CN116922230B - Flexible contact wire polishing device - Google Patents
Flexible contact wire polishing device Download PDFInfo
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- CN116922230B CN116922230B CN202311193373.0A CN202311193373A CN116922230B CN 116922230 B CN116922230 B CN 116922230B CN 202311193373 A CN202311193373 A CN 202311193373A CN 116922230 B CN116922230 B CN 116922230B
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- 238000005498 polishing Methods 0.000 title claims abstract description 133
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 238000012545 processing Methods 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000002159 abnormal effect Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 41
- 239000012212 insulator Substances 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 16
- 238000005299 abrasion Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 8
- 238000002679 ablation Methods 0.000 claims description 7
- 238000005286 illumination Methods 0.000 claims description 7
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- 238000007517 polishing process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
- B24B29/06—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces for elongated workpieces having uniform cross-section in one main direction
- B24B29/08—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces for elongated workpieces having uniform cross-section in one main direction the cross-section being circular, e.g. tubes, wires, needles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/38—Single-purpose machines or devices for externally grinding travelling elongated stock, e.g. wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The application discloses a flexible contact wire polishing device which comprises a vehicle body, wherein a lifting mechanism is arranged on the vehicle body, a polishing mechanism is arranged at the top of the lifting mechanism, and the flexible contact wire polishing device further comprises a measuring device, a detection processing system and a control device; the measuring device is used for acquiring and storing the surface information of the contact wire; the detection processing system is used for processing the surface information to detect whether abnormal information exists in the surface information and obtain a detection result; the control device is used for controlling the lifting mechanism and the polishing mechanism to carry out corresponding operation according to the detection result, and the control device has the advantages of automatically judging the region of the contact line, which needs polishing, improving the polishing efficiency and being high in operation safety.
Description
Technical Field
The application relates to the technical field of contact wire polishing, in particular to a flexible contact wire polishing device.
Background
The high-speed railway has the characteristics of high speed and heavy load, and has great significance for driving economic and social development along the line and promoting transformation and upgrading of related industries. The pantograph/catenary system (hereinafter referred to as the pantograph-catenary system) is the only way for acquiring electric energy of a train, and as the speed of the train increases, the pantograph-catenary system has the problems of large current-carrying capacity, aggravation of vibration, frequent electric arc and the like, and the improvement of the stability of the pantograph-catenary system has great significance for the normal operation of the train. The air humidity in coastal areas is high, the salt content is high, contact wires in the bow net system are easier to oxidize than those in other areas, an oxide film can influence the current transmission of a bow net contact pair, and the current receiving quality of a train is reduced; in addition, the contact line is subjected to mechanical friction and electric arc for a long time, so that scratches and ablation pits with different depths exist on the surface, the scratches and ablation pits can reduce the current-carrying friction and abrasion performance of the bow net contact material, and the damage of the material is aggravated.
At present, the maintenance of the flexible contact line adopts manual inspection to judge the area to be polished, and then the handheld polishing equipment is used for polishing, so that the problems of high operation intensity, low polishing efficiency and the like exist, meanwhile, the potential safety hazard caused by personnel falling is accompanied, and the maintenance requirement of the high-speed railway contact line is difficult to be met by the traditional manual operation.
Disclosure of Invention
The application mainly aims to provide a flexible contact line polishing device, and aims to solve the technical problems that the conventional polishing equipment needs to manually judge the polishing area of a contact line and the polishing efficiency is low.
In order to achieve the above purpose, the application provides a polishing device for a flexible contact wire, which comprises a vehicle body, wherein a lifting mechanism is arranged on the vehicle body, a polishing mechanism is arranged at the top of the lifting mechanism, and the polishing device also comprises a measuring device, a detection processing system and a control device; wherein,
the measuring device is used for acquiring and storing the surface information of the contact wire;
the detection processing system is used for processing the surface information to detect whether abnormal information exists in the surface information and obtain a detection result;
the control device is used for controlling the lifting mechanism and the polishing mechanism to perform corresponding operation according to the detection result.
