CN203037214U - Portable contact line system geometric parameter detection system - Google Patents

Portable contact line system geometric parameter detection system Download PDF

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Publication number
CN203037214U
CN203037214U CN 201220717070 CN201220717070U CN203037214U CN 203037214 U CN203037214 U CN 203037214U CN 201220717070 CN201220717070 CN 201220717070 CN 201220717070 U CN201220717070 U CN 201220717070U CN 203037214 U CN203037214 U CN 203037214U
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Prior art keywords
laser radar
detection system
geometric parameter
radar sensor
computer
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黄立平
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BEIJING TIANGEGAOTONG TECHNOLOGY Co Ltd
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BEIJING TIANGEGAOTONG TECHNOLOGY Co Ltd
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Abstract

The utility model relates to a portable contact line system geometric parameter detection system which comprises a detection vehicle, a laser radar sensor, a computer and a power supply. The laser radar sensor, the computer and the power supply are arranged on the detection vehicle. The laser radar sensor and the computer are electrically connected with the power supply. The laser radar sensor and the computer are in communication connection. The laser radar sensor is provided with a laser automatic scanner. The scanning direction of the laser automatic scanner is directed at a contact line system to be detected. According to the utility model, a laser radar technology is applied to the non-contact detection of contact line system geometric parameters; the bondage of a traditional detection mode is broken through; the application scope of the laser radar technology is broadened; the technical means of railway contact line system geometric parameter detection are enriched; and the laser radar technology is applied to the continuous and rapid detection of contact line system geometric parameters, thus the measurement efficiency is greatly improved.

