be carried out. The mode can also facilitate an operator to calibrate the two cameras and remove faults.

In some embodiments, the shooting direction of the camera is adjusted in a servo motor control mode, and the servo motor is connected with an encoder, so that rotary motion can be converted into an electric signal, and the control assembly can conveniently detect the first angle, the second angle and the third angle.

In some embodiments, mounting the telescoping support 2 on the measurement trolley 8 enables the telescoping support 2 to be moved along the rail 9, facilitating adjustment of the telescoping support 2 to be coplanar with the rail locator end 1.

When adjusting the position of railway locator terminal 1, owing to need measure repeatedly and lead high and pull out the value, install the mode on measuring trolley 8 with flexible support 2, need not the position of adjusting flexible support 2 many times, only need adjust the length of flexible support 2 and adjust the distance between two cameras, and then make the intersection point of the shooting direction of two cameras coincide with railway locator terminal 1, make simultaneously that the contained angle between two shooting directions and the flexible support 2 equals, convenient measurement calculates leads high and pulls out the value.

In some embodiments, since the railway positioners are disposed on two sides of the railway, two telescopic brackets 2 are disposed on two sides of the measurement trolley 8, respectively, and face different directions, but each form an included angle with the horizontal direction by a first angle, as shown in fig. 2. This way can guarantee that the acute angle that telescopic bracket 2 and the horizontal direction that both sides pressed from both sides is the same at the in-process of adjusting telescopic bracket 2. The angle of the telescopic supports 2 can be adjusted more quickly through the mode, and meanwhile the angles of the telescopic supports 2 on two sides are guaranteed, so that the detection efficiency is improved.

In some embodiments, referring to fig. 6, the shooting directions of the telescopic bracket 2 and the two cameras are used to form a triangle, so as to calculate the height guiding and pulling-out values, that is, the shooting directions of the two cameras are adjusted as long as the telescopic bracket 2 and the tail end 1 of the railway positioner are coplanar, so that the shooting directions of the two cameras pass through the tail end 1 of the railway positioner, and the conditions for calculating the height guiding and pulling-out values can be met.

In this embodiment, the first driving device 10 is a servo motor, and can accurately adjust the rotation angle of the screw rod 11, accurately adjust the height of the screw rod nut 12, and further accurately adjust the angle of the telescopic bracket 2, so as to ensure that the perpendicular bisector of the telescopic bracket 2 passes through the railway locator end 1.

In some embodiments, referring to fig. 9, the measuring trolley 8 is further provided with a moving table 17, two ends of the moving table 17 are slidably mounted on a guide rail 18, and the telescopic bracket 2 is mounted on the moving table 17 and can generate a tiny movement along the extending direction of the rail 9 along with the moving table 17, so that the telescopic bracket 2 is coplanar with the railway locator end 1. The servo motor is fixedly arranged on the measuring trolley 8, the driving end is provided with a gear, the rack is fixedly arranged on the moving table 17 along the extending direction of the rail 9, and the two are in meshed transmission through the gear and the rack.

The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the invention referred to in the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.

Claims

1. The method for measuring the guide height and the pull-out value of the railway contact net is characterized by comprising the following steps of:

moving the telescopic bracket (2) into a measuring plane; the measuring plane is perpendicular to the extending direction of the rail (9) and coplanar with the railway locator end (1); the telescopic bracket (2) is provided with a first end (6) and a second end (7), the telescopic direction of the telescopic bracket (2) and the connecting lines of the first end (6) and the second end (7) are parallel to the measuring plane; the telescopic bracket (2) is arranged in parallel with the measuring plane and forms a first angle with the horizontal direction; the first angle is an acute angle;

