WO2013133779A3 - Catenary measurement robot and method - Google Patents

Catenary measurement robot and method Download PDF

Info

Publication number
WO2013133779A3
WO2013133779A3 PCT/TR2013/000085 TR2013000085W WO2013133779A3 WO 2013133779 A3 WO2013133779 A3 WO 2013133779A3 TR 2013000085 W TR2013000085 W TR 2013000085W WO 2013133779 A3 WO2013133779 A3 WO 2013133779A3
Authority
WO
WIPO (PCT)
Prior art keywords
catenary
robot
measurement robot
measurement
aim
Prior art date
Application number
PCT/TR2013/000085
Other languages
French (fr)
Other versions
WO2013133779A2 (en
Inventor
Murat Yesiloglu Siddik
Narthan Cemal SAADET
Cihangir Odabas
Salih ERIM
Original Assignee
Robat Kontrol Otomasyon Ar Ge Ve Yazilim
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robat Kontrol Otomasyon Ar Ge Ve Yazilim filed Critical Robat Kontrol Otomasyon Ar Ge Ve Yazilim
Publication of WO2013133779A2 publication Critical patent/WO2013133779A2/en
Publication of WO2013133779A3 publication Critical patent/WO2013133779A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

Abstract

The present invention is related to a catenary measurement robot (1,201) and method which enables the measurement of the geometry of objects such as catenary. The aim of the present invention is to provide a measurement robot and method that can take measurements without any interventions after the start command has been given. Another aim of this invention is to provide a measuring robot and method that can measure in three axes using a distance sensor (7,208) that has been mounted on the tip point of a manipulator with two degrees of freedom, that can move automatically on a plane parallel to the rail plane. Another aim of this invention is to provide a measurement robot and method that measures data such as the height, stagger, and diameter of a catenary contact wire.
PCT/TR2013/000085 2012-03-07 2013-03-07 Catenary measurement robot and method WO2013133779A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
TR201202598 2012-03-07
TR2012/02598 2012-03-07
TR201302724 2013-03-06
TR2013/02724 2013-03-06

Publications (2)

Publication Number Publication Date
WO2013133779A2 WO2013133779A2 (en) 2013-09-12
WO2013133779A3 true WO2013133779A3 (en) 2014-03-13

Family

ID=48626104

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2013/000085 WO2013133779A2 (en) 2012-03-07 2013-03-07 Catenary measurement robot and method

Country Status (1)

Country Link
WO (1) WO2013133779A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107985125A (en) * 2017-12-15 2018-05-04 株洲瑞泰装备技术有限公司 Electric railway loading place power transmission device based on portable contact net

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT516672B1 (en) * 2014-09-22 2019-08-15 European Trans Energy Gmbh Mobile contact wire measuring system for two-way vehicles
AT516343B1 (en) * 2014-09-22 2018-02-15 European Trans Energy Gmbh Method for determining the position of the overhead line or the busbar for vehicles
CN109177044B (en) * 2018-09-19 2023-05-23 金石机器人常州股份有限公司 Injection molding machine pull rod position tracking mechanism and grabbing method thereof
CN110470194B (en) * 2019-08-30 2024-02-13 中国铁建电气化局集团第五工程有限公司 Lever type contact net height guiding and pulling-out value measuring device
CN110466200A (en) * 2019-09-06 2019-11-19 郑州新生印务有限公司 A kind of Bag Making Machine automatic deviation correction perforating device
CN111638714B (en) * 2020-05-28 2023-12-05 京东科技信息技术有限公司 Method and device for preventing track inspection robot from falling
CN112171671B (en) * 2020-09-23 2021-11-30 中国铁建重工集团股份有限公司 Interference detection method and system for engineering vehicle, mechanical arm and flexible pipeline

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1262023B (en) * 1966-06-18 1968-02-29 Dresden Feinmess Transportable optical device for determining the positional deviation of a contact wire of electrical railways from the track center vertical and for the simultaneous determination of the contact wire height above the top edge of the rail
DE2440085A1 (en) * 1974-08-19 1976-03-04 Licentia Gmbh Contactless measurement of contact wire position - is for electric railways and measures the height and lateral position
JPH07164357A (en) * 1993-12-10 1995-06-27 Shibaura Eng Works Co Ltd Industrial robot
JPH0825255A (en) * 1994-07-18 1996-01-30 Shibaura Eng Works Co Ltd Linear movement type robot
JPH0829118A (en) * 1994-07-20 1996-02-02 Laser Techno Kk Suspension position detector for trolley
JPH09101114A (en) * 1995-10-04 1997-04-15 Hitachi Denshi Ltd Measurement system for image of aerial electric line for electric railcar
JPH09166433A (en) * 1995-12-18 1997-06-24 Nishi Nippon Denki Syst Kk Instrument for measuring height and displacement for wiring
JPH1016608A (en) * 1996-06-27 1998-01-20 East Japan Railway Co Stringing measuring device and crossover measuring method
JPH10249787A (en) * 1997-03-11 1998-09-22 Shibaura Eng Works Co Ltd Industrial robot
JPH11348779A (en) * 1998-06-11 1999-12-21 East Japan Railway Co Trolley wire inspection vehicle
JP2000289499A (en) * 1999-04-08 2000-10-17 Nakata Seisakusho:Kk Height/displacement measuring device for trolley wire on electric overhead line
ES2367067A1 (en) * 2008-11-10 2011-10-28 Telice Teléfonos, Líneas Y Centrales, S.A. Bimodal catenary auscultador and no contact. (Machine-translation by Google Translate, not legally binding)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4404440A1 (en) 1994-02-11 1995-08-17 Siemens Ag Test method and device for determining the relative position of a contact wire to the track body
CN201104220Y (en) 2007-10-30 2008-08-20 四川广驰科技发展有限公司 Portable hand-hold optical measuring device for electrified railway contact network parameter

