CN213481244U - Contact net parameter measurement equipment - Google Patents
Contact net parameter measurement equipment Download PDFInfo
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- CN213481244U CN213481244U CN202022748548.8U CN202022748548U CN213481244U CN 213481244 U CN213481244 U CN 213481244U CN 202022748548 U CN202022748548 U CN 202022748548U CN 213481244 U CN213481244 U CN 213481244U
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Abstract
The utility model discloses a contact net parameter measuring device, which comprises a moving trolley, a limit laser sensor, a telescopic measuring frame and a three-dimensional laser scanner, wherein the moving trolley comprises a trolley body, a mileage encoder and a plurality of wheels, and the mileage encoder is connected with one of the wheels; the telescopic measuring frame comprises a telescopic measuring support, a telescopic measuring support and a locking device, and the telescopic measuring support is adjustably mounted on the telescopic measuring support in the up-down position; the limit laser sensor is arranged on the telescopic measurement support and used for obtaining the inside distance data of the contact net support; the three-dimensional laser scanner is installed on the top end of the telescopic measuring support and used for obtaining the profile of the flexible contact line or the rigid contact line, and a laser beam emitted by the three-dimensional laser scanner faces upwards. The utility model discloses a remote, three-dimensional laser scanner of high accuracy, three-dimensional laser scanner precision and stability are high, can obtain the profile of contact wire, and then obtain the pulling-out value and lead the high value through fitting and coordinate transformation.
Description
Technical Field
The utility model belongs to contact net parameter measurement field, more specifically relates to a contact net parameter measurement equipment.
Background
Catenary systems are an important task for the direct transmission of electrical energy obtained from traction substations to electric locomotives. Therefore, the quality and the working state of the contact net directly influence the transportation capacity of the electrified railway.
Japan, france and germany are countries in the world where high-speed railways develop faster and more and are well recognized, but the types of high-speed overhead lines in these three countries are different. Japan is known as world-wide using a multi-chain type suspension, france is a country represented by a simple chain type suspension, and germany is almost all elastic chain type suspensions.
The high-speed railway contact net suspension type specified by TB 10621 and 2009 high-speed railway design specifications in China adopts full-compensation simple chain type suspension or full-compensation elastic chain type suspension. When taking current, it is suitable to use fully compensated elastic chain type suspension.
The detection of the contact net is a necessary means for the safe operation of the railway line. At present, the contact network detection mainly depends on two detection means, namely manual on-site static measurement and a contact network detection vehicle, so that the geometric parameters of the contact network and the dynamic parameters of the interaction of the pantograph and the catenary are obtained, and objective overhaul bases are provided for operation and maintenance departments. In the manual on-site static measurement of the contact network in China, hand-held contact network parameter detectors of Shandong blue ridge DDJ-8 type and Tangyuan electric TDJ-6 type are mainly adopted. However, the manual field static measurement mode has low efficiency and high strength, and cannot meet the rapidly increasing demand of the railway line.
On one hand, the existing inspection mode has the defects of high manufacturing cost, difficult coordination, incapability of guaranteeing safety and only rough inspection for the inspection mode of installing the inspection vehicle at the top; on one hand, for a static measurement mode, the measurement process needs manual work to align and select measurement points, and equipment needs to be moved and lifted when measuring one node, which is time-consuming and labor-consuming; on the other hand, for a dynamic measurement device, the measurement work can be completed only when the device is static or walking at a low speed, and the problems of low measurement precision, low efficiency and the like exist under the dynamic measurement condition. Both aspects cannot adapt to the rapidly increasing demand of railway lines.
SUMMERY OF THE UTILITY MODEL
To the above defect of prior art or improve the demand, the utility model provides a contact net parameter measurement equipment, it can aim and fix a position automatically, realizes the contact net geometric parameters's that need not artifical the participation measurement, and synthesizes precision height, measurement of efficiency.
In order to achieve the above object, according to one aspect of the present invention, there is provided a parameter measuring device for a catenary, comprising a moving trolley, a limit laser sensor, a telescopic measuring frame and a three-dimensional laser scanner, wherein,
the movable trolley comprises a trolley body, a mileage encoder and a plurality of wheels, wherein the mileage encoder and the wheels are jointly installed on the trolley body;
the telescopic measuring frame comprises a telescopic measuring support, a telescopic measuring support and a locking device, the telescopic measuring support is supported by the vehicle body, the telescopic measuring support is adjustably mounted on the telescopic measuring support in the up-down position, and the telescopic measuring support is locked on the telescopic measuring support through the locking device;
the limit laser sensor is arranged on the telescopic measuring support;
the three-dimensional laser scanner is installed on the top end of the telescopic measuring support, and a laser beam emitted by the three-dimensional laser scanner faces upwards.