Optionally, the measuring device comprises:
the laser scanning module is used for acquiring the profile information of the contact line;
the video measurement module is used for acquiring image information of the contact line;
the GPS module is used for recording the position information of the vehicle body in real time;
and the storage module is used for storing the contour information, the image information and the position information.
Optionally, the detection processing system includes:
the laser detection processing module is used for detecting whether abnormal points exist in the profile information so as to identify the abrasion degree information of the contact line surface;
the video processing module is used for detecting and identifying the abrasion area information of the corresponding contact line in the image information;
the control device is also used for generating a polishing scheme according to the wear degree information and the wear area information so as to control the lifting mechanism and the polishing mechanism to carry out corresponding polishing operation according to the polishing scheme.
Optionally, the laser detection processing module is further configured to:
obtaining the distance between the laser scanning point and the undamaged reference surface of the contact lineDThe method comprises the following steps:
in the method, in the process of the application,Z P for scanning the spot with laser lightZThe coordinate values of the coordinate values,Z REF for contact lines of undamaged reference surfacesZCoordinate values;
arranging laser scanning points in the order of rows and columns to obtain the gradient of the laser scanning pointsGThe method comprises the following steps:
in the method, in the process of the application,X(C,R),Y(C,R),Z(C,R)is of column numberCLine number isRIs a selected point of (a)X、Y、ZCoordinate values, delta is the number of points in each preset sampling interval;
dividing the corresponding contact line area in the contour information into grids, and checking the irregularity of each point in the grids, wherein the irregularity reference expression is as follows:
in the method, in the process of the application,θ D is the distanceDThe rate of distance irregularity under the standard is,θ G is a gradientGThe gradient irregularity rate under the standard is set,N Di to divide the distance in the gridDThe number of irregular points under the standard,N Gi dividing gradients in a gridGThe number of irregular points under the standard,N all dividing the total points in the grid;
will be irregularθ D And gradient irregularityθ G Respectively comparing the contact line surface wear degree information with a preset threshold value to obtain the wear degree information of the contact line surface.
Optionally, the video processing module is further configured to identify segment insulator information in the image information;
the control device is also used for: when the information of the segmented insulator is detected, the lifting mechanism and the polishing mechanism are controlled to stop polishing operation.
Optionally, the video processing module identification is further configured to:
identifying the segment insulator information in the image information according to a similarity model; the expression of the similarity model is as follows:
in the method, in the process of the application,rfor the similarity of the image information,A m,n andB m,n the gray values of the image A and the image B at the (m, n) points are respectively shown, wherein the image A is a standard image of a contact line, and the image B is an acquired target image.
Optionally, a rotating mechanism is further arranged on the vehicle body, and the lifting mechanism is arranged on the rotating mechanism;
the video processing module is also used for identifying contact line trend information in the image information;
the control device is also used for: and controlling the rotating mechanism to adjust the azimuth of the lifting mechanism and the polishing mechanism according to the trend information of the contact line.
Optionally, the polishing mechanism comprises:
the workbench is connected to the top of the lifting mechanism;
the roller clamping assembly is arranged on the workbench and used for clamping and fixing the contact line;
the layered polishing assembly is arranged on the workbench and used for polishing the contact line.
Optionally, the layered polishing assembly comprises a grinding device, a micro-polishing device and a polishing device which are sequentially arranged on the workbench according to the length direction of the contact line, wherein the grinding device is used for grinding hard points or ablation pits on the surface of the contact line, the micro-polishing device is used for polishing scratches on the surface of the contact line after grinding, and the polishing device is used for polishing the contact line after polishing.
Optionally, a lighting lamp is arranged on the vehicle body and used for carrying out auxiliary lighting on the laser scanning module and the video measuring module.
