CN207163404U - The system of continuous tracking measurement contact net geometric parameter - Google Patents
The system of continuous tracking measurement contact net geometric parameter Download PDFInfo
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- CN207163404U CN207163404U CN201721286802.9U CN201721286802U CN207163404U CN 207163404 U CN207163404 U CN 207163404U CN 201721286802 U CN201721286802 U CN 201721286802U CN 207163404 U CN207163404 U CN 207163404U
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- car body
- contact net
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Abstract
A kind of system of continuous tracking measurement contact net geometric parameter is the utility model is related to, including：Can be along the car body of rail track travel；The measurement apparatus and industrial computer being arranged on the car body, measurement apparatus is arranged on car body by electric rotating machine, the measurement apparatus includes industrial camera and laser ranging system, and the optical axis direction of industrial camera and the laser emitting direction of laser ranging system be arranged in parallel；The image of industrial camera captured in real-time track overlying contact net, send to industrial computer, industrial computer obtains the shoot laser of present laser range unit and the position deviation of contact net according to described image, sent using position deviation generation drive signal to electric rotating machine, the electric rotating machine is controlled to drive measurement apparatus action, so that the shoot laser of laser ranging system is radiated on testing catenary all the time in car body walking process, contact net geometric parameter is then directly obtained using laser ranging system.
Description
Technical field
It the utility model is related to a kind of system of continuous tracking measurement contact net geometric parameter.
Background technology
Contact net is in electric railway, is set up along rail overhead "the" shape, takes the high pressure of stream defeated for pantograph
Electric wire.Contact net is the main truss of railway electrification project, is that being powered to electric locomotive for downline overhead erection is special
The transmission line of electricity of form, the state quality of contact net directly influence locomotive by electricity quality, to locomotive whether can safely, it is high
Speed operation is very crucial.With China railways speed raising, shorter and shorter with " skylight " time of maintenance failure for detecting, this is right
The efficiency of Contact Line Detection equipment proposes higher requirement.
What is be commonly used is hand-held wave contant net measuring instrument, and contact line is measured using point-to-point laser measurement mode
Lead the high geometric parameter such as with stagger.This mode needs manually to carry out optical laying, it is impossible to continuous measurement, automaticity
It is low, measurement process is slow.
Utility model content
For the deficiencies in the prior art, the utility model provides a kind of continuous tracking measurement contact net geometric parameters
Several systems, contact net image is shot by industrial camera, controlled motor rotation therewith ensures that laser ranging system aims at always
In contact line, automatically continuously measurement is realized.
The technical solution of the utility model is：
A kind of system of continuous tracking measurement contact net geometric parameter, including：
Can be along the car body of rail track travel；
The measurement apparatus and industrial computer being arranged on the car body, measurement apparatus are arranged on car body by electric rotating machine
On, the measurement apparatus includes industrial camera, laser ranging system and some lighting sources around industrial camera, work
The optical axis direction of industry camera is parallel with the laser emitting direction of laser ranging system, and lighting source is connected with industrial computer；
The measurement apparatus also includes an angular encoder, and angular encoder is used for the anglec of rotation for measuring electric rotating machine in real time
Degree, according to the output of angular encoder and laser ranging system obtain contact net lead height and stagger.
Further, a diaphragm is also equipped with directly over the industrial camera, the diaphragm is provided with to be calculated with industry
The connected adaptive adjustment module of machine, adaptive adjustment module are used for the image adjustment diaphragm light according to taken by industrial camera
The size of circle.
Further, the industrial computer is arranged on car body by push rod, and push rod uses retractable foldable structure,
And push rod is connected with a Quick release；When in measuring state, industrial computer is pacified by push rod pull-up, while by Quick release
It is attached to position；When in non-measured state, push rod was fallen in the push rod fixed seat of car body, the occupancy for reducing car body is empty
Between.
Further, the lighting source is symmetrical arranged in the both sides of industrial camera.