Preferably, the telescopic measuring support extends into the telescopic measuring support, a row of through holes are vertically formed in the telescopic measuring support, the locking device is a bolt device, and the locking device penetrates through a connecting hole in the telescopic measuring support and the through holes in the telescopic measuring support so as to lock the telescopic measuring support on the telescopic measuring support.
Preferably, a reinforcing rib is arranged between the telescopic measurement support and the vehicle body.
Preferably, the telescopic measurement support is a pipe, and the telescopic measurement support is also a pipe.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:
1) the utility model discloses utilize three-dimensional laser scanner to gather the space three-dimensional point cloud at contact wire position, carry out the relevant detection object accessory of contact wire and draw and the analysis, realize a non-contact, real-time, rapid survey contact net geometric parameters's automation equipment.
2) The utility model discloses utilize high-speed, the three-dimensional laser scanner of high accuracy to gather contact wire regional data, form complete contact net three-dimensional model, under the condition of walking fast, the position of automatic analysis pillar and contact wire aims automatically and fixes a position, realizes the contact net geometric parameters's that need not artifical participation measurement, and synthesizes precision height, measurement of efficiency.
3) The three-dimensional laser scanner is adopted, a telescopic measuring frame capable of freely telescoping is designed, the three-dimensional laser scanner is placed on a vehicle body and is locked through telescopic adjustment and a locking device, the three-dimensional laser scanner only moves in the vertical direction relative to the vehicle body, no swing exists, and the structural stability is better; on the other hand, the movable trolley comprising wheels is designed in the parameter measuring equipment, so that the parameter measuring equipment can be manually pushed, and the measurement process does not need to be carried and stopped.
4) The utility model discloses can adopt the carry-on continuous measurement, measurement of efficiency and automation are high, can obtain leading of contact net height, pulling value, pillar side limit, locator slope, gauge isoparametric, possess data analysis and automatic calculation function.
Drawings
Fig. 1 is a front view of the parameter measuring device of the contact network in the utility model;
fig. 2 is the utility model discloses well contact net parameter measurement equipment's side view.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 and 2, the parameter measuring device of the overhead line system comprises a moving trolley, a limit laser sensor 6, a telescopic measuring frame and a three-dimensional laser scanner 1, wherein,
the moving trolley comprises a trolley body 5, a mileage encoder and a plurality of wheels 7, wherein the mileage encoder and the wheels 7 are jointly arranged on the trolley body 5, each wheel 7 can be rotatably arranged on the trolley body 5, and the mileage encoder is connected with one wheel 7 so as to obtain the distance change of the moving trolley on the track through the rotation of the wheel 7;
the telescopic measuring frame comprises a telescopic measuring support 4, a telescopic measuring support 2 and a locking device, wherein the telescopic measuring support 4 is supported by the vehicle body 5, the telescopic measuring support 2 is adjustably mounted on the telescopic measuring support 4 in the up-down position, and the telescopic measuring support 2 is locked on the telescopic measuring support 4 through the locking device 3 after being adjusted in place;
the limit laser sensor 6 is arranged on the telescopic measuring support 4 and used for obtaining the inner side horizontal distance data of two contact net columns at corresponding positions;
the three-dimensional laser scanner 1 is mounted on the top end of the telescopic measuring support 2 for obtaining the profile of a flexible or rigid contact line, and the laser beam emitted by the three-dimensional laser scanner 1 is directed upwards.
Further, a reinforcing rib is arranged between the telescopic measurement support 4 and the vehicle body 5, so that the strength and stability of the parameter measurement equipment are further improved, and the three-dimensional laser scanner 1 is prevented from swinging or shaking during measurement.
Further, flexible measurement support 2 stretches into in the flexible support 4 of measuring, and the vertical through-hole that is provided with on the flexible measurement support 2, locking device is bolt assembly, and locking device passes connecting hole on the flexible measurement support 4 with through-hole on the flexible measurement support 2, in order to incite somebody to action flexible measurement support 2 locks on the flexible measurement support 4, make things convenient for three-dimensional laser scanner 1 height-adjusting like this to adapt to the not high contact net of co-altitude. In this way, the parameter measurement of different contact lines, namely flexible contact lines and rigid contact lines, is adapted, and the parameter measurement equipment is further obviously distinguished from other products in structure. In addition, the telescopic measuring support 2 is a pipe fitting, and the telescopic measuring support 4 is also a pipe fitting, so that the up-down position of the telescopic measuring support 2 can be adjusted quickly; the three-dimensional laser scanner 1 is installed on the top end of the telescopic measuring support 2, so that parameters of a contact net can be measured better.