Description

A kind of portable contact net geometric parameter detection system
Technical field
The utility model relates to railway electrification technology and equipment technical field, especially relates to a kind of portable contact net geometric parameter detection system.
Background technology
Shortcomings such as present contact net is led the measurement of conventional parameters such as height, stagger, side gauge and adopted the mode of artificial fixed point to measure, and the ubiquity measured value is discontinuous, measurement efficient is low.
The utility model content
The purpose of this utility model is to design a kind of novel portable contact net geometric parameter detection system, addresses the above problem.
To achieve these goals, the technical solution adopted in the utility model is as follows:
A kind of portable contact net geometric parameter detection system, comprise inspection vehicle, laser radar sensor, computer and power supply, described laser radar sensor, described computer and described power supply all are arranged on the described inspection vehicle, described laser radar sensor and described computer all are electrically connected with described power supply, and communication connects between described laser radar sensor and the described computer; Described laser radar sensor is provided with the laser autoscanner, and contact net to be detected is aimed in the direction of scanning of described laser autoscanner.
The scanning angle scope of described laser autoscanner is-5 ° to 185 °.
The sweep frequency of described laser autoscanner is greater than 25 times/second.
Described computer is industrial dull and stereotyped touch computer.
Connect by the communication of TCP/IP form between described laser radar sensor and the described computer.
Described power supply is a binodal high power capacity lithium battery series connection group and a single-unit high power capacity lithium battery, is respectively the power supply of described laser radar sensor and described computer.
Described binodal high power capacity lithium battery series connection group and described single-unit high power capacity lithium battery also are respectively back wheel sensor and the front wheel sensor power supply of described inspection vehicle.
The supply voltage of described binodal high power capacity lithium battery series connection group is 24V, and the supply voltage of described single-unit high power capacity lithium battery is 12~24V adjustable voltage.
Described computer is provided with the dfisplacement pulse capture card, described dfisplacement pulse capture card respectively with described inspection vehicle trailing wheel on pulse detector and the pulse detector on the front-wheel be electrically connected.
The so-called laser radar sensor of the utility model can be the Sick laser radar sensor, i.e. SICK-Sensor Intelligence, Germany's two gram (SICK) intelligence sensors.
The utility model is applied to electrification railway contact net construction and operation maintenance.
The utility model adopts high frequency lasers radar based on light velocity flight time range measurement principle as data acquisition unit, adopt advanced linear regression algorithm to handle the data that laser radar returns, can be the continuously real-time geometric parameter to contact net is accurately measured, can measure the osculatory stagger continuously fast, height of contact wire, grade of contact wire, mast gauge, pillar (bar number), the dropper position, the adjacent dropper discrepancy in elevation, two osculatory horizontal ranges, two parameters such as osculatory vertical range, realize osculatory historical data stack contrast, and can derive and print the detection data sheet.Through on-the-spot test, measuring error is less than ± 2mm, for the dynamic quality analysis of contact net provides directly perceived more, basis reliably.
4.1 detection principle of the present utility model is as follows:
The utility model mainly is made of laser radar, extracts the contact net architectural feature by laser radar technique, adopts contact net structure linear regression algorithm, the geometric parameter of contact net is carried out real-time analysis calculate.
Laser radar technique is a new technology that developed in recent years, laser scanning has characteristics such as sweep velocity is fast, precision is high, abundant information, laser radar system is non-contacting optical measuring system, by the mode of continuous emission excimer laser bundle testee or background is carried out one dimension, two dimension and three-dimensional measurement.System architecture is following sees Fig. 1 to Fig. 4
4.2 detection model of the present utility model:
As shown in Figure 4, the operation automatically of the charged back of front end scanning sensor along with advancing of detection system, is carried out analyzing and processing, automatically output stage coordinate length and angle after the horizontal section of contact net continues to carry out high-frequency scanning, scans object.As illustrated in Figures 5 and 6, establish the laser radar scanning survey to osculatory polar coordinates length variable be x, then:
H=H 0+h=H 0+xcosα
z=xsinα
In the formula: the H-height of contact wire
The h-osculatory is to the distance of laser emission point place surface level
The z-stagger
H 0-laser radar analyzing spot height to the top of rail
α-laser radar central axis is with the angle of scanning laser beam
More than be that detection system is in the detection principle of straight-line segment and segment of curve.At overlap and line Cha Chu (as Fig. 7~shown in Figure 9) two osculatory are carried out above-mentioned model simultaneously and calculate, also can calculate the phase relation of two osculatory in level and vertical plane.Native system also can accurately detect frog and the contact point of cross spider trouble simultaneously, and the beginning of not having cross spider trouble touch the transition point of district and overlap, the requirement of the important maintenance parameter that satisfies Railway transportation (2011) No. 10 in " about the notice of issue " applied to high-speed railway touching net operating maintenance tentative specification " " and branch off about overlap and line.