Adjusting the shooting direction of a first camera (3) to enable the railway locator tail end (1) to pass through the shooting direction of the first camera (3); the first camera (3) is rotatably mounted at the first end (6);

measuring the included angle between the shooting direction of the first camera (3) and the telescopic bracket (2) to obtain a second angle;

adjusting the shooting direction of a second camera (4) to enable the shooting direction of the second camera (4) to be perpendicular to the telescopic bracket (2); -said second camera (4) being rotatably mounted at said second end (7);

controlling the telescopic bracket (2) to perform telescopic movement, so that the shooting direction of the second camera (4) passes through the tail end (1) of the railway locator;

measuring the length of the telescopic bracket (2) to obtain a baseline length value; measuring the included angle between the shooting direction of the second camera (4) and the telescopic bracket (2) to obtain a third angle;

acquiring a height difference between the first end (6) and the ground to obtain a second distance; obtaining a horizontal distance between the first end (6) and the center line of the rail (9) to obtain a third distance;

calculating to obtain a first distance by utilizing a triangular conversion relation according to the second angle, the third angle and the baseline length value; the first distance is the distance of the first end (6) from the railway locator end (1);

Calculating to obtain a guide height according to the first distance, the first angle, the second angle and the second distance by utilizing a triangular conversion relation; calculating a pull-out value according to the first distance, the first angle, the second angle and the third distance by utilizing a triangular conversion relation;

when the telescopic bracket (2) is controlled to perform telescopic movement and the shooting direction of the second camera (4) passes through the railway locator end (1), the following steps are performed when the telescopic bracket (2) is controlled to perform telescopic movement and the shooting direction of the second camera (4) cannot pass through the railway locator end (1):

controlling the second camera (4) to shoot an image of the tail end (1) of the railway locator to obtain a first image; the first image comprises a first center pixel point coordinate and a first pixel point coordinate corresponding to the tail end (1) of the railway locator;

judging the relative position of the tail end (1) of the railway locator and the shooting direction of the second camera (4) according to the first center pixel point coordinates and the first pixel point coordinates;

when the position of the tail end (1) of the railway locator is higher than the shooting direction of the second camera (4), the telescopic bracket (2) is controlled to rotate by taking parallel lines in the extending direction of the rail (9) as axes, and the included angle between the telescopic bracket (2) and the horizontal direction is reduced;

When the position of the tail end (1) of the railway locator is lower than the shooting direction of the second camera (4), controlling the telescopic bracket (2) to rotate by taking parallel lines in the extending direction of the rail (9) as axes, and increasing the included angle between the telescopic bracket (2) and the horizontal direction;

adjusting the shooting direction of the first camera (3) so that the shooting direction of the first camera (3) passes through the tail end (1) of the railway locator;

measuring the included angle between the telescopic bracket (2) and the horizontal direction in the current state, and taking the included angle as a first angle again; measuring the included angle between the connecting lines of the telescopic bracket (2) and the first camera (3) and the tail end (1) of the railway locator in the current state, and taking the included angle as a second angle again; and measuring the included angle between the connecting lines of the telescopic bracket (2) and the second camera (4) and the tail end (1) of the railway locator in the current state, and taking the included angle as a third angle again.

2. The method for measuring the guide height and the pull-out value of the railway catenary according to claim 1, wherein the first central pixel point coordinates comprise first central pixel point horizontal coordinates and first central pixel point vertical coordinates, and the first pixel point coordinates comprise first pixel point horizontal coordinates and first pixel point vertical coordinates;

The specific step of judging the relative position of the railway locator end (1) and the shooting direction of the second camera (4) according to the first center pixel point coordinate and the first pixel point coordinate comprises the following steps:

when the vertical coordinate of the first pixel point is smaller than that of the first central pixel point, judging that the position of the tail end (1) of the railway locator is higher than the shooting direction of the second camera (4);

and when the vertical coordinate of the first pixel point is larger than that of the first central pixel point, judging that the position of the tail end (1) of the railway locator is lower than the shooting direction of the second camera (4).