The utility model discloses a remote, three-dimensional laser scanner 1 of high accuracy, the single-point measurement who adopts with other like products has obvious difference, and the mileage signal perception parameter measurement equipment that adopts the mileage encoder changes at the distance of track translation in-process, carry out synchronous triggering to three-dimensional laser scanner 1 by the distance change interval in succession, thereby obtain the continuous profile data in contact wire surface, form complete contact wire data, and the parameter measurement equipment that describes in other products only stops to the measuring point and measures.
The utility model discloses a data switch is as the medium that is used for data exchange among the parameter measurement equipment, and 1 data of three-dimensional laser scanner, 6 data of boundary limit laser sensor and synchro controller data are exchanged in concentrated, and data switch and host computer are connected and are communicated.
The data signal flow direction is as follows: the three-dimensional laser scanner 1 transmits contour data of a contact line to a host through a data switch, the boundary laser sensor 6 transmits contact net support column data to the host through the data switch, and the synchronous controller transmits synchronous data to the host through the data switch; the mileage encoder is connected with the synchronous controller and provides the equal interval signals for the three-dimensional laser scanner 1.
The function of the host: the main machine is arranged on the moving trolley and is used for acquiring contour data of a contact line of the three-dimensional laser scanner 1, data of the boundary laser sensor 6 and synchronous controller synchronous data. And matching the profile data of the contact line, calculating the relevant parameters of the contact line, and storing the result.
Function of the three-dimensional laser scanner 1: the system is used for acquiring profile data of contact line continuity and transmitting the profile data to a host through a data exchange.
Function of the boundary laser sensor 6: the data acquisition device is used for acquiring the distance data of the side face of the contact net support and transmitting the data to the host through the data switch.
The function of the synchronization controller: and the mileage encoder is connected and used for sensing the distance change of the mileage encoder and sending signals to the three-dimensional laser scanner 1 at equal distances.
According to another aspect of the utility model, still provide contact net parameter measurement equipment carry out the measuring method of contact net parameter, including following step:
1) selecting the type of a contact network on a host, and loading a prestored model point cloud of the outline of a contact line by the host, wherein the contact line is a flexible contact line or a rigid contact line;
2) the method comprises the following steps that a mileage encoder obtains distance variation of parameter measuring equipment in the process of moving on a track and transmits the distance variation to a synchronous controller, and the synchronous controller continuously triggers a laser scanner according to the equal-interval distance variation, so that data of the surface of a contact line are obtained and transmitted to a host computer to form a collection point cloud of the outline of the contact line;
3) filtering discrete noise points of the collected point cloud based on an Euclidean clustering mode;
4) taking the collection point cloud after denoising as an initial point set P ═ PiI 1,2, 3.. n }, and taking the model point cloud as a termination point set Q ═ Q ·iI 1,2, 3.. n }, and performing m iterations to obtain a target point set in the starting point set P
Corresponding point set in termination point set Q
Wherein n is the number of points, which is a positive integer;
scanning the outline of the contact line by using the model point cloud of the outline of the contact line in a standard state to obtain standard three-dimensional point cloud outline data of the contact line, and obtaining a contact line design pull-out value and a design lead height value by using the standard three-dimensional point cloud outline data;
the m-time iteration process specifically comprises the following substeps:
4.1) taking a set of points from the set of starting points P
Wherein k is 1,2,. m; m represents the number of iterations;
4.2) calculatingSet of points in termination point set Q
As
Corresponding set of points such that
Calculating a rotation matrix as RkAnd the translation matrix is Tk(ii) a Min in the formula means taking the minimum value;
4.3) updating the Point sets and computing
4.4) computing the Point set
And point set
Average distance between, is recorded
4.5) if dk+1If the iteration number is more than or equal to L, returning to the step b), and repeatedly calculating until the iteration number is more than the preset maximum iteration number m or dk+1If the value is less than L, a required translation matrix is finally obtained, and L represents a preset threshold value.
5) Computing
To
The translation matrix of (a);
6) obtaining a translation matrix according to the step 5), and obtaining a pull-out value and a lead-up value of the required contact line, wherein the Y value of the translation matrix on the Y axis is the pull-out value; the Z value of the translation matrix in the Z-axis is the lead-up value.
Further, in step 2), the synchronous controller obtains rotation information of the wheel 7 measured by the mileage encoder, senses distance change of the parameter measuring equipment, and then triggers the three-dimensional laser scanner 1 to emit laser at equal intervals according to the distance change, so that the host computer obtains complete data information of the outline of the contact line.
Further, in step 3), the three-dimensional laser scanner 1 is used as a core sensor for acquiring profile data of the contact line table, and section data of the contact line in the longitudinal direction is acquired at equal intervals under the control of the synchronous controller; the main machine combines and aligns the continuous multiple sections of the contact line according to the distance values at intervals in the advancing direction of the parameter measuring equipment, and finally forms the complete outline of the contact line.