The beneficial effects that the application can realize are as follows:
when the contact line is polished, the surface information of the contact line is measured and acquired through the measuring device, the surface information is processed through the detection processing system, so that whether abnormal information exists in the surface information is detected, a detection result is obtained, finally, the lifting mechanism and the polishing mechanism are controlled to perform corresponding operation through the control device according to the detection result, if abnormal information exists, the polishing operation can be started, the polishing operation is accurately and efficiently identified by means of a machine, the polishing efficiency is improved without manual visual identification and judgment at a high place, and the operation safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of a polishing device for flexible contact wires according to an embodiment of the present application;
FIG. 2 is a schematic view of a polishing mechanism according to an embodiment of the present application;
fig. 3 is a logic flow diagram of detecting contact line surface information in an embodiment of the present application.
Reference numerals:
100-car body, 110-chassis, 120-car wheel, 200-lifting mechanism, 210-lifting arm assembly, 220-air compressor, 230-storage cylinder, 240-transmission cylinder, 300-polishing mechanism, 310-workbench, 320-roller clamping assembly, 330-grinding device, 331-servo motor, 332-grinding wheel, 340-micro-polishing device, 350-polishing device, 400-laser scanning module, 500-video measuring module, 600-control device, 700-illuminating lamp, 800-power module, 900-rotating mechanism and 1000-contact line.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship between the components, the movement condition, etc. in a specific posture, and if the specific posture is changed, the directional indicator is correspondingly changed.
In the present application, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Examples
Referring to fig. 1-3, the present embodiment provides a polishing device for a flexible contact wire, which includes a vehicle body 100, a lifting mechanism 200 is disposed on the vehicle body 100, a polishing mechanism 300 is disposed on top of the lifting mechanism 200, and further includes a measuring device, a detection processing system and a control device 600; wherein the measuring device is used for acquiring and storing surface information of the contact wire 1000; the detection processing system is used for processing the surface information to detect whether abnormal information exists in the surface information and obtain a detection result; the control device 600 is used for controlling the lifting mechanism 200 and the polishing mechanism 300 to perform corresponding operations according to the detection result.
In this embodiment, when polishing the contact wire 1000, the surface information of the contact wire 1000 is measured and obtained by the measuring device, and then the surface information is processed by the detection processing system, so as to detect whether abnormal information exists in the surface information, and obtain a detection result, and finally the lifting mechanism 200 and the polishing mechanism 300 are controlled to perform corresponding operations according to the detection result by the control device 600, if abnormal information exists, the polishing operation can be started, and the polishing operation is accurately and efficiently identified by the machine.
It should be noted that, the detection processing system mainly plays a role of information data processing, and feeds back a processing result, and the detection processing system may be integrated in the control device 600 to form an industrial personal computer together. The control device 600 includes a console integrated with a control system including functional modules that can control the car body 100, the lifting mechanism 200, the polishing mechanism 300, the measuring device, the detection processing system, and the control device 600, respectively, so as to perform data interaction and issue various control instructions.
As an alternative embodiment, the vehicle body 100 includes a chassis 110, four wheels 120 are disposed at the bottom of the chassis 110, a driving system for controlling the wheels 120 to advance is disposed in the chassis 110, and the wheels 120 may be tapered wheels 120 to adapt to running on a track, so that movable polishing can be performed, thereby improving efficiency. Wherein, chassis 110 adopts the 321 steel that has good stress fracture resistance, oxidation resistance, wheel 120 adopts the wheel 120 steel that has high strength, fatigue resistance and wearability, and driving motor among the actuating system adopts permanent magnet synchronous motor, and motor power is 15kW, and maximum torque is 62 N.m, and the derailleur that automobile body 100 was equipped with can adopt single-speed transmission.
