CN108225181B - Pantograph detection device and method based on laser triangulation method - Google Patents
Pantograph detection device and method based on laser triangulation method Download PDFInfo
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- CN108225181B CN108225181B CN201810008596.8A CN201810008596A CN108225181B CN 108225181 B CN108225181 B CN 108225181B CN 201810008596 A CN201810008596 A CN 201810008596A CN 108225181 B CN108225181 B CN 108225181B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 63
- 238000005299 abrasion Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 36
- 229910052799 carbon Inorganic materials 0.000 claims description 33
- 230000003137 locomotive effect Effects 0.000 claims description 17
- 239000002184 metal Substances 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 12
- 210000001503 joint Anatomy 0.000 claims description 10
- 241001125292 Balaena mysticetus Species 0.000 claims description 9
- 238000003780 insertion Methods 0.000 claims description 8
- 230000037431 insertion Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 239000011810 insulating material Substances 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 4
- 235000014676 Phragmites communis Nutrition 0.000 claims description 3
- 229910002804 graphite Inorganic materials 0.000 claims description 3
- 239000010439 graphite Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241001494479 Pecora Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a pantograph detection device and method based on a laser triangulation method, wherein the device consists of a power receiving device, a bracket, a transmission gear, a crank slider device, a rotary conductive device, a linear array laser, a linear array camera, a PLC (programmable logic controller) and an upper computer, wherein the power receiving device is meshed with the transmission gear, the crank slider can be driven to move through the PLC so as to enable the power receiving device to rotate, the PLC transmits the monitored motion state of the transmission device to the upper computer, a configuration picture is displayed, the upper computer also receives the surface images of the power receiving device scanned by the linear array laser and the linear array camera, and the abrasion condition of a cylindrical contact surface of the power receiving device of a touch screen can be observed through the upper computer and a camera.
Description
Technical Field
The invention relates to a device and a method for adjusting and rolling a sliding plate of a pantograph used on the roof of an on-track electric traction locomotive.
Background
A pantograph is an electrical device mounted on top of an electric traction locomotive for taking electrical energy from a catenary. The device is generally composed of a bow part, a hinge part, a bottom frame and a transmission mechanism, wherein the bow part comprises a sliding plate frame, a sliding plate arranged on the frame and sheep horns at two sides of the frame, and the sliding plate is in sliding contact with a contact line for receiving current. In order to ensure smooth flow of traction current of the pantograph, reliable contact is required between a contact line of a contact net and a sliding plate at the top of the pantograph, and certain contact pressure is required. However, the pantograph is driven at a high speed by a random vehicle, the contact line always slides relative to the sliding plate at the top of the pantograph in the driving process of the locomotive, friction can be generated on the sliding plate in the relative sliding process of the contact line and the sliding plate, so that the conductive material on the sliding plate is worn, and once the conductive material is excessively worn, the contact pressure between the sliding plate and the contact line is insufficient, so that a pantograph net accident can be generated. In order to avoid the occurrence of the bow net accident, the sliding plate of the pantograph must be checked frequently, and once the sliding plate is excessively worn, the standby pantograph is started by timely lowering the pantograph.
At present, the method for detecting the abrasion condition of the pantograph is original, firstly, visual inspection is carried out by manpower every day when the locomotive goes out of the warehouse and goes in the warehouse, and the efficiency is low and the precision is poor. Secondly, ultrasonic sensors fixed on an overhead are adopted to transmit ultrasonic waves, the ultrasonic waves are transmitted to a pantograph carbon slide plate passing through at a low speed through air, then the ultrasonic waves are reflected back to the sensors, the thickness of the slide plate is obtained after calculation according to the transmission time of the ultrasonic waves and the current wave speed, and the concave-convex and the grooves on the surface of the slide plate are detected; or a laser measuring system fixed on the overhead transmits a laser scanning beam to scan or photograph the carbon sliding plate of the pantograph passing at a low speed, and then abnormal phenomena such as overrun and stepped grinding, notch, warping and the like of the sliding plate can be automatically detected through image processing: or a camera and a camera shooting system fixed on an overhead, which can shoot and shoot the carbon sliding plate of the pantograph passing at a low speed, and then automatically detect abnormal phenomena such as overrun and stepped grinding, notch, warping and the like of the sliding plate through image processing. The measuring device is arranged on the fixed overhead, and cannot monitor the abrasion condition of the pantograph slide plate of the train in real time, in the whole course and dynamically.