Further, the T-type structure that the car body includes crossbeam, curb girder is formed, crossbeam one end are connected with the first travelling wheel,
Side fine strain of millet one end is connected with the second travelling wheel and the 3rd travelling wheel；Movable side wheel is provided with the first traveling wheel side, movable side wheel leads to
Cross flexible member with crossbeam to be connected, for making car body in the moving on rails of different gauges；In the second travelling wheel and the 3rd traveling
Wheel side is respectively equipped with two fixed side wheels, for keeping the second travelling wheel and the 3rd travelling wheel to move along rail, prevents from derailing.
Further, the car body is provided with a U-shaped support, and electric rotating machine is arranged in the U-shaped support with measurement apparatus,
The both sides of U-shaped support are provided with through hole, for collecting cable.
Further, sensor group is additionally provided with the car body, the sensor group includes displacement transducer, mileage passes
Sensor, obliquity sensor and GPS positioning device.
Further, it is also configured with power supply inside the curb girder.
Further, the light-sensitive element being connected with industrial computer is also equipped with the measurement apparatus.
The beneficial effects of the utility model：
(1) device described in the utility model realizes contact net geometric parameter automatic measurement, it is not necessary to worker's manual aiming
Contact line；
(2) the utility model realizes the continuous measurement to contact net geometric parameter, improves operating efficiency；
(3) system of the present utility model has compared with similar Contact Line Detection dolly or vehicular Contact Line Detection equipment
There is higher measurement accuracy；
(4) system of the present utility model has considerable flexibility compared with vehicular Contact Line Detection equipment, is adapted to
Different operating occasion measures to contact net geometric parameter.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model measurement host head；
Fig. 2 is body construction top view of the present utility model；
Fig. 3 is body construction side view a of the present utility model；
Fig. 4 is body construction side view b of the present utility model；
Fig. 5 is U-shaped frame schematic diagram of the present utility model.
Wherein, 1- measurement hosts head body, 2- light-sensitive elements, 3- industrial cameras, 4- lighting sources, 5- laser range finders,
6- light shields and iris diaphgram, 7- light-sensitive elements, 8- handles, 9- batteries, 10- travelling wheels, 11- curb girders, 12- crossbeams, 13- electrical equipment
Control box, 14- push rods, 15- industrial computers, 16- travelling wheels, 17- handles, 18- side wheels, 19- measurement host supports.
Embodiment：
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings：
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As described in background, the still hand-held contact net that the measurement of contact net geometric parameter at present generally uses is surveyed
Instrument is measured, the high geometric parameter such as with stagger is led using what point-to-point laser measurement mode measured contact line.This mode needs
Therefore Automatic survey degree is low, measurement process is slow for artificial progress optical laying.In order to improve the automatic of contact net measuring
Change degree, a kind of of the present utility model to give embodiment, i.e., a kind of system of continuous tracking measurement contact net geometric parameter, bag
Include：
Can be along the car body of rail track travel, as shown in Figure 2；
The measurement apparatus and industrial computer being arranged on the car body, the measurement apparatus in the present embodiment refer to measurement host
Head, as shown in figure 1, measurement host head is arranged on car body by electric rotating machine, mainly including industrial camera (3 in figure), laser
Rangefinder (5 in figure), lighting source (4 in figure), light shield and iris diaphgram (6 in figure) and light-sensitive element (2,7 in figure) etc.
What element was formed.Wherein industrial camera, the laser range finder front and rear arrangement in host header, and front and back position is interchangeable, industry
The optical axis direction of camera lens is parallel with the laser direction of illumination of laser range finder.Measurement host may be mounted at the main frame of car body
On head bracket.
The measuring system of the present embodiment is in the course of the work first by industrial camera captured in real-time track overlying contact net
Image, send to industrial computer, industrial computer and the shoot laser and contact net of present laser rangefinder are obtained according to image
Position deviation, sent using position deviation generation drive signal to electric rotating machine, control electric rotating machine drives measurement apparatus
Action so that the shoot laser of laser range finder is radiated on testing catenary all the time in car body walking process, Ran Houli
Contact net geometric parameter is directly obtained with laser range finder.
Contact net is a kind of wire, and so-called contact net geometric parameter mainly includes three important ginsengs in concrete application
Amount, that is, lead high, stagger and abrasion, and the present embodiment measures mainly for high and stagger is led.