As an alternative embodiment, the lifting mechanism 200 includes a lifting arm assembly 210 and a pneumatic device for controlling the lifting arm assembly 210 to fold or unfold, the pneumatic device includes an air compressor 220, a storage cylinder 230 and a transmission cylinder 240 connected in sequence, wherein the power of the air compressor 220 is 6000W, the maximum exhaust amount is 560L/min, the capacity of the storage cylinder 230 is 200L, the air compressor 220 compresses the air into the storage cylinder 230 for storage, the air in the storage cylinder 230 drives the lifting arm assembly 210 to unfold through the transmission cylinder 240, so that the polishing mechanism 300 rises to a corresponding height, and the pneumatic device can provide the polishing contact line 1000 with a contact pressure in a range of 0-150N. In other embodiments, the lifting mechanism 200 may also use a hydraulic lifting principle, which is implemented in a plurality of ways, and is not limited herein.
As an alternative embodiment, the measuring device comprises: a laser scanning module 400 for acquiring profile information of the contact wire 1000; video measurement module 500 for acquiring image information of contact wire 1000; a GPS module for recording the position information of the vehicle body 100 in real time; and the storage module is used for storing the contour information, the image information and the position information.
In this embodiment, the profile information of the contact wire 1000 is obtained through the laser scanning module 400, meanwhile, the image information of the contact wire 1000 is obtained through the video measuring module 500, the surface information of the contact wire 1000 is measured according to the profile information and the image information, the accuracy of identifying the quality defects of the appearance of the contact wire 1000 is improved, meanwhile, the position information of the vehicle body 100 is recorded in real time by using the GPS module, the accurate navigation is convenient in the moving and polishing process, and the data generated by the laser scanning module 400, the video measuring module 500 and the GPS module can be stored by the storage module.
It should be noted that, the sensitivity of the laser scanning module 400, i.e., the laser scanner, is 0.1um, the thickness measurement precision is 0.01mm, and the laser scanner may be disposed on the polishing mechanism 300, so that the profile information of the contact line 1000 may be intuitively scanned in a short distance, so that the method of high-speed laser scanning measurement may be utilized by using the three-dimensional laser scanning technology, and the data information such as (x, y, z) coordinates, reflectivity, (r.g.b) color, etc. of each point on the surface of the contact line 1000 may be quickly obtained in a large area and high resolution, so as to provide a brand new technical means for quickly reconstructing a 1:1 true color three-dimensional point cloud model. The resolution of the video measurement module 500, i.e. the video camera, is 6576×4384, the chip pixel size is 5.5um, the video measurement module 500 can be arranged on the car body 100, can acquire video information of the contact line 1000 in real time, and can be decomposed into corresponding image information frame by frame later.
As an alternative embodiment, the detection processing system includes: the laser detection processing module is used for detecting whether abnormal points exist in the profile information so as to identify the abrasion degree information of the surface of the contact line 1000; the video processing module is used for detecting and identifying the abrasion area information of the corresponding contact line 1000 in the image information; the control device 600 is further used for generating a polishing scheme according to the wear degree information and the wear area information, so as to control the lifting mechanism 200 and the polishing mechanism 300 to perform corresponding polishing operations according to the polishing scheme.
In this embodiment, the detection processing system may detect the abnormal point in the profile information through the laser detection processing module, so as to identify the wear degree information on the surface of the contact line 1000, and meanwhile, detect and identify the wear area information corresponding to the contact line 1000 in the image information according to the video processing module, where the wear degree information and the wear area information may be transmitted to the storage module to be stored, and determine the polishing scheme of the contact line 1000 according to the two dimensions of the wear degree information and the wear area information of the contact line 1000 together, where the control device 600 may control the lifting mechanism 200 and the polishing mechanism 300 according to the polishing scheme to perform the corresponding polishing operation, including the control of the polishing position, the polishing time, the polishing degree, and the like.
When the abrasion area is calculated, the image identified as having the abrasion area is subjected to image noise reduction, image sharpening, image segmentation and area calculation, and the abrasion area can be calculated.