3. The method for measuring the guide height and the pull-out value of a railway catenary according to claim 1, wherein the specific step of controlling the telescopic bracket (2) to rotate with the parallel lines of the extending direction of the rail (9) as axes comprises:

s71, acquiring an adjusting direction of an included angle between the telescopic bracket (2) and the horizontal direction;

s72, adjusting the included angle between the telescopic bracket (2) and the horizontal direction in the adjusting direction by a first set angle;

S73, acquiring an image of the tail end (1) of the railway locator by the second camera (4) to obtain a second image; the second image comprises a second center pixel point coordinate and a second pixel point coordinate corresponding to the tail end (1) of the railway locator; the second center pixel point coordinates comprise second center pixel point horizontal coordinates and second center pixel point vertical coordinates, and the second pixel point coordinates comprise second pixel point horizontal coordinates and second pixel point vertical coordinates;

and S75, stopping adjusting the included angle between the telescopic bracket (2) and the horizontal direction.

4. The method for measuring the guide height and pull-out value of a railway catenary according to claim 1, characterized in that the specific step of moving the telescopic support (2) into the measuring plane comprises:

acquiring an image of the tail end (1) of the railway locator to obtain a third image; the third image comprises a third center pixel point coordinate and a third pixel point coordinate corresponding to the tail end (1) of the railway locator; the third central pixel point coordinates comprise third central pixel point horizontal coordinates and third central pixel point vertical coordinates, and the third pixel point coordinates comprise third pixel point horizontal coordinates and third pixel point vertical coordinates;

acquiring the pixel size in the third image;

when the coordinate difference is positive, the telescopic bracket (2) is positively moved in a first direction for a first set distance; when the coordinate difference is negative, reversely moving the telescopic bracket (2) in a first direction for a first set distance; the first direction is parallel to the direction of extension of the rail (9).

5. A guide height and pull-out value measuring apparatus of a railway catenary for performing the guide height and pull-out value measuring method of a railway catenary according to claim 1, the guide height and pull-out value measuring apparatus of a railway catenary comprising:

a telescopic bracket (2), the telescopic bracket (2) having a first end (6) and a second end (7); the telescopic support (2) is arranged in parallel with the measuring plane and forms a first angle with the horizontal direction, and the telescopic direction of the telescopic support (2) and the connecting lines of the first end (6) and the second end (7) are parallel to the measuring plane;

-a first camera (3), the first camera (3) being rotatably mounted at the first end (6);

-a second camera (4), the second camera (4) being rotatably mounted at the second end (7);

the driving assembly (5) is connected with the telescopic bracket (2) and used for driving the telescopic bracket (2) to stretch and retract and adjusting the relative position between the first camera (3) and the second camera (4);

a measuring trolley (8), the first end (6) of the telescopic bracket (2) being rotatably mounted on the measuring trolley (8); the driving assembly (5) is arranged on the measuring trolley (8); the measuring trolley (8) is arranged on the rail (9) and is used for driving the telescopic bracket (2) and the driving assembly (5) to move along the rail (9);

the control assembly is arranged on the measuring trolley (8) and is respectively connected with the driving assembly (5), the first camera (3) and the second camera (4); the control assembly is used for receiving images shot by the first camera (3) and the second camera (4), driving the driving assembly (5) to drive the telescopic bracket (2) to perform telescopic movement, and measuring the first angle, the second angle, the third angle and the baseline length value; acquiring a height difference between the first end (6) and the ground to obtain a second distance; obtaining a horizontal distance between the first end (6) and the centre line of the rail (9), obtaining a third distance; calculating to obtain a first distance by utilizing a triangular conversion relation according to the second angle, the third angle and the baseline length value; the first distance is the distance of the first end (6) from the railway locator end (1); calculating to obtain a guide height according to the first distance, the first angle, the second angle and the second distance by utilizing a triangular conversion relation; and calculating a pull-out value according to the first distance, the first angle, the second angle and the third distance by utilizing a triangular conversion relation.