4.3 service condition of the present utility model
Under nearly all environmental baseline of-30 ℃~+ 50 ℃, all can measure operation, but when heavy snow, heavy rain weather, can run into raindrop during owing to laser beam flying, snowflake reflects, need the sequence that receives reflection wave is arranged, receive the data that last reflection wave returns, nonetheless arrange, still may there be interference in detection system.
4.4 the discussion of measuring error of the present utility model
The measuring error of native system is carried out computational analysis theoretically and is satisfied error requirements, after succeeding in developing, has carried out accurate demarcation in testing laboratory, has carried out the trial run test in the actual motion railway line then, and the trial run test result sees below.Fundamental purposes of these trial run work are: repeatability and the accuracy of checking detection system, and be analyzed with measurement data under the laser range finder static state of demarcating through country metering institute.
Analysis on Uncertainty
1. height of contact wire uncertainty
The uncertainty of height of contact wire is made up of two parts: the caused uncertainty of measured value of the uncertainty of the original output valve of detection system height of contact wire test section and detection system structure height (because implementation speed is very low and the weight of system architecture, there is not displacement in vertical direction in system).
Height of contact wire is expressed as:
L=L1+L2
In the formula: L---height of contact wire;
The height that L1---detection system is measured;
L2---the measured value of system architecture height;
The evaluation of the standard uncertainty u1 (h) of input quantity L1
The uncertainty that the original output valve error of detection system height of contact wire test section causes is u1 (h), and the output valve maximum error of detection system height of contact wire test section is 5mm, estimate with even distribution, then:
u 1 ( h ) = 5 mm / 3 = 2.89 mm
The evaluation of the standard uncertainty u2 (h) of input quantity L2
The measured value uncertainty of system architecture height is u2 (h), rule of thumb assessment, and measuring error is in the 2mm scope, with even distribution estimation, then:
u 2 ( h ) = 2 mm / 3 = 1.15 mm
Table 1 uncertainty of measurement component summary sheet
The uncertainty source The limits of error/mm Distribute u(x)/mm c i u i(y)/mm
Measuring system
5 Evenly 2.89 1 2.89
System architecture 2 Evenly 1.15 1 1.15
Because the above standard uncertainty component of respectively itemizing is uncorrelated mutually, so combined standard uncertainty is:
u ( h ) = u 1 2 ( h ) + u 2 2 ( h ) = 3.11 mm
2. stagger uncertainty
The uncertainty of stagger is made up of two parts: the uncertainty that detection system laser scanning analysis stagger output error causes, the uncertainty that the system architecture horizontal shift causes.
Being expressed as of stagger:
L=L1+L2
In the formula: L1---stagger output is analyzed in the detection system laser scanning;
L2---system architecture horizontal shift;
The evaluation of the standard uncertainty u1 (L1) of input quantity L1:
The uncertainty that detection system graphical analysis stagger output error causes is u1 (L1), and laser scanning stagger output error is 5mm to the maximum, estimate with even distribution, then:
u 1 ( L 1 ) = 5 mm / 3 = 2.87 mm
The evaluation of the standard uncertainty u2 (L2) of input quantity L2:
System architecture is u2 (L2) in the uncertainty of horizontal vibration displacement, and the arcuate structure according to maximum implementation speed and wheel can calculate its error and be 4mm to the maximum, estimate with even distribution, then:
u 2 ( L 2 ) = 4 mm / 3 = 2.31 mm
Table 2 uncertainty of measurement component summary sheet
The uncertainty of measurement source The limits of error/mm Distribute u(x)/mm c i u i(y)/mm
L1
2 Evenly 1.15 1 1.15
L2 5 Evenly 2.89 1 2.89
[0066] Because the above standard uncertainty component of respectively itemizing is uncorrelated mutually, so combined standard uncertainty is:
u ( L ) = u 2 1 ( L 1 ) + u 2 2 ( L 2 ) = 3.68 mm
Detection system data analysis flow process is seen Figure 10:
The beneficial effects of the utility model can be summarized as follows:
1, the utility model is applied to laser radar technique to have broken through the constraint of traditional detection mode in the non-contact detection of contact net geometric parameter, has widened the range of application of laser radar technique, has enriched the technological means that the railway contact line geometric parameter detects.
2, the utility model is applied to the continuous fast detecting of contact net geometric parameter with laser radar technique, has improved measurement efficient greatly.
3, the utility model sets up environment and raw data analysis according to osculatory, summed up the recognition and tracking algorithm under the contact suspension complex background, propose to eliminate the error Control measure that detects according to the technical characterstic of laser radar with at the influence factor that detects, had actual effect for the accuracy and the validity that improve measurement data.
Description of drawings
Fig. 1 is principle schematic of the present utility model.
Fig. 2 is system architecture synoptic diagram of the present utility model.
Wherein, 21 expression contact nets, the industrial dull and stereotyped touch computer of 22 expressions, 23 expression single-unit high power capacity lithium batteries, 24 expression dfisplacement pulse capture cards, 25 expression front-wheels, 26 expression inspection vehicles, 27 expression trailing wheels, 28 expression rail planes, 29 expression laser radar sensors, 30 expression binodal high power capacity lithium battery series connection.
Fig. 3 is the scanning synoptic diagram of SICK laser radar apparatus.