As an alternative embodiment, the laser detection processing module is further configured to:
obtaining the distance between the laser scanning point and the undamaged reference surface of the contact lineDThe method comprises the following steps:
in the method, in the process of the application,Z P for scanning the spot with laser lightZThe coordinate values of the coordinate values,Z REF for contact lines of undamaged reference surfacesZCoordinate values;
arranging laser scanning points in the order of rows and columns to obtain the gradient of the laser scanning pointsGThe method comprises the following steps:
in the method, in the process of the application,X(C,R),Y(C,R),Z(C,R)is of column numberCLine number isRIs a selected point of (a)X、Y、ZCoordinate values, delta is the number of points in each preset sampling interval; the sampling interval may be manually adjusted to reduce potential bias caused by noise points;
dividing the corresponding contact line area in the contour information into grids, and checking the irregularity of each point in the grids, wherein the irregularity reference expression is as follows:
in the method, in the process of the application,θ D is the distanceDThe rate of distance irregularity under the standard is,θ G is a gradientGThe gradient irregularity rate under the standard is set,N Di to divide the distance in the gridDThe number of irregular points under the standard,N Gi dividing gradients in a gridGThe number of irregular points under the standard,N all dividing the total points in the grid;
will be irregularθ D And gradient irregularityθ G Respectively comparing the contact line surface wear degree information with a preset threshold value to obtain the wear degree information of the contact line surface.
In this embodiment, when the wear degree information of the contact line surface is identified by the laser detection processing module, the wear degree of the contact line can be determined by comparing the detected surface with the undamaged reference surface information, where the sum of the minimum variances can be first usedMSE) The reference plane is calculated by the method defined as follows:
in the method, in the process of the application,nfor the number of laser scanning points,d i (i=1, …, n) is the firstiThe distance from each laser scanning point to the reference surface;
defining a reference plane as:
in the method, in the process of the application,X、Y、Zis a three-dimensional coordinate system in which the reference plane is located,b 1 、b 2 、b 0 is a constant;
order theThenbThe expression of (2) is:
in the method, in the process of the application,bis a set of constants that are to be chosen,Afor a set of 1 to n point coordinates on the reference plane,A'is a collectionAIs intuitively toAAll elements of (2) are mirror-inverted around a ray which starts from the 1 st row and 1 st column and starts from the lower right 45 degrees, so that a transposition of A is obtained;
wherein,，/>
in [ of ]x n y n z n ]Is the coordinates of the nth point on the reference surface;
comparing the difference of Z coordinate values of the reference surface point and the laser scanning point with the change of gradient value to judge the abrasion degree, and rotating the laser scanning point to be parallel to the laser scanning pointXYThe distance between the laser scanning point and the reference plane can be obtainedDThe method comprises the following steps:simultaneously, the laser scanning points are arranged according to the sequence of rows and columns, so that the gradient of the laser scanning points can be obtainedGAccording to distanceDAnd gradientGObtaining the irregular rate of the distanceθ D And gradient irregularityθ G And respectively compared with a preset threshold value, so that the abrasion degree of the surface of the contact line 1000 can be calculated. For example, the distance and gradient irregularity thresholds of the reference surface are set to 0.55, if the calculated distance irregularityθ D And if the gradient irregularity is larger than the threshold value 0.55, judging the detection area as a damaged area needing polishing, wherein the larger the difference is, the higher the abrasion degree is, and the corresponding polishing scheme can be started according to the abrasion degree. Therefore, the present embodiment can calculate the distance irregularity rateθ D And gradient irregularityθ G Whether the detection area is a damaged area or not and the corresponding abrasion degree are judged together, the detection accuracy is high, and the high-precision identification requirement is met.
As an alternative embodiment, the video processing module is further configured to identify segment insulator information in the image information;
the control device 600 is also configured to: when the segment insulator information is detected, the lifting mechanism 200 and the polishing mechanism 300 are controlled to stop the polishing operation.