Lead the height that height is contact line conducting wire, that is, contact line conducting wire normal level is at hitch point, contact line and two
The vertical range of top surface line is advised, has important meaning with regard to the measurement of contact line conducting wire height, when under static state, measurement
What contact wire was kept should have height, according to TB/T 3227-2010《Contact net geometric parameter measurement instrument》Railway systems standard,
The measurement range of height of contact wire is 5100mm to 6500mm, and static measurement, which is constructed and repaired for net-contact engineering, provides reference number
According to.Second, under operation, i.e., running orbit of the pantograph along contact wire is measured in train operation, can be connect for research
Touch the quality of wire suspension and the performance of pantograph and provided analysis of data by stream mode.
Contact line conducting wire stagger refers in electric railway, in order to extend the service life of pantograph, grinds slide plate
Consumption is uniform, and contact wire is arranged to "the" shape in the linear section of circuit, is arranged to discounting property in curve section, and
This broken line is typically mutually cut or tangent with the trace at pantograph center.This broken line at anchor point contact wire away from pantograph center
The distance of line trace turns into stagger, and in linear section, contact wire is at anchor point relative to the offset distance of wire center
From turning into stagger, for simplicity, be referred to as contact wire stagger.According to this setting of contact line, we can send out
If existing contact wire stagger setting is too small, does not reach even wear slide plate and extend the mesh of pantograph service life
's.If stagger is set too big, contact wire can be made to exceed effective active length of pantograph at some positions, made an uproar
Sound scrapes bow accident.
During the continuous automatic measurement of reality, the track overlying contact net image that industrial camera photographs includes contact
Line and carrier cable, carrier cable is coarser compared with contact line, so can be by contact line and carrier cable area using image processing method
Separate.
In the present embodiment, industrial computer uses built-in industrial computer, and it is real that built-in industrial computer receives contact net
When image and perform image detection algorithm and obtain the positional information of contact line (or carrier cable), calculate and contacted in present image
The deviation of line (or carrier cable) and image center location, image center location deviation now are the outgoing of laser range finder
Deviation between laser and contact line, then controlled motor rotation drive laser range finder deflection, and the outgoing of laser range finder swashs
Light direction also just changes therewith so that contact line (or carrier cable) overlaps with image center location, and this means that Laser Measuring
The shoot laser of distance meter has been irradiated in contact line.During car body traveling in orbit, built-in industrial computer is by continuous acquisition, place
Reason contact net image simultaneously rotates according to testing result controlled motor, and the laser that guarantee laser range finder is launched is irradiated to tested always
In the contact line (or carrier cable) of survey.
Because laser range finder and industrial camera just secure relative position before instrument dispatches from the factory in the application, industry calculates
The inceptive direction of machine known laser rangefinder shoot laser, according to real-time image acquisition calculation position deviation, according to position deviation
Form drive signal, you can control electric rotating machine drives laser range finder to rotate so that the shoot laser of laser range finder is all the time
It is radiated on testing catenary.
In addition, iris diaphgram includes aperture adaptive adjustment module.On host header, and positioned at camera lens just
Top.In automatic measurement, contact line image that built-in industrial computer for analysis is collected and according to contact net image comparison
The information such as degree, gradation of image control diaphragm aperture size in real time, ensure that different time of the camera on daytime can all photograph clearly
And the suitable contact net image of exposure.The power for the ambient that aperture adaptive adjustment module obtains according to light-sensitive element, from
Dynamic regulation diaphragm hole size, controls the light-inletting quantity of camera lens, and guarantee obtains the image of optimum contrast.
Because the application can come into operation in day and night, to ensure that night photographs clearly picture enough,
The light source for being also provided with switching to night work additional illumination around industrial camera is, it is necessary to illustrate, due to the day on daytime
Gas, sunshine etc. are there is also change, and this lighting source of the present embodiment can also be opened on daytime, for additional illumination.
Here lighting source is connected with built-in industrial computer, and lighting source is adjusted by built-in industrial computer
It is whole, it can make it that the contact net shooting effect that is obtained under specific purpose is optimal.
Lighting source is preferably arranged symmetrically in camera both sides, can be by photosensitive member when evening and ambient are weaker
Part detects the power of ambient, the opening and closing of automatic-control illumination lamp.