And thirdly, an optical fiber abrasion sensor is arranged in an abrasion area of the carbon pantograph slide plate by utilizing the light transmission performance of the optical fiber, when abrasion occurs, the optical fiber is broken, the light transmission performance is damaged and disappears, and the abrasion value of the carbon pantograph slide plate is given by carrying out statistical analysis on the on-off conditions of a plurality of optical fibers. Abnormal phenomena such as overrun of the sliding plate, stepped grinding, notch, warping and the like cannot be detected, and abrasion trend judgment and analysis cannot be performed.
If the monitoring system is mounted on a vehicle, it is difficult to monitor the wear of the surface of the pantograph slide plate from the upper part of the contact surface because the pantograph slide plate is upward in contact with the contact line.
Disclosure of Invention
Based on the defects of the prior art, the technical problem solved by the invention is to provide a pantograph detection device and a pantograph detection method based on a laser triangulation method. The contact surface between the pantograph and the contact net wire is changed through rotation, so that the pantograph net accident is avoided.
In order to solve the technical problems, the invention adopts the following technical scheme: a pantograph detection method based on a laser triangulation method comprises the steps of installing a crank slider device, a linear array laser and a linear array camera on a pantograph bracket, enabling a transmitting end of the linear array laser and a receiving end of the linear array camera to face the lower surface of the pantograph, enabling the pantograph to rotate in the opposite direction of the locomotive moving direction once every m times of movement of the crank slider device, enabling the receiving end of the linear array camera to scan the lower surface of the pantograph through a receiving lens, receiving linear laser images reflected by the lower surface of the pantograph, generating amplified images, enabling the linear array camera to transmit the acquired amplified images to an upper computer, and enabling the upper computer to obtain sectional wear data of the lower surface of the pantograph through analysis and calculation of the amplified images and to conduct pantograph rotation control through a PLC; the time T of the interval of each revolution of the pantograph is as follows: (residence time t1 of each radian on the rotating circumference of the pantograph + rotating time t2 of each radian on the rotating circumference of the pantograph) = (total movement distance S of the locomotive/number of radians n equally divided on the rotating circumference of the pantograph)/average speed v of the locomotive within the total movement distance; the sampling conditions of the linear array camera are as follows: each section of radian rotation time t2 on the rotating circumference of the pantograph is as follows: a period t3 of (m/n) x each time the crank block device moves; the linear array camera samples once every time the crank block device moves times/the radian number n=m/n evenly distributed on the rotation circumference of the pantograph.
Further, after c×t time from when the linear array camera collects that the abrasion data of the section of the lower surface of the pantograph is greater than a threshold value, the time T of each revolution interval of the pantograph is: each section of radian on the rotating circumference of the pantograph rotates for a time t2; c is the number of arcs required by the rotation of the lower surface of the pantograph to the contact surface of the pantograph and the contact line.
The invention also provides a pantograph detection device based on the laser triangulation method, which comprises a linear array laser and a linear array camera which face the lower surface of the pantograph; a crank block device and a transmission gear which enable the pantograph to rotate towards the opposite direction of the locomotive movement direction; a bracket for mounting a crank block device, a linear array laser and a linear array camera; the upper computer is used for analyzing the abrasion data of the section of the lower surface of the pantograph; a PLC controller for controlling the rotation of the pantograph and the sampling of the linear array camera; a power receiving device and a rotary conductive device;
the bracket comprises a pair of bow heads provided with jacks, a pair of stay bars connected with the bow heads, and at least three transverse shafts connected with the pair of stay bars, wherein a first wire in the bow heads is connected with a metal reed arranged in the jacks;
a pair of transmission gears are arranged on the stay bar through a rotating shaft, and the transmission gears are meshed with the power receiving device;
the crank sliding block device consists of a first crank rotationally connected with a transmission gear, a second crank rotationally connected with the end part of the first crank, a V-shaped baffle fixed on one transverse shaft, a guide rod arranged on the other transverse shaft, and a sliding block sleeved with the second crank and the guide rod, wherein the connecting part of the first crank and the transmission gear is not arranged at the center of the transmission gear, the second crank is movably connected with the vertex of the V-shaped baffle through a winch shaft, the sliding block comprises a sleeve which is in sliding connection with the second crank and a moving part sleeved with the guide rod, the moving part is rotationally connected with the sleeve through the winch shaft, and a stepping motor is arranged on the guide rod or the sliding block and used for enabling the second crank to rotationally drive the transmission gear around the vertex of the V-shaped baffle;
the rotary conductive device is inserted into an insertion hole in the bow head through a fixed conductive connector, and the rotary conductive device is also provided with a rotary conductive connector which is in butt joint with the power receiving device;
the power receiving device is a roller which is inserted between a pair of rotary conductive devices and automatically rotates or stops through the transmission gear, and consists of a metal core, a pair of power receiving gears respectively connected with two ends of the metal core and a carbon shell sleeved with the metal core, polygonal blind holes which are butted with the rotary conductive joints are formed in two end surfaces of the metal core, the power receiving gears are meshed with the transmission gear, carbon strips are adhered to racks of the power receiving gears, the number of teeth of the power receiving gears and the number of teeth of the transmission gear are n, and the rotating circumference of the pantograph is divided into n sections of radians;
the linear array laser and the linear array camera are respectively fixed on two of the three transverse shafts, the transmitting end of the linear array laser and the receiving end of the linear array camera face the circumference of the power receiving device and are used for scanning the power receiving device, and the radian of the intersection line of the transmitting end of the linear array laser and the receiving end of the linear array camera on the circumference of the power receiving device, which is c multiplied by 2 pi/n, is equal to the radian of the vertex of the upper surface of the circumference of the power receiving device;
the PLC is used for monitoring and controlling the position of the sliding block in the crank sliding block device, the PLC is also used for controlling the linear array laser and the linear array camera, and the PLC is also connected with the upper computer through signals; the upper computer is used for displaying the configuration picture of the PLC and the image acquired by the linear array camera.