Fig. 4 is the laser scanning schematic diagram.
Wherein, 41 expression scanning center axis.
Fig. 5 detects schematic diagram for linear section.
Wherein, 51 expression osculatory, 52 expression rail planes.
Fig. 6 detects schematic diagram for curve section.
Wherein, 61 expression osculatory, 62 expression rail planes.
Fig. 7 is four trans-articular laser scanning schematic diagrams.
Wherein, 71 expression contact nets.
Fig. 8 five strides uninsulated overlap laser scanning schematic diagram.
Wherein, 81 expression contact nets.
Fig. 9 six strides overlap laser scanning schematic diagram.
Wherein, 91 expression contact nets.
Figure 10 is detection system data analysis process flow diagram.
Figure 11 measures the stagger comparison diagram for the DJJ-8 model detects dolly.
Figure 12 measures stagger error comparison diagram for the DJJ-8 model detects dolly.
Figure 13 measures the height of contact wire comparison diagram for the DJJ-8 model detects dolly.
Figure 14 measures height of contact wire error comparison diagram for the DJJ-8 model detects dolly.
Embodiment
Clearer for technical matters, technical scheme and beneficial effect that the utility model is solved, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
A kind of portable contact net geometric parameter detection system as depicted in figs. 1 and 2, comprise inspection vehicle, laser radar sensor, computer and power supply, described laser radar sensor, described computer and described power supply all are arranged on the described inspection vehicle, described laser radar sensor and described computer all are electrically connected with described power supply, and communication connects between described laser radar sensor and the described computer; Described laser radar sensor is provided with the laser autoscanner, and contact net to be detected is aimed in the direction of scanning of described laser autoscanner.The scanning angle scope of described laser autoscanner is-5 ° to 185 °.The sweep frequency of described laser autoscanner is greater than 25 times/second.
In the embodiment that is more preferably, described computer is industrial dull and stereotyped touch computer.Connect by the communication of TCP/IP form between described laser radar sensor and the described computer.Described power supply is a binodal high power capacity lithium battery series connection group and a single-unit high power capacity lithium battery, is respectively the power supply of described laser radar sensor and described computer.Described binodal high power capacity lithium battery series connection group and described single-unit high power capacity lithium battery also are respectively back wheel sensor and the front wheel sensor power supply of described inspection vehicle.The supply voltage of described binodal high power capacity lithium battery series connection group is 24V, and the supply voltage of described single-unit high power capacity lithium battery is 12~24V adjustable voltage.
Described computer is provided with the dfisplacement pulse capture card, described dfisplacement pulse capture card respectively with described inspection vehicle trailing wheel on pulse detector and the pulse detector on the front-wheel be electrically connected.Described laser radar sensor is the Sick laser radar sensor
Native system is applied to laser radar technique to have broken through the constraint of traditional detection mode in the non-contact detection of contact net geometric parameter, has widened the range of application of laser radar technique, has enriched the technological means that the railway contact line geometric parameter detects.
The technique effect that native system reaches is as follows:
(1) laser radar technique is applied to the continuous fast detecting of contact net geometric parameter, has improved measurement efficient greatly.
(2) set up environment and raw data analysis according to osculatory, summed up the recognition and tracking algorithm under the contact suspension complex background, propose to eliminate the error Control measure that detects according to the technical characterstic of laser radar with at the influence factor that detects, had actual effect for the accuracy and the validity that improve measurement data.
(3) actual measurement of (Beijing)-stone (Shijiazhuang)-force (Wuhan) high ferro Beijing-Shijiazhuang section, Tianjin Tang high ferro Tangshan section through the capital compares with the contact net geometric parameter testing result of artificial fixed point, and proof system can satisfy the construction requirement of contact net.The detection data cases is as follows:
On September 9th, 2012, in the engineering technical personnel of ferroelectric gasification office adopt DJJ-8 type laser range finder to measure the high ferro Tangshan section 1845# of Tianjin Tang, 1843#, 1841#, 1839# height of contact wire and the stagger at totally four anchor point places, the Contact Line Detection System of measurement data and the development of my company compares (as shown in table 1), the average error of stagger is 2mm, and least error is 0mm; The average error of height of contact wire is 4mm (wherein ± error of 6mm, may be because the error that the survey crew of operation DJJ-8 type laser range finder causes in reading and operating aspect), and least error is 2mm.As Fig. 1~4 as can be known, height of contact wire and stagger that the Contact Line Detection System of DJJ-8 type laser range finder and the development of my company is measured almost completely overlap, and the error broken line graph distributes level and smooth.
Table 3 DJJ-8 type laser range finder and detection dolly measurement data contrast table
Figure DEST_PATH_GDA00003155927900071
More than by the detailed description of concrete and preferred embodiment the utility model; but those skilled in the art should be understood that; the utility model is not limited to the above embodiment; all within spirit of the present utility model and principle; any modification of doing, be equal to replacement etc., all should be included within the protection domain of the present utility model.