In this embodiment, the video processing module may further identify the information of the segment insulator in the image information, where the segment insulator is an insulating device used when the contact network performs electric segmentation, and the segment insulator is not required to polish, and only needs to polish the contact line 1000, so in the mobile polishing process, if the detection area is identified as the segment insulator, the control device 600 may control the lifting mechanism 200 to drive the polishing mechanism 300 to move down, and meanwhile, the polishing mechanism 300 also stops working, so that the polishing operation can be stopped, the contact against the non-polishing area is avoided, and the effective performance of automatic polishing is ensured.
As an alternative embodiment, the video processing module identification is further configured to:
identifying the segment insulator information in the image information according to a similarity model; the expression of the similarity model is as follows:
in the method, in the process of the application,rfor the similarity of the image information,A m,n andB m,n the gray values of the image A and the image B at the (m, n) points are respectively shown, wherein the image A is a standard image of a contact line, and the image B is an acquired target image.
In this embodiment, the identification of the segment insulator is achieved by comparing the similarity between the acquired image and the reference image, i.e. determining the similarity between two groups of picturesr. The specific implementation flow is as follows: carrying out gray processing on the acquired picture to obtain a gray image,the pixels of the gray scale image can be seen as a two-dimensional matrix,A m,n andB m,n gray values of the image A and the image B at the (m, n) points respectively; the correlation degree of the gray values of the two groups of pictures at the (m, n) points can be comparatively calculated by utilizing the similarity model calculation method, so that the similarity of the gray values of the points extracted by the image A and the image B is calculated, and if the similarity is the samerIf the similarity is lower than 0.7, the contact line is generally selected as an image A, and if the similarity is lower than the threshold, the image B is judged as a segmented insulator, so that accurate identification of the segmented insulator is realized according to an image processing technology.
As an alternative embodiment, the vehicle body 100 is further provided with a rotating mechanism 900, and the lifting mechanism 200 is arranged on the rotating mechanism 900;
the video processing module is also used for identifying contact line trend information in the image information;
the control device 600 is also configured to: based on the contact line orientation information, the rotation mechanism 900 is controlled to adjust the orientation of the lifting mechanism 200 and the grinding mechanism 300.
In this embodiment, the video processing module may further identify the contact line trend information in the image information, so that according to the contact line trend information, the control device 600 controls the rotation mechanism 900 to adjust the directions of the lifting mechanism 200 and the polishing mechanism 300, so as to accurately adapt to the trend of the contact line 1000, so as to ensure that automatic accurate adjustment during mobile polishing can be performed, and thus, the feasibility of mobile polishing is ensured.
It should be noted that, here, the deviation between the center lines of the contact line image and the standard image can be calculated by the video processing module, the control amount is obtained according to the calculation of the deviation, the control amount is transmitted to the rotating mechanism 900, and the rotating mechanism 900 can drive the lifting mechanism 200 and the polishing mechanism 300 to rotate by corresponding angles according to the control amount, so as to be convenient for adapting to the 'font' shape change of the contact line 1000.
As an alternative embodiment, the rotating mechanism 900 includes a rotating motor disposed on the vehicle body 100, the rotating motor is connected with a rotating platform, the lifting arm assembly 210 in the lifting mechanism 200 is disposed on the rotating platform, and the control device 600 can control the rotation amount of the output shaft of the rotating motor, that is, can drive the lifting mechanism 200 and the polishing mechanism 300 to rotate by corresponding angles.
As an alternative embodiment, the grinding mechanism 300 includes: a workbench 310, wherein the workbench 310 is connected to the top of the lifting mechanism 200; the roller clamping assembly 320, the roller clamping assembly 320 is disposed on the workbench 310, and the roller clamping assembly 320 is used for clamping and fixing the contact line 1000; the layered polishing assembly is arranged on the workbench 310 and is used for polishing the contact line 1000.