Further, the bow is made of insulating materials, carbon brush strips are adhered to the back of the bow, insertion holes are formed in the surface of the bow end and are butted with the fixed conductive joints, and a first lead in the bow is led out to the outside of the bow to form a power receiving joint.
Further, the transmission gear is made of insulating materials, the transmission gear is sleeved on a rotating shaft, the rotating shaft is fixed on the supporting rod, and the transmission gear is used for driving the power receiving gear to rotate.
As a preferable scheme of the pantograph detection device based on the laser triangulation method, one end of the guide rod is connected with a stepping motor fixed on one transverse shaft, and the guide rod is a positive and negative tooth ball screw; the stepping motor is used for driving the guide rod to rotate, so that the moving part sleeved with the guide rod moves along the guide rod, and a second crank movably connected with the sleeve rotates around the vertex of the V-shaped baffle.
From the above, the travel of the moving part on the guide rod along one direction is divided into m/2 sections, each rotation of the stepping motor is carried out, the moving part moves on the guide rod for m/2 sections, and the time period of each rotation of the stepping motor is t3.
As a preferable scheme of the pantograph detection device based on the laser triangulation method, the stepping motor is arranged on the moving part and is used for driving the moving part to move along the guide rod so that a second crank movably connected with the sleeve rotates around the vertex of the V-shaped baffle.
Further, the rotary conductive device at least further comprises an insulating rotary body for fixing the rotary conductive joint, an insulating shell for fixing the fixed conductive joint, a bearing sleeved on the periphery of the insulating rotary body, a graphite shell adhered on the periphery of the insulating shell, a sealing cavity formed at the joint of the insulating rotary body and the insulating shell through a sealing ring, the rotary conductive joint and the fixed conductive joint extend into the sealing cavity and are electrically connected with each other through a liquid conductive medium in the sealing cavity, and the insulating shell is fixed with the insulating rotary body through the bearing and is polygonal.
The PLC is in signal connection with the grating encoder and the stepping motor and is used for monitoring and controlling the position of the moving part on the guide rod and changing the scanned surface of the power receiving device.
Compared with the prior art, the invention has the beneficial effects that:
1. the power receiving device is meshed with the transmission gear, the crank sliding block device can be driven by the PLC controller, the moving part moves along the guide rod, the sleeve slides along the second crank, the second crank is driven to rotate around the vertex of the V-shaped baffle, and the first crank drives the transmission gear to rotate.
2. Because the power receiving device slides relative to the contact wire after being contacted with the contact wire, friction force is generated between the power receiving device and the contact wire, the friction force also causes the power receiving device to roll in the opposite direction of the movement direction of the pantograph, but because the moving part of the crank sliding block device for driving the power receiving device to rotate is sleeved on the guide rod, especially when the guide rod is a positive and negative pressure ball screw, the moving part cannot freely move along the guide rod when the guide rod does not rotate, the power receiving device has the function of self-locking, an additional braking component is not required to be installed, the problem that the braking component is worn and is difficult to brake is solved, the power receiving device can rotate in a small amplitude, and the rotating angle is accurately adjusted.
3. The power receiving device is driven by the stepping motor indirectly, the rotation precision is high, each time the stepping motor rotates for m/n times, the moving part moves for m/2 sections on the guide rod, the power receiving device and the transmission gear rotate for 2 pi/n degrees, which is equivalent to the radian of one tooth, and if the number of sections m/2 of the moving part on the guide rod, which moves in a single direction, is set to be a multiple of the number of teeth n of the transmission gear, the rotation angle of the power receiving device can be accurately controlled by controlling the rotation number of the stepping motor.