Claims (9)

1. portable contact net geometric parameter detection system, it is characterized in that, comprise inspection vehicle, laser radar sensor, computer and power supply, described laser radar sensor, described computer and described power supply all are arranged on the described inspection vehicle, described laser radar sensor and described computer all are electrically connected with described power supply, and communication connects between described laser radar sensor and the described computer; Described laser radar sensor is provided with the laser autoscanner, and contact net to be detected is aimed in the direction of scanning of described laser autoscanner.
2. portable contact net geometric parameter detection system according to claim 1, it is characterized in that: the scanning angle scope of described laser autoscanner is-5 ° to 185 °.
3. portable contact net geometric parameter detection system according to claim 1, it is characterized in that: the sweep frequency of described laser autoscanner is greater than 25 times/second.
4. portable contact net geometric parameter detection system according to claim 1, it is characterized in that: described computer is industrial dull and stereotyped touch computer.
5. portable contact net geometric parameter detection system according to claim 1 is characterized in that: connect by the communication of TCP/IP form between described laser radar sensor and the described computer.
6. portable contact net geometric parameter detection system according to claim 1, it is characterized in that: described power supply is a binodal high power capacity lithium battery series connection group and a single-unit high power capacity lithium battery, is respectively the power supply of described laser radar sensor and described computer.
7. portable contact net geometric parameter detection system according to claim 6 is characterized in that: described binodal high power capacity lithium battery series connection group and described single-unit high power capacity lithium battery also are respectively back wheel sensor and the front wheel sensor power supply of described inspection vehicle.
8. portable contact net geometric parameter detection system according to claim 6, it is characterized in that: the supply voltage of described binodal high power capacity lithium battery series connection group is 24V, and the supply voltage of described single-unit high power capacity lithium battery is 12~24V adjustable voltage.
9. portable contact net geometric parameter detection system according to claim 1, it is characterized in that: described computer is provided with the dfisplacement pulse capture card, described dfisplacement pulse capture card respectively with described inspection vehicle trailing wheel on pulse detector and the pulse detector on the front-wheel be electrically connected.
CN 201220717070 2012-12-21 2012-12-21 Portable contact line system geometric parameter detection system Expired - Lifetime CN203037214U (en)

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Cited By (11)