In this embodiment, when polishing is required, contact wire 1000 can be clamped and fixed by roller clamping assembly 320, and then contact wire 1000 is polished by the layered polishing assembly. It should be noted that, here, the roller clamping assemblies 320 may be provided with multiple groups, each roller clamping assembly 320 includes two clamping rollers, and the two clamping rollers may be automatically close to or far away from each other (may be implemented by using a bidirectional screw transmission principle), so as to implement automatic clamping and loosening of the contact wire 1000; the layered polishing assembly can be lifted up and down (the layered polishing assembly can be lifted up and down by an electric push rod or a telescopic cylinder), and the layered polishing assembly can be lifted up to a corresponding height according to the instruction of the control device 600 so as to form a corresponding polishing contact pressure, and the polishing operation is completed.
As an alternative embodiment, the layered grinding assembly includes a grinding device 330, a micro-grinding device 340 and a polishing device 350 sequentially disposed on the table 310 along the length direction of the contact wire 1000, wherein the grinding device 330 is used for grinding hard points or ablation pits on the surface of the contact wire 1000, the micro-grinding device 340 is used for grinding scratches on the surface of the ground contact wire 1000, and the polishing device 350 is used for polishing the ground contact wire 1000.
In this embodiment, the grinding device 330, the micro-polishing device 340 and the polishing device 350 have the same overall structure, and each of the grinding device 330, the micro-polishing device 340 and the polishing device 350 comprises a servo motor 331 and a grinding wheel 332 driven by the servo motor 331, but the grinding device 330, the micro-polishing device 340 and the polishing device 350 have different meshes, the grinding device 330 can rotate through the servo motor 331 to drive the grinding wheel 332 to rotate, the hard spot and the arc ablation serious area of the contact wire 1000 are polished, the obvious hard spot and ablation pits on the surface of the contact wire 1000 are eliminated, the micro-polishing device 340 can drive the grinding wheel 332 with 1500 meshes to polish the contact wire 1000, scratches on the surface of the contact wire 1000 are further polished, the polishing device 350 can drive the grinding wheel 332 with 3000 meshes to polish the contact wire 1000, and the polishing quality of the contact wire 1000 can be improved by adopting a layered polishing mode.
Therefore, the surface damage condition of the contact wire 1000 can be detected through the laser scanning module 400 and the video measuring module 500, and then the contact wire 1000 is ground, polished and polished through the polishing mechanism 300, so that the oxide layer on the surface of the contact wire 1000 can be effectively removed, the current-carrying quality of a train is improved, the surface roughness of the contact wire 1000 is reduced through polishing hard points and etching pits of the contact wire 1000, the frictional wear performance of an arch net system is improved, and the material loss of an arch net contact pair is reduced.
As an alternative embodiment, the vehicle body 100 is provided with an illumination lamp 700, where the illumination lamp 700 is used for performing auxiliary illumination on the laser scanning module 400 and the video measurement module 500, and the illumination lamp 700 plays an auxiliary illumination role to cope with special working conditions such as tunnels, cloudy days, and the like, so that the vehicle body can adapt to more use environments.