And 4, the PLC only monitors the position of the moving part on the guide rod and drives the moving part to move along the guide rod, the feedback regulating loop is simple, the redundant regulating reaction time is avoided, and the displacement precision of the moving part is high.
5. The rotating conductive device is used for guiding the current received by the pantograph to a locomotive wire to supply power for the locomotive, the PLC controller transmits the monitored motion state of the transmission device to the upper computer to display a configuration picture, the upper computer also receives the enlarged image of the surface of the power receiving device scanned by the linear array laser and the linear array camera, and the abrasion condition of the cylindrical contact surface of the touch screen power receiving device can be observed through the upper computer and the camera.
And 6, the PLC controls the array laser and the linear array camera to scan the surface of the powered device, so that the data redundancy is reduced.
7. The crank slider device comprises a V baffle, and when the rotation direction of the power receiving gear is opposite to the motion track of the crank slider device around the transmission gear, namely, the pantograph rotates in the opposite direction of the motion direction of the locomotive, the crank slider device cannot be clamped at a dead point.
8. When the abrasion loss of the pantograph is normal, the PLC drives the stepping motor to intermittently rotate according to the time T of each revolution interval of the pantograph according to the claim 1, and the circumferential surface of the pantograph is controlled to be uniformly abraded in the total travel time of the locomotive.
9. When the abrasion loss of a current collector with a certain radian exceeds a threshold value, after the linear array camera acquires c multiplied by T time after abrasion data of the section of the lower surface of the current collector is larger than the threshold value, the arc section of the current collector with abnormal abrasion is rotated to be in contact with a contact line, at the moment, a PLC drives a stepping motor to intermittently rotate according to the time T of each circle of rotation interval of the current collector according to claim 1, the circumferential surface of the current collector is controlled to be uniformly abraded within the total travel time of the locomotive, and the time T=the rotating time t2=2 multiplied by 3 of each radian on the rotating circumference of the current collector; c is the number of arcs required by the rotation of the lower surface of the pantograph to the contact surface of the pantograph and the contact line, and t3 is the time period of one rotation of the stepping motor.
Drawings
FIG. 1 is a schematic diagram of a pantograph detection device based on laser triangulation;
FIG. 2 is a schematic enlarged view of a structure of a pantograph detection device based on laser triangulation, showing a partial cross-sectional view of the pantograph detection device, a rotary conduction device, a pantograph head and a transmission gear;
FIG. 3 is a left side cross-sectional view of the invention taken along the line A-A of FIG. 1;
FIG. 4 is a diagram showing the motion states of a transmission gear and a crank block device of the pantograph detection device based on the laser triangulation method;
FIG. 5 is a diagram of the motion states of a drive gear and slider-crank device of a pantograph detection device and method based on laser triangulation;
FIG. 6 is a block diagram of a control circuit of a pantograph detection device based on laser triangulation according to the present invention;
FIG. 7 is a schematic diagram of a linear camera and linear laser measurement powered device of a pantograph detection method based on laser triangulation according to the present invention;
fig. 8 is a schematic diagram of a linear camera and a linear laser measuring other objects of the pantograph detection method based on the laser triangulation method.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1, as shown in fig. 1-5, a pantograph detection device and method based on a laser triangulation method, which is composed of a pantograph device 1, a bracket 3, a transmission gear 41, a crank slider device 5, a rotary conductive device 2, a linear array laser 6, a linear array camera 9, a PLC controller 7 and an upper computer 8, wherein the bracket 3 comprises a pair of pantographs 30 provided with insertion holes 39, a pair of supporting rods 33 connected with the pantographs, and at least three transverse shafts (36, 37, 38) connected with the pair of supporting rods 33, a first wire 32 in the pantographs is connected with a metal reed 31 arranged in the insertion holes 39, the pantographs 30 are made of insulating materials, carbon brush strips 34 are adhered on the backs of the pantographs, the insertion holes 39 are arranged on the surfaces of the end faces of the pantographs and are in butt joint with the fixed conductive joints 22, and the first wire 32 in the pantographs is led out to the outside of the pantographs to form a power receiving joint 35.
The transmission gear 41 is installed on the stay bar 33 through a rotating shaft 42, the transmission gear 41 is meshed with the power receiving device 1, the transmission gear is made of an insulating material and sleeved on the rotating shaft 42, the rotating shaft is fixed on the stay bar 33, and the transmission gear is used for driving the power receiving gear 11 to rotate. The number of teeth of the transmission gear is n=17, and the circumference of the transmission gear is divided into 17 radians.