Camera and laser ranging system are front and rear to be arranged, can also laser ranging system preceding, camera is rear.
Electric rotating machine is arranged in host rack with measurement apparatus, and host rack is U-shape structure, and both sides, which are designed with, to be run through
Hole, the cable of the electronic device of angular encoder, motor etc. can be connected to frame bottom from inside.In addition, inside swivel head
Camera, lighting source, the cable of laser ranging system etc. be also that host rack is entered by the perforate on main shaft, so as to protect
The inside cabling of each electronic device of main frame is demonstrate,proved.
The preferred grating encoder of angular encoder in the application, the device of other completion identity functions can also be selected.
The car body of the present embodiment is as shown in Fig. 2 body part forms T-type structure by car body curb girder, car body crossbeam, by walking
Road wheel and side wheel realize walking in orbit.Electric appliance control box, push rod and industrial computer are also equipped with car body.Electrical equipment control
Box (liquid crystal display, touches host machine part (camera, laser range finder, motor, encoder, light-sensitive element etc.), industrial computer part
Touch screen, keyboard, knob etc.) connected with each sensor (displacement transducer, odometer sensor, obliquity sensor, GPS etc.), power supply
To together, controlling the electrical equipment of whole system to connect, and realize the external output of internal calculation, storage and data.
Car body realizes walking in orbit by travelling wheel and side wheel.The connection of curb girder and crossbeam uses disassembled scheme,
The precision for ensureing repeatedly to assemble by the alignment pin of coupling part, instant packed and transport.Nylon material is used outside travelling wheel,
Inside uses stainless steel sleeve, had not only met wear-resisting requirement but also had had the needs of high intensity concurrently.
It is furnished with 2 side wheels at each travelling wheel, ensures the reliability that car body is walked in orbit, greatly reduce derailing
May.Side wheel on curb girder is fixed side wheel；The side wheel of single travelling wheel side is movable side wheel, and being connected in car body to stretch
On the rectilinear orbit of contracting, the implementation measurement on the track of different gauges is adapted to.
Electric appliance control box, push rod and industrial computer are also equipped with car body.Electric appliance control box by host machine part (camera,
Laser range finder, motor, encoder, light-sensitive element etc.), industrial computer part (liquid crystal display, touch-screen, keyboard, knob etc.)
Connect together, control whole with each sensor (displacement transducer, odometer sensor, obliquity sensor, GPS etc.), power supply
The electrical equipment connection of system, and realize the external output of internal calculation, storage and data.Push rod uses retractable foldover design
Structure.By push rod pull-up during measurement, at the same by Quick release by display screen Fast Installation in place.After the completion of measuring work, it will push away
Bar fell in the push rod fixed seat of car body, reduced the space-consuming of the car body after being measured.After pusher section is packed up simultaneously
Handle, road up and down and the transport being easy in the course of work can be used as.
System integrally takes the mode of internal cabling, and 12V power supplys are built in car body curb girder, each sensor is in car body
Portion arranges that HDMI wire of touch LCD screen etc. enters after push rod from car body be connected with electrical appliance kit, dolly overall appearance more succinctly,
It is light.
The present embodiment at work, the image of real-time acquisition trajectory overlying contact net, figure is obtained using image detection algorithm
The positional information of contact net as in, according to the shoot laser of the positional information calculation present laser range unit and contact net
Position deviation, the shoot laser direction of laser ranging system is controlled using the position deviation so that in car body walking process
The shoot laser of laser ranging system is radiated on testing catenary all the time, is then directly obtained and connect using laser ranging system
Net-fault geometric parameter.
Railway contact line is sufficiently complex, and car body can run into some special circumstances in track traveling.It is special for these
Different situation, the present embodiment are further made that improvement：
(1) manual intervention in real-time follow-up, user can be actively to embedding on the basis of image recognition to circuit
Enter formula industrial computer input adjustment information, main frame is directed at circuit or the specified location, also just indirectly by laser range finder pair
Tested point in accurate contact line, which achieves the correct adjustment of measurement host position.Adjusted for being inputted to inserted computer
The method of whole information can be by double-clicking touch-screen, or keyboard, the mode of phonetic entry.