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CN103557788A (en) * 2013-10-15 2014-02-05 西南交通大学 High-speed rail catenary geometric parameter detection non-contact compensation and Kalman filtering correction method
CN103852011A (en) * 2014-03-20 2014-06-11 北京天格高通科技有限公司 Railway overhead line system geometric parameter analysis method based on laser radar
CN104748689A (en) * 2015-04-21 2015-07-01 中国科学院长春光学精密机械与物理研究所 Train catenary height non-contact measuring system based on parallel laser radars
CN105300295A (en) * 2015-11-24 2016-02-03 湖南大学 Geometrical parameter detection system and method for portable monorail non-contact overhead contact line
CN105416097A (en) * 2015-11-12 2016-03-23 北京天格高通科技有限公司 Contact screen detecting and overhauling car and method based on laser radar
CN105891756A (en) * 2016-03-30 2016-08-24 广州地铁集团有限公司 Method for verifying precision of overhead contact line equipment dynamic detection system
CN106835868A (en) * 2017-03-06 2017-06-13 华东交通大学 A kind of high accuracy railway clearance measuring method based on laser ranging
WO2021123463A1 (en) 2019-12-17 2021-06-24 Telefonos, Lineas Y Centrales, S.A. Method for in-situ and real-time collection and processing of geometric parameters of railway lines
CN113310450A (en) * 2020-03-12 2021-08-27 广东中科如铁技术有限公司 Contact net dropper detection method based on point cloud training model
CN113504545A (en) * 2021-09-09 2021-10-15 成都中轨轨道设备有限公司 Contact network data detection method based on laser radar
CN114754673A (en) * 2022-03-18 2022-07-15 杭州申昊科技股份有限公司 Method and equipment for measuring geometrical parameters of rigid contact net and storage medium

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103557788B (en) * 2013-10-15 2015-10-14 西南交通大学 A kind of high ferro contact net connects geometric parameter and detects non-contact compensation and Kalman filtering modification method
CN103557788A (en) * 2013-10-15 2014-02-05 西南交通大学 High-speed rail catenary geometric parameter detection non-contact compensation and Kalman filtering correction method
CN103852011A (en) * 2014-03-20 2014-06-11 北京天格高通科技有限公司 Railway overhead line system geometric parameter analysis method based on laser radar
CN104748689B (en) * 2015-04-21 2017-07-14 中国科学院长春光学精密机械与物理研究所 Train contact net height contactless measuring system based on parallel laser radar
CN104748689A (en) * 2015-04-21 2015-07-01 中国科学院长春光学精密机械与物理研究所 Train catenary height non-contact measuring system based on parallel laser radars
CN105416097A (en) * 2015-11-12 2016-03-23 北京天格高通科技有限公司 Contact screen detecting and overhauling car and method based on laser radar
CN105300295A (en) * 2015-11-24 2016-02-03 湖南大学 Geometrical parameter detection system and method for portable monorail non-contact overhead contact line
CN105300295B (en) * 2015-11-24 2017-11-03 湖南大学 A kind of contactless contact net geometric parameter detecting system of portable single track and method
CN105891756A (en) * 2016-03-30 2016-08-24 广州地铁集团有限公司 Method for verifying precision of overhead contact line equipment dynamic detection system
CN106835868A (en) * 2017-03-06 2017-06-13 华东交通大学 A kind of high accuracy railway clearance measuring method based on laser ranging
WO2021123463A1 (en) 2019-12-17 2021-06-24 Telefonos, Lineas Y Centrales, S.A. Method for in-situ and real-time collection and processing of geometric parameters of railway lines
CN114845924A (en) * 2019-12-17 2022-08-02 电话线路和中央股份公司 Method for on-site and real-time collection and processing of geometrical parameters of a railway line
CN114845924B (en) * 2019-12-17 2023-12-12 电话线路和中央股份公司 Method for the on-site and real-time collection and processing of geometric parameters of a railway line
CN113310450A (en) * 2020-03-12 2021-08-27 广东中科如铁技术有限公司 Contact net dropper detection method based on point cloud training model
CN113504545A (en) * 2021-09-09 2021-10-15 成都中轨轨道设备有限公司 Contact network data detection method based on laser radar
CN114754673A (en) * 2022-03-18 2022-07-15 杭州申昊科技股份有限公司 Method and equipment for measuring geometrical parameters of rigid contact net and storage medium
CN114754673B (en) * 2022-03-18 2023-09-12 杭州申昊科技股份有限公司 Method, equipment and storage medium for measuring geometric parameters of rigid contact net

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