The crank slider device 5 is composed of a first crank 51 rotatably connected with a transmission gear (as shown in fig. 2, the hinge shafts (61, 62,63, 64) are connected with the first crank 51 through the hinge shaft 61), a second crank 52 rotatably connected with the end part of the first crank (the end part of the first crank 51 is connected with the second crank 52 through the hinge shaft 62), a V-shaped baffle 53 fixed on one transverse shaft 37, a guide rod 54 mounted on the other transverse shaft 36, and a slider sleeved with the second crank and the guide rod, wherein the connection part of the first crank and the transmission gear is not in the center of the transmission gear, the midpoint of the second crank is movably connected with the vertex 55 of the V-shaped baffle through the hinge shaft 63, the slider comprises a sleeve 56 slidably connected with the second crank 52 and a moving part 57 sleeved with the guide rod, the moving part is rotatably connected with the sleeve through the hinge shaft 64, one end of the guide rod 54 is connected with a step motor 58 fixed on one transverse shaft 36, the guide rod is a positive and negative tooth ball screw, the step motor is used for driving the guide rod to rotate in a sleeved mode, the moving part 57 of the guide rod is enabled to move along the guide rod, and the moving part of the guide rod is enabled to move around the vertex of the second crank 55. In fig. 4-5, the moving part reciprocates once on the guide rod, the transmission gear rotates once, the guide rod is a positive and negative tooth ball screw, the starting point and the end point of the moving part moving on the guide rod are provided with m/2 sections of threads, the starting point and the end point of the moving part moving on the guide rod are divided into m/2 sections, m=34, each time the stepping motor drives the guide rod to rotate once, the moving part moves 1 section on the guide rod, each time the stepping motor drives the guide rod to rotate 34 weeks, the transmission gear rotates once, each time the transmission gear rotates one section of 17 sections of radians, and the stepping motor needs to rotate 2 weeks=34/17.
The stepper motor 58 may be disposed on the moving part 57, and the last line of the guide 54 divides the reciprocating distance of the moving part 57 on the guide into m/2 sections, m=34.
The rotary conductive device 2 is inserted into an insertion hole 39 in the bow head 30 through a fixed conductive joint 22, the rotary conductive device is further provided with a rotary conductive joint 21 which is in butt joint with the power receiving device, the rotary conductive device at least comprises an insulating rotary body 24 for fixing the rotary conductive joint 21, an insulating shell 25 for fixing the fixed conductive joint 22, a bearing 23 sleeved on the periphery of the insulating rotary body, a graphite shell 26 adhered on the periphery of the insulating shell, a sealing cavity 27 formed at the joint of the insulating rotary body and the insulating shell through a sealing ring 29, the rotary conductive joint and the fixed conductive joint extend into the sealing cavity and are electrically connected through a liquid conductive medium 28 in the sealing cavity, the insulating shell is fixed with the insulating rotary body through the bearing, and the rotary conductive joint and the fixed conductive joint are polygonal.
The power receiving device 1 is a roller inserted between a pair of rotary conductive devices 2 and automatically rotated or stopped by the transmission gear 41, and consists of a metal core 10, a pair of power receiving gears 11 respectively connected with two ends of the metal core, and a carbon shell 12 sleeved with the metal core, wherein polygonal blind holes 13 butted with the rotary conductive joints are formed in two end surfaces of the metal core, and the power receiving gears 11 are meshed with the transmission gear 41; the carbon strips 14 are adhered to the racks of the power receiving gear 11, as shown in fig. 4-5, the number of teeth of the power receiving gear and the number of teeth of the transmission gear are n=17, the rotation circumference of the pantograph is divided into 17 radians, namely, each time the power receiving gear 11 rotates one of the 17 radians, the stepping motor needs to rotate for 2 weeks=34/17, the total number of screw thread sections m contained between the starting point and the end point and the number of teeth n of the transmission gear in the process that the moving part moves back and forth on the guide rod once can be other values, and the larger the multiple of the number of teeth of the power receiving gear and the number of teeth m is different, the larger the number of coils of the guide rod needs to be driven to rotate by the stepping motor every time the power receiving gear rotates one radian. And similarly, the closer the connecting point of the second crank and the V baffle is to the first crank, the more the stepping motor needs to drive the guide rod to rotate when the power receiving gear rotates for a section of radian.
As shown in fig. 6, the stepper motor 58 is provided with a grating encoder 71, the guide rod 54 is provided with a grating ruler, and the PLC controller is in signal connection with the grating encoder and the stepper motor, and is used for monitoring and controlling the position of the moving part on the guide rod, and changing the scanned surface of the power receiving device corresponding to the rotation angle of the power receiving gear.