As an alternative embodiment, the vehicle body 100 is further provided with a power module 800, where the power module 800 may use a ternary lithium battery, and the battery capacity is 40kWh, and the power module 800 may supply power to the lifting mechanism 200, the polishing mechanism 300, the measuring device, the detection processing system, the control device 600, and the like.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (6)
1. The flexible contact wire polishing device is characterized by comprising a vehicle body, wherein a lifting mechanism is arranged on the vehicle body, a polishing mechanism is arranged at the top of the lifting mechanism, and the flexible contact wire polishing device further comprises a measuring device, a detection processing system and a control device; wherein,
the measuring device is used for acquiring and storing the surface information of the contact wire;
the detection processing system is used for processing the surface information so as to detect whether abnormal information exists in the surface information and obtain a detection result;
the control device is used for controlling the lifting mechanism and the polishing mechanism to perform corresponding operation according to the detection result;
the measuring device includes: the laser scanning module is used for acquiring the profile information of the contact line; the video measurement module is used for acquiring the image information of the contact line; the GPS module is used for recording the position information of the vehicle body in real time; the storage module is used for storing the contour information, the image information and the position information;
the detection processing system includes: the laser detection processing module is used for detecting whether abnormal points exist in the profile information so as to identify the wear degree information of the contact line surface; the video processing module is used for detecting and identifying the abrasion area information corresponding to the contact line in the image information; the control device is also used for generating a polishing scheme according to the wear degree information and the wear area information so as to control the lifting mechanism and the polishing mechanism to carry out corresponding polishing operation according to the polishing scheme; the video processing module is also used for identifying segmented insulator information in the image information;
the control device is also used for: when the information of the segmented insulator is detected, controlling the lifting mechanism and the polishing mechanism to stop polishing operation;
the vehicle body is also provided with a rotating mechanism, and the lifting mechanism is arranged on the rotating mechanism;
the video processing module is also used for identifying contact line trend information in the image information;
the control device is also used for: according to the contact line trend information, controlling the rotating mechanism to adjust the directions of the lifting mechanism and the polishing mechanism;
the rotating mechanism comprises a rotating motor arranged on the vehicle body, the rotating motor is connected with a rotating platform, and a lifting arm assembly in the lifting mechanism is arranged on the rotating platform.
2. A flexible contact wire polishing apparatus as set forth in claim 1, wherein said laser detection processing module is further configured to:
obtaining the distance between the laser scanning point and the undamaged reference surface of the contact lineDThe method comprises the following steps:
in the method, in the process of the application,Z P for scanning the spot with laser lightZThe coordinate values of the coordinate values,Z REF for contact lines of undamaged reference surfacesZCoordinate values;
arranging laser scanning points in the order of rows and columns to obtain the gradient of the laser scanning pointsGThe method comprises the following steps:
in the method, in the process of the application,X(C,R),Y(C,R),Z(C,R)is of column numberCLine number isRIs a selected point of (a)X、Y、ZCoordinate values, delta is the number of points in each preset sampling interval;
dividing the corresponding contact line area in the profile information into grids, and checking the irregularity of each point in the grids, wherein the irregularity reference expression is as follows:
in the method, in the process of the application,θ D is the distanceDThe rate of distance irregularity under the standard is,θ G is a gradientGThe gradient irregularity rate under the standard is set,N Di to divide the distance in the gridDThe number of irregular points under the standard,N Gi dividing gradients in a gridGThe number of irregular points under the standard,N all dividing the total points in the grid;
will be irregularθ D And gradient irregularityθ G Respectively comparing the contact line with a preset threshold value to obtain the abrasion degree information of the contact line surface.
3. A flexible contact wire grinding apparatus as defined in claim 1, wherein said video processing module identification is further configured to:
identifying the segment insulator information in the image information according to a similarity model; the expression of the similarity model is as follows:
in the method, in the process of the application,rfor the similarity of the image information,A m,n andB m,n the gray values of the image A and the image B at the (m, n) points are respectively shown, wherein the image A is a standard image of a contact line, and the image B is an acquired target image.
4. A flexible contact wire grinding apparatus as defined in any one of claims 1-3, wherein said grinding mechanism comprises:
the workbench is connected to the top of the lifting mechanism;
the roller clamping assembly is arranged on the workbench and is used for clamping and fixing the contact line;
the layered polishing assembly is arranged on the workbench and is used for polishing the contact line.
5. The flexible contact wire polishing device as set forth in claim 4, wherein the layered polishing assembly comprises a grinding device, a micro-polishing device and a polishing device sequentially disposed on the work table in the length direction of the contact wire, wherein the grinding device is used for grinding hard points or ablation pits on the surface of the contact wire, the micro-polishing device is used for polishing scratches on the surface of the contact wire after grinding, and the polishing device is used for polishing the contact wire after grinding.
6. A flexible contact wire polishing apparatus as set forth in claim 1, wherein said vehicle body is provided with an illumination lamp for assisting illumination of said laser scanning module and said video measuring module.
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