Further, in the step 3), the host machine performs curve fitting on the data of each section of the surface of the contact line, loads different curve fitting methods according to the difference of flexible or rigid contact lines, matches the data with the model point cloud of the surface of the contact line stored in the host machine, uses the data matched with the stored model point cloud curve of the surface of the contact line as target contact line data, eliminates other non-related data, and only retains the data of the target contact line. The non-relevant data comprises non-contact line data such as an electric connector, a dropper wire and a positioning pipe.
Further, the utility model discloses can realize the algorithm of automatic hunting. The automatic line seeking means that a plurality of contact lines exist in the same space in a line, the functions of the contact lines are different, according to the characteristic that the outline data of the contact lines are connected in space in the translation process of the same contact line in a measurement system, the continuous positions (comprising X, Y parameters) are calculated according to the outline data of the target contact line, in space, the cable data at the same position are processed as the same contact line, and the detection result is stored as the parameters of the same contact line. In the moving process of the contact line parameter measuring equipment, the host computer tracks and continuously calculates the pull-out value and the derived value parameter of the reserved effective target contact line data by rejecting irrelevant contact line data, and automatically stores the calculation result according to the position of the target contact line, so that the purpose of automatic line searching is achieved.
Furthermore, the contact net system only has 3 anchor sections at most, and the contact net parameter measuring equipment can measure parameters of contact wires belonging to the three anchor sections at most, namely can display detection results of the three contact wires at most, wherein:
the contour data of the contact lines belonging to the same anchor section are continuous in spatial position, and the contact line parameter measuring equipment classifies the contour data of the continuous contact lines into one anchor section by identifying the contour data of the continuous contact lines when the contour data are continuous in spatial position, and the calculation result is associated with the anchor section;
when two consecutive contact line profile data are detected, storing a second consecutive contact line parameter as a result of the second anchor segment;
when three consecutive contact line profile data are detected, the second and third consecutive contact line parameters are stored as a result of the second and third anchor segments, respectively.
The utility model discloses a performance index of contact net parameter measurement equipment refers to table 1.
TABLE 1 contact net parameter measuring instrument performance index table
The parameter measuring equipment has the following functions:
(1) measurement function:
the measuring precision of the parameter measuring equipment is +/-3 mm, the measuring speed can reach 5km/h at most, about 110 positioning measuring points can be arranged for a flexible contact line, and about 700 positioning measuring points can be arranged for a rigid contact line.
The performance index meets the requirements of table 1.
(2) Recording the line mileage data;
(3) recording the rod number: inputting a starting rod number, and automatically recording according to rules (the up-down line is increased according to single or double numbers);
(4) data recording mode: the data is arranged and stored corresponding to the mileage and the positioning point pole number, and is exported in a table form, and the fixed point measurement can be selectively stored;
(5) analyzing data; the device considers two different forms of measurement modes, namely rigidity and flexibility.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A parameter measuring device of a contact net is characterized by comprising a moving trolley, a limit laser sensor, a telescopic measuring frame and a three-dimensional laser scanner,
the movable trolley comprises a trolley body, a mileage encoder and a plurality of wheels, wherein the mileage encoder and the wheels are jointly installed on the trolley body;
the telescopic measuring frame comprises a telescopic measuring support, a telescopic measuring support and a locking device, the telescopic measuring support is supported by the vehicle body, the telescopic measuring support is adjustably mounted on the telescopic measuring support in the up-down position, and the telescopic measuring support is locked on the telescopic measuring support through the locking device;
the limit laser sensor is arranged on the telescopic measuring support;
the three-dimensional laser scanner is installed on the top end of the telescopic measuring support, and a laser beam emitted by the three-dimensional laser scanner faces upwards.
2. The catenary parameter measuring device according to claim 1, wherein the telescopic measuring bracket extends into the telescopic measuring support, a row of through holes are vertically formed in the telescopic measuring bracket, the locking device is a bolt device, and the locking device penetrates through the connecting holes in the telescopic measuring support and the through holes in the telescopic measuring support to lock the telescopic measuring support on the telescopic measuring support.
3. The catenary parameter measurement device according to claim 1, wherein a reinforcing rib is arranged between the telescopic measurement support and the vehicle body.
4. The catenary parameter measurement device according to claim 1, wherein the telescopic measurement support is a pipe fitting, and the telescopic measurement support is also a pipe fitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022748548.8U CN213481244U (en) | 2020-11-24 | 2020-11-24 | Contact net parameter measurement equipment |
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| CN202022748548.8U CN213481244U (en) | 2020-11-24 | 2020-11-24 | Contact net parameter measurement equipment |
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| CN213481244U true CN213481244U (en) | 2021-06-18 |
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