As shown in fig. 3, the linear array laser 6 and the linear array camera 9 are respectively fixed on two of the three transverse shafts (36, 38), the transmitting end of the linear array laser and the receiving end of the linear array camera face the lower surface of the circumferential surface of the power receiving device 1, and are used for scanning the power receiving device 1, the radian of the scanning surface of the transmitting end of the linear array laser and the receiving end of the linear array camera on the circumferential surface of the power receiving device from the top of the circumferential surface of the power receiving device is c×2pi/17, c is a known number, c=9 in fig. 3-5, as shown in fig. 6, the PLC controller 7 is used for monitoring and controlling the position of the middle slider 57 of the crank slider device 5, the PLC controller 7 is also used for controlling the linear array laser 6 and the linear array camera 9, and the PLC controller is also connected with the upper computer 8 in a signal, and the upper computer is used for displaying the configuration picture of the PLC controller and the image collected by the linear array camera.
As shown in fig. 4-5, in the pantograph detection device and method based on the laser triangulation method according to the present invention, the transmission gear 41 and the crank slider mechanism rotate for one circle, the running direction of the locomotive equipped with the pantograph detection device is left, after the pantograph detection device 1 contacts the contact line, the transmission gear 41 rotates clockwise under the action of friction force, so that the transmission gear 41 has a tendency to rotate counterclockwise under the action of friction force, when the second crank 52 rotates around the top of the V-shaped baffle 53 to the upper and lower stop edges, the first crank 51 is at the top and bottom dead points respectively, but because the transmission gear 41 has a tendency to rotate counterclockwise under the action of friction force, the hinge 61 point at the upper end of the first crank 51 receives a force which is perpendicular to the first crank and is in the same direction as the tangential direction of rotation of the transmission gear, so that the hinge 61 point at the upper end of the first crank 51 is easy to pass through the dead point.
In the pantograph detection method based on the laser triangulation method, as shown in fig. 7, the emitting end of the linear array laser 6 and the receiving end of the linear array camera 9 face the lower surface of the pantograph (the lower surface of the carbon shell 12), the receiving end of the linear array camera 9 scans the lower surface of the pantograph through the receiving lens 92, receives a linear laser image reflected by the lower surface of the pantograph, generates an amplified image, the linear array camera (the linear CCD array 91) transmits the acquired amplified image to the upper computer, the focal length of the lens is a, the carbon shell 12 is within twice focal length 2a of the lens, the normal line of the lens 92 is parallel to the vertical line of the power receiving device 1, the center (x 0, y 0) of the lens 92 is the origin, the normal line of the lens is the x-axis, the line which is perpendicular to the normal line of the lens and passes through the origin is the y-axis, establishing a coordinate system, when the carbon case is not worn, the linear array laser 6 projects laser light to the surface (x 1, y 1) of the carbon case, then reflects to the lens 92, forms an image by refracting and converging at (x 1', y 1') of the linear CCD array 91 of the linear array camera 9 through two points (x 0, y 1) and (x 0, y 0) of the lens 92, when the carbon case is worn to a threshold value, projects laser light to the surface (x 3, y 3) of the carbon case (in side view 7), then reflects to the lens 92, refracts and converges at (x 3', y 3') of the linear CCD array 91 of the linear array camera 9 through two points (x 0, y 3) and (x 0, y 0) of the lens 92, when the carbon case is worn but not worn to the threshold value, projects laser light to the surface (x 2) of the carbon case (in side view 7), y 2), then reflected to the lens 92, and refracted through two points (x 0, y 2) and (x 0, y 0) of the lens 92 to meet at (x 2', y 2') of the linear CCD array 91 of the linear camera 9, according to the principle of lens refraction magnification,
(-x1/x1’)＝(y1/-y1’)＝(a/(x1’-a)),
x1’＝a·x1/(a+x1),
y1’＝y1·x1’/x1＝y1·a·x1/(x1·(a+x1))＝y1·a/(a+x1)；
(-x2/x2’)＝(y2/-y2’)＝(a/(x2’-a)),
x2’＝a·x2/(a+x2),
y2’＝y2·x2’/x2＝y2·a·x2/(x2·(a+x2))＝y2·a/(a+x2)；
(-x3/x3’)＝(y3/-y3’)＝(a/(x3’-a)),
x3’＝a·x3/(a+x3),
y3’＝y3·x3’/x3＝y3·a·x3/(x3·(a+x3))＝y3·a/(a+x3)；
the x1, x2 and x3 are all negative values, namely (x 1, y 1) is amplified by a/(a+x1) times, (x 2, y 2) is amplified by a/(a+x2) times, (x 3, y 3) is amplified by a/(a+x3) times, (x 1, y 1) and (x 3, y 3) are all known, the linear array camera and the linear array laser can be manually calibrated after being installed, the upper computer can calculate the abrasion depth of the carbon shell 12, namely the distance between (x 1, y 1) and (x 2, y 2) by analyzing and calculating the amplified image, and then the position (x 2, y 2) of the linear array laser projected to the lower surface of the carbon shell 12 after the abrasion of the carbon shell 12 is obtained according to the coordinates (x 2', y 2') of the image.