(2) at anchor section carry out automatically scanning measurement, on section or yard, according to power supply and mechanical aspects requirement,
Contact net is divided into many independent segmentations, this independent segmentation is referred to as anchor section.The carrier cable and contact line at anchor section both ends are all
It is fixed to directly or by compensator on anchor post.Due to having more contact lines, more carrier cables, it would be desirable in anchor section at anchor section
Place makes a policy, and carries out the tracking to work branch line.
On the other hand, image recognition can be combined, encoder is scanned survey to more contact lines, carrier cable at overlap
Amount, that is, the measurement of geometric parameter is all carried out to each contact line, in this process in scanning recognition work Zhi Yufei works
Branch line, it is determined that the circuit of tracking, and enter row line in time and redirect in next step, and the circuit tracked by coded markings, realize
The accurate and uniqueness tracking of a plurality of circuit, finally calculate the difference in height and spacing of go to work branch and non-work branch.
(3) on contact net, in order to ensure the degree of speeding of contact line and elasticity, one is just generally installed at a certain distance and is hung
String or locator, it can so make in each span, in the case where not increasing catenary mast, to increase and hang contact line
Hanging point, ensure height of the contact line to rail level by adjusting the length of dropper or locator, at dropper or locator
Stagger therefore just acquire a special sense, the present embodiment is on the basis of continuous tracking measurement contact net geometric parameter
On, further the characteristic body during circuit is identified, characteristic body here not only includes dropper, locator, can also
It is other labels, screening is in the contact net geometric parameter of characteristic body opening position, and it is special in complicated identification of lines to improve system
The degree of accuracy of sign point or characteristic body.
The measuring system of the present embodiment can also be entered for the ease of data processing before measurement starts to tracking line information
Row is set, main to include entering line label to the catenary mast for starting tracking, and subregion is carried out to circuit, perform using each section as
Segmentation tracking of target etc..
Except the setting to above-mentioned basic measurement information, in addition to the setting to system：Such as pass through built-in industrial electricity
Communication between brain and industrial camera, the parameter of industrial camera is configured, calibration parameter set and parameter of curve is set
Put.
After basic measurement information and system information is set, the segmentation tracking for the purpose of each section can be performed,
Real-time display trace, the contact net image real-time display that shooting is obtained, and the real-time display measurement number on tracking circuit
According to, marker characteristic thing, while measure some particular distances if desired during tracking measurement, such as the side limit of contact net
When two adjacent staggers difference is 500mm at boundary, red line absolute altitude and line trouble, two contact lines lead high difference,
Foregoing manual intervention can be utilized to input, the shoot laser of laser range finder and target alignment to be measured measure.Together
When, the contact net stagger that measurement obtains can be connected to become curve and carry out real-time display by the system.
The system also preserves to data when carrying out the real-time measurement of above-mentioned data and display, is easy to the later stage to inquire about
Analyze data.
The system that the view-based access control model detection technique that the present embodiment proposes realizes continuous measurement contact net geometric parameter, by dividing
Analysis contact net image detection goes out to contact line position, and controlled motor rotation ensures that laser range finder is aimed in contact line always, real
Now automatically continuously measurement, it is not necessary to worker's manual aiming contact line；Improve operating efficiency；With similar Contact Line Detection dolly or
Person's vehicular Contact Line Detection equipment, which is compared, has higher measurement accuracy；And have compared with vehicular Contact Line Detection equipment
Considerable flexibility, it is adapted to measure contact net geometric parameter in different operating occasion.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (9)
- A kind of 1. system of continuous tracking measurement contact net geometric parameter, it is characterised in that including：Can be along the car body of rail track travel；The measurement apparatus and industrial computer being arranged on the car body, measurement apparatus are arranged on car body by electric rotating machine, The measurement apparatus includes industrial camera, laser ranging system and some lighting sources around industrial camera, industry The optical axis direction of camera is parallel with the laser emitting direction of laser ranging system, and lighting source is connected with industrial computer；The measurement apparatus also includes an angular encoder, and angular encoder is used for the anglec of rotation for measuring electric rotating machine in real time, RootHigh and stagger is led according to what the output of angular encoder and laser ranging system obtained contact net.