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1262023B (en) * 1966-06-18 1968-02-29 Dresden Feinmess Transportable optical device for determining the positional deviation of a contact wire of electrical railways from the track center vertical and for the simultaneous determination of the contact wire height above the top edge of the rail
DE2440085A1 (en) * 1974-08-19 1976-03-04 Licentia Gmbh Contactless measurement of contact wire position - is for electric railways and measures the height and lateral position
JPH07164357A (en) * 1993-12-10 1995-06-27 Shibaura Eng Works Co Ltd Industrial robot
JPH0825255A (en) * 1994-07-18 1996-01-30 Shibaura Eng Works Co Ltd Linear movement type robot
JPH0829118A (en) * 1994-07-20 1996-02-02 Laser Techno Kk Suspension position detector for trolley
JPH09101114A (en) * 1995-10-04 1997-04-15 Hitachi Denshi Ltd Measurement system for image of aerial electric line for electric railcar
JPH09166433A (en) * 1995-12-18 1997-06-24 Nishi Nippon Denki Syst Kk Instrument for measuring height and displacement for wiring
JPH1016608A (en) * 1996-06-27 1998-01-20 East Japan Railway Co Stringing measuring device and crossover measuring method
JPH10249787A (en) * 1997-03-11 1998-09-22 Shibaura Eng Works Co Ltd Industrial robot
JPH11348779A (en) * 1998-06-11 1999-12-21 East Japan Railway Co Trolley wire inspection vehicle
JP2000289499A (en) * 1999-04-08 2000-10-17 Nakata Seisakusho:Kk Height/displacement measuring device for trolley wire on electric overhead line
ES2367067A1 (en) * 2008-11-10 2011-10-28 Telice Teléfonos, Líneas Y Centrales, S.A. Bimodal catenary auscultador and no contact. (Machine-translation by Google Translate, not legally binding)

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
LINEAR MOTION SYSTEMS: "ZF1 Belt Drive Slide", DESIGN WORLD, 2 March 2009 (2009-03-02), XP055096976, Retrieved from the Internet <URL:http://www.designworldonline.com/zf1-belt-drive-slide/> [retrieved on 20140117] *
PFISTERER: "Contact Wire Laser Measuring Devices", 28 June 2009 (2009-06-28), XP002714844, Retrieved from the Internet <URL:http://www.pfisterer.com/download_download_en/d_8545.pdf> [retrieved on 20131016] *
VIDEOROBAT: "RobCMR - Catenary Measurement Robot", 9 March 2012 (2012-03-09), pages 1, XP054975218, Retrieved from the Internet <URL:http://www.youtube.com/watch?v=bnNIxv_Yl4o> [retrieved on 20131015] *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107985125A (en) * 2017-12-15 2018-05-04 株洲瑞泰装备技术有限公司 Electric railway loading place power transmission device based on portable contact net

Also Published As

Publication number Publication date
WO2013133779A2 (en) 2013-09-12

Similar Documents

Publication Publication Date Title
WO2013133779A3 (en) Catenary measurement robot and method
WO2015082683A3 (en) Device and method for measuring workpieces
GB201717781D0 (en) Three-dimensional measuring device removably coupled to robotic arm on motorized mibile platform
PL2843361T3 (en) Method for measuring the contact wire heights and side position of the overhead wire of a track
PH12014501792A1 (en) Sensor fusion algorithm
PL3442849T3 (en) Method and measuring system for sensing a fixed point next to a track
MX2016002627A (en) Neonatal carbon dioxide measurement system.
IL235174B (en) Using catheter position and temperature measurement to detect movement from ablation point
PL2719475T3 (en) Measurement system and method for measuring an angle
AR085627A1 (en) PROCEDURE AND DEVICE FOR THE CONTROL OF THE RIGHT OPERATION OF AN ELEVATOR
MX2018006622A (en) Monitoring and/or registering a position of a tool in an elevator shaft.
GB2517861A (en) Line marking apparatus with distance measurement
ZA201308044B (en) Measuring probe for measurements in melted metal or slag
WO2015180826A3 (en) Device and method for geometrically measuring an object
PL2953525T3 (en) Method for measuring a physiological parameter, such as a biological rhythm, on the basis of at least two sensors, and associated measurement device
WO2015020768A3 (en) Truck and installation method for wires
BR112015019171A2 (en) intervention system, intervention method, and computer program
PL2812647T3 (en) Method and arrangement for measurement of distances between a rail vehicle and objects arranged to the side of the rail vehicle
FR2991448B1 (en) METHOD OF THREE-DIMENSIONAL STEREO-CORRELATION MEASUREMENTS USING A PARAMETRIC REPRESENTATION OF THE MEASUREMENT OBJECT
EP3037777A3 (en) Method for measuring object and smart device
EP2929834A4 (en) Measurement device, probe portion and connection cable
WO2012123405A3 (en) Measuring device for measuring the 3d movement between two objects, measuring device for a maritime observation and defence platform, and platform
EP3227633A4 (en) Interferometric non-contact optical probe and measurement
WO2015076769A3 (en) Crane targeting for a dolly
ZA201406182B (en) Method and tool for measuring the geometric structure of an optical component

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13728846

Country of ref document: EP

Kind code of ref document: A2

122 Ep: pct application non-entry in european phase

Ref document number: 13728846

Country of ref document: EP

Kind code of ref document: A2