When the initial thickness of the carbon shell 12 is 10mm, and the upper computer 8 receives the amplified image acquired by the linear array camera 9, after analysis, the analysis shows that the distance between any part (x 1, y 1) and any part (x 2, y 2) on the laser line projected by the linear array laser reaches 3mm, namely, when the carbon shell is worn for 3mm, the carbon shell with the radian of the section can not be contacted with the contact line for a long time to continue wearing.
The rotation control of the pantograph (carbon shell 12) is performed by a PLC controller; the time T of the interval of each rotation of the carbon shell 12 along with the power receiving gear 11 is as follows: (residence time per arc t1 on the rotating circumference of the pantograph + rotating time per arc t2 on the rotating circumference of the pantograph) = (total movement distance S of the locomotive/number of arcs n equally divided on the rotating circumference of the pantograph)/average speed v of the locomotive within the total movement distance, n=17;
the sampling conditions of the linear array camera are as follows: each section of radian rotation time t2 on the rotating circumference of the pantograph is as follows: (m/n) x the period t3 (i.e., m=34,
t2＝2×t3；
the linear array camera samples once every time the crank block device moves times/the radian number n=m/n=2 which is evenly distributed on the rotation circumference of the pantograph.
In fig. 3-5, c=9, if the linear array camera collects that the abrasion data of the section of the lower surface of the pantograph is greater than the threshold value of 3mm, that is, the distance between any part (x 1, y 1) and (x 2, y 2) on the laser line projected by the linear array laser reaches 3mm, that is, when the abrasion is 3mm, the carbon shell with the arc of the section can not be contacted with the contact line for a long time for continuous abrasion. The time T between each rotation of the carbon shell 12 with the power receiving gear 11 is the time T after 9 times of one rotation of the carbon shell 12 with the power receiving gear, namely 9×t; each radian rotation time on the rotation circumference of the pantograph
t2＝2×t3
The linear array camera of the invention adopts a C4-1280-GigE linear array camera, the resolution ratio is 1280 (H). Times.1024 (V), the frame rate is 500, the maximum contour frequency is 72k, and the contour schematic diagrams of other objects measured by the C4-1280-GigE linear array camera and the linear array laser are shown in figure 8.
The preferred embodiments of the present invention have been described in detail, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention, and the various changes are included in the scope of the present invention.
Claims (8)
1. The pantograph detection device based on the laser triangulation method is characterized by comprising a linear array laser and a linear array camera, wherein the linear array laser and the linear array camera face the lower surface of the pantograph; a crank block device and a transmission gear which enable the pantograph to rotate towards the opposite direction of the locomotive movement direction; a bracket for mounting a crank block device, a linear array laser and a linear array camera; the upper computer is used for analyzing the abrasion data of the section of the lower surface of the pantograph; a PLC controller for controlling the rotation of the pantograph and the sampling of the linear array camera; a power receiving device and a rotary conductive device;
the bracket comprises a pair of bow heads provided with jacks, a pair of stay bars connected with the bow heads, and at least three transverse shafts connected with the pair of stay bars, wherein a first wire in the bow heads is connected with a metal reed arranged in the jacks;
a pair of transmission gears are arranged on the stay bar through a rotating shaft, and the transmission gears are meshed with the power receiving device;
the crank sliding block device consists of a first crank rotationally connected with a transmission gear, a second crank rotationally connected with the end part of the first crank, a V-shaped baffle fixed on one transverse shaft, a guide rod arranged on the other transverse shaft, and a sliding block sleeved with the second crank and the guide rod, wherein the connecting part of the first crank and the transmission gear is not arranged at the center of the transmission gear, the second crank is movably connected with the vertex of the V-shaped baffle through a winch shaft, the sliding block comprises a sleeve which is in sliding connection with the second crank and a moving part sleeved with the guide rod, the moving part is rotationally connected with the sleeve through the winch shaft, and a stepping motor is arranged on the guide rod or the sliding block and used for enabling the second crank to rotationally drive the transmission gear around the vertex of the V-shaped baffle;
the rotary conductive device is inserted into an insertion hole in the bow head through a fixed conductive connector, and the rotary conductive device is also provided with a rotary conductive connector which is in butt joint with the power receiving device;