- 2. system according to claim 1 a, it is characterised in that light is also equipped with directly over the industrial camera Door screen, the diaphragm are provided with the adaptive adjustment module being connected with industrial computer, and adaptive adjustment module is used for according to industrial phase The size of image adjustment diaphragm aperture taken by machine.
- 3. system according to claim 1, it is characterised in that the industrial computer is arranged on car body by push rod, Push rod uses retractable foldable structure, and push rod is connected with a Quick release；When in measuring state, by push rod pull-up, together When industrial computer is installed in place by Quick release；When in non-measured state, the push rod that push rod fell in car body is consolidated In reservation, for reducing the space-consuming of car body.
- 4. system according to claim 1, it is characterised in that the lighting source is symmetrically set in the both sides of industrial camera Put.
- 5. system according to claim 1, it is characterised in that the T-type structure that the car body includes crossbeam, curb girder is formed, Crossbeam one end is connected with the first travelling wheel, and side fine strain of millet one end is connected with the second travelling wheel and the 3rd travelling wheel；In the first travelling wheel side Face is provided with movable side wheel, and movable side wheel is connected by flexible member with crossbeam, for making car body be transported on the track of different gauges It is dynamic；Two fixed side wheels are respectively equipped with the second travelling wheel and the 3rd traveling wheel side, for keeping the second travelling wheel and the 3rd Travelling wheel moves along rail, prevents from derailing.
- 6. system according to claim 1, it is characterised in that the car body is provided with a U-shaped support, electric rotating machine and measurement Device is arranged in the U-shaped support, and the both sides of U-shaped support are provided with through hole, for collecting cable.
- 7. system according to claim 1, it is characterised in that sensor group, the sensing are additionally provided with the car body Device group includes displacement transducer, odometer sensor, obliquity sensor and GPS positioning device.
- 8. system according to claim 5, it is characterised in that be also configured with power supply inside the curb girder.
- 9. system according to claim 1, it is characterised in that be also equipped with the measurement apparatus and industrial computer Connected light-sensitive element.
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| CN201721286802.9U CN207163404U (en) | 2017-09-30 | 2017-09-30 | The system of continuous tracking measurement contact net geometric parameter |
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| CN201721286802.9U CN207163404U (en) | 2017-09-30 | 2017-09-30 | The system of continuous tracking measurement contact net geometric parameter |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282751A (en) * | 2018-05-15 | 2019-01-29 | 苏州华眸智能科技有限公司 | A kind of contact net geometrical parameter dynamic measurement System and method for based on laser ranging |
| CN110160477A (en) * | 2019-06-10 | 2019-08-23 | 山东交通学院 | Contact net based on monocular vision leads high and pull-out value detection device and method |
| CN110231008A (en) * | 2019-06-10 | 2019-09-13 | 山东交通学院 | High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice |
| CN113776490A (en) * | 2021-08-19 | 2021-12-10 | 铁科检测有限公司 | From walking platform boundary limit check out test set |
-
2017
- 2017-09-30 CN CN201721286802.9U patent/CN207163404U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282751A (en) * | 2018-05-15 | 2019-01-29 | 苏州华眸智能科技有限公司 | A kind of contact net geometrical parameter dynamic measurement System and method for based on laser ranging |
| CN110160477A (en) * | 2019-06-10 | 2019-08-23 | 山东交通学院 | Contact net based on monocular vision leads high and pull-out value detection device and method |
| CN110231008A (en) * | 2019-06-10 | 2019-09-13 | 山东交通学院 | High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice |
| CN110231008B (en) * | 2019-06-10 | 2023-12-08 | 山东交通学院 | Contact net height guiding and pulling-out value measuring device and method based on twice imaging |
| CN110160477B (en) * | 2019-06-10 | 2023-12-08 | 山东交通学院 | Contact net height guiding and pulling-out value detecting device and method based on monocular vision |
| CN113776490A (en) * | 2021-08-19 | 2021-12-10 | 铁科检测有限公司 | From walking platform boundary limit check out test set |
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