the power receiving device is a roller which is inserted between a pair of rotary conductive devices and automatically rotates or stops through the transmission gear, and consists of a metal core, a pair of power receiving gears respectively connected with two ends of the metal core and a carbon shell sleeved with the metal core, polygonal blind holes which are butted with the rotary conductive joints are formed in two end surfaces of the metal core, the power receiving gears are meshed with the transmission gear, carbon strips are adhered to racks of the power receiving gears, the number of teeth of the power receiving gears and the number of teeth of the transmission gear are n, and the rotating circumference of the pantograph is divided into n sections of radians;
the linear array laser and the linear array camera are respectively fixed on two of the three transverse shafts, the transmitting end of the linear array laser and the receiving end of the linear array camera face the circumference of the power receiving device, the radian of an intersecting line of the transmitting end of the linear array laser and the receiving end of the linear array camera on the circumference of the power receiving device from the top of the upper surface of the circumference of the power receiving device is c multiplied by 2 pi/n, and c is the arc number required by the rotation of the lower surface of the pantograph to the contact surface of the pantograph and the contact line;
the PLC is used for monitoring and controlling the position of the sliding block in the crank sliding block device, the PLC is also used for controlling the linear array laser and the linear array camera, and the PLC is also connected with the upper computer through signals;
the upper computer is used for displaying the configuration picture of the PLC and the image acquired by the linear array camera.
2. The pantograph detection device based on the laser triangulation method according to claim 1, wherein the bow is made of an insulating material, a carbon brush strip is adhered on the back of the bow, an insertion hole which is in butt joint with the fixed conductive joint is formed in the surface of the bow, and a first wire in the bow is led out of the bow to form a power receiving joint.
3. The pantograph detection device based on the laser triangulation method according to claim 1, wherein the transmission gear is made of an insulating material, the transmission gear is sleeved on a rotating shaft, the rotating shaft is fixed on the stay rod, and the transmission gear is used for driving the power receiving gear to rotate.
4. The pantograph detection device based on the laser triangulation method according to claim 1, wherein one end of the guide rod is connected with a stepping motor fixed on one transverse shaft, and the guide rod is a positive and negative tooth ball screw; the stepping motor is used for driving the guide rod to rotate, so that the moving part sleeved with the guide rod moves along the guide rod, and a second crank movably connected with the sleeve rotates around the vertex of the V-shaped baffle.
5. The laser triangulation-based pantograph detection device according to claim 1, wherein the stepper motor is mounted on the moving part and is configured to drive the moving part to move along the guide rod so that the second crank movably connected to the sleeve rotates around the vertex of the V-shaped baffle.
6. The apparatus according to any one of claims 4 to 5, wherein a travel of the moving part on the guide bar in one direction is divided into m/2 segments, the moving part moves on the guide bar m/2 segments per one rotation of the stepping motor, a time period of one rotation of the stepping motor is t3, and m is a total number of segments of threads included between a starting point and an ending point of one round of the moving part moving back and forth on the guide bar.
7. The pantograph detection device based on the laser triangulation method according to claim 1, wherein the rotary conductive device at least further comprises an insulating rotary body for fixing the rotary conductive joint, an insulating housing for fixing the fixed conductive joint, a bearing sleeved on the periphery of the insulating rotary body, a graphite shell adhered on the periphery of the insulating housing, a sealing cavity formed at the joint of the insulating rotary body and the insulating housing through a sealing ring, the rotary conductive joint and the fixed conductive joint extend into the sealing cavity and are electrically connected through a liquid conductive medium in the sealing cavity, the insulating housing is fixed with the insulating rotary body through a bearing, and the rotary conductive joint and the fixed conductive joint are polygonal.
8. The pantograph detection device based on the laser triangulation method according to claim 1, wherein the stepping motor is provided with a grating encoder, the guide rod is provided with a grating ruler, and the PLC controller is in signal connection with the grating encoder and the stepping motor and is used for monitoring and controlling the position of the moving part on the guide rod and changing the scanned surface of the power receiving device.
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| CN108831192B (en) * | 2018-09-07 | 2023-09-22 | 吉林大学 | Laser projection system for anti-collision driving track guide line of automobile traffic intersection and control method thereof |
| CN109976335A (en) * | 2019-02-27 | 2019-07-05 | 武汉大学 | A kind of traceable Portable stereoscopic live streaming intelligent robot and its control method |
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