CN109407105A - A kind of Servocontrol device of the online cruising inspection system of contact net geometric parameter - Google Patents
A kind of Servocontrol device of the online cruising inspection system of contact net geometric parameter Download PDFInfo
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- CN109407105A CN109407105A CN201811196467.2A CN201811196467A CN109407105A CN 109407105 A CN109407105 A CN 109407105A CN 201811196467 A CN201811196467 A CN 201811196467A CN 109407105 A CN109407105 A CN 109407105A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of Servocontrol devices of online cruising inspection system of contact net geometric parameter, which includes: host computer, to run machine vision image algorithm and send control instruction；Stereo vision sensor, transmission image information to the host computer；Driving device sends driving movement instruction to receive command information transmitted by the host computer and calculate according to manipulation movement instruction；Inventive drive means carry out position tracking and rate control using fractional order position and rate compensator, guarantee that driving device is enable to respond quickly under big disturbance, target is tracked, so that whole system is kept tenacious tracking, keeps the measurement accuracy of contact line reliable and stable.Host computer and stereo vision sensor use the communication modes of network interface, and the communication modes of CAN bus are used with driving device, convenient for carrying out going deep into control to cruising inspection system, guarantee to contact net stagger and the precise measurement for leading the information such as high level.
Description
Technical field
The present invention relates to a kind of Servocontrol devices of online cruising inspection system of contact net geometric parameter, belong to industrial detection
Control system technical field.
Background technique
Crucial composition one of of the contact net as railway traction power supply system, ensures that it has well stable work shape
State has great importance to the safe operation of the railway system.And the geometric parameter of contact net then can intuitively reflect its work
Make state it is normal whether, just because of this, intelligence, precision and the lighting of contact net geometric parameter detection device are states
An inside and outside research hotspot.
Currently, domestic contact net geometric parameter detection device is broadly divided into three categories, i.e., portable, vehicular and
Hand propelled.Wherein, portable contact net detection instrument (such as CN204421866U, CN300806610S) measurement accuracy it is high, convenient for taking
Band, but it can only carry out fixed point detection, low efficiency, the high operation requirements simultaneously for personnel and complicated for operation cumbersome.And it is vehicle-mounted
Formula inspection device (such as CN105416097A, CN104567684A, CN105674896A, CN105674880A, CN103557788B
Deng described in) although detection efficiency is high, because driving section need to be occupied, is not suitable for the daily of railway power supply administrative department and patrols
Inspection.
Existing inspection device uses the ranging of single line laser thunder simultaneously, that there are valid data is few, detection accuracy is lower and
The problem of cannot achieve to a plurality of contact line locating and tracking.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of online cruising inspection systems of contact net geometric parameter
Servocontrol device, be enable to respond quickly under big disturbance, track target, make whole system keep tenacious tracking, make to connect
The measurement accuracy for touching line is reliable and stable.
The object of the invention is achieved by following technical solution:
A kind of Servocontrol device of online cruising inspection system of contact net geometric parameter, including host computer, stereoscopic vision are provided
Sensor, driving device, motor and laser ranging system；
Stereo vision sensor, transmission acquisition contact line image information to and be sent to the host computer；
Laser ranging system, to feed back to host computer by driving device to contact line ranging, and by ranging information；Swash
Optical range finding apparatus is wholely set with stereo vision sensor, and optical centre is overlapped；
Host computer calculates miss distance information based on image and is sent to driving device；
Driving device sends miss distance information to receive the host computer, and sends driving instruction to motor；
Motor receives the driving movement instruction as transmitted by driving device；Drive stereo vision sensor and laser ranging
Device rotation, adjusts the field of view angle of stereo vision sensor and the measurement position of laser ranging system.
It preferably, further include encoder, gyro and current sensor；Stereo vision sensor will currently contact line image letter
Breath feeds back to host computer, and motor angle information is fed back to driving device by encoder, and gyro is by the angular speed of present laser device
Information feeds back to driving device, and current sensor acquisition motor exports current feedback to driving device, and driving device passes through speed
Degree, angle information, output electric current and miss distance information calculate laser ranging system and stereo vision sensor cruising inspection system
The angle of required rotation generates driving instruction, is sent to motor.
Preferably, the host computer further includes parameter adjustment unit, and the parameter setting unit is to determine that logging is surveyed
Away from operating mode, Working mode set includes the mode that works by day, mode of working at night, single line tracking distance measurement mode and more
Line tracks distance measurement mode；In the mode of working at night, lighting device is opened, contact net is illuminated；It tracks and surveys if it is single line
Away from mode, then the single contact line in image is persistently tracked, if it is multi-thread tracking distance measurement mode, identifying Chu not tracked
Contact line image tracked.
Preferably, the host computer further includes data storage report generation unit, and what host computer calculated contact line leads height
Value, stagger, superelevation of outer rail value and side threshold value, data store report generation unit will lead high level, stagger, outer
Rail superelevation value and side threshold value, store according to time of measuring and location information and generate report.
Preferably, the host computer further includes geometric parameter abnormal alarm unit, to leading high level, stagger, superelevation of outer rail
Value and the abnormality of side threshold value are alarmed.
Preferably, the host computer is connect by the communication modes of network interface with stereo vision sensor.
Preferably, the host computer is connect by CAN bus with driving device.
Preferably, the angle information θ that driving device is detected by coding diskoutAnd target angle θinPass through fractional order position
Compensator carries out Position Tracking Control, generates target angular velocity Win；By gyro by the angular velocity information W of present laser deviceout
And target angular velocity WinRate tracing control is carried out by fractional order velocity compensator；Pass through motor current signal IoutAnd score
The output valve I of rank velocity compensatorinPID control is carried out, motor-driven pwm control signal is generated；
Target angle θinIt is calculated and is obtained by miss distance x, θin=arctan (xa/f), wherein a is stereoscopic vision biography
The pixel dimension of sensor, f are stereo vision sensor focal length.
Preferably, the transmission function of fractional order position compensation device are as follows:
Win(s)=HF(s)(θin-θout)
Wherein μ is fractional order order, and m is controller target order, αF,kFor fractional order aspect ratio, k=1 ..., m-1, τF
For time constant；
μ∈(0,1)
And meet:
Preferably, fractional order velocity compensator transmission function are as follows:
Iin(s)=HF′(s)(Win-Wout)
Wherein μ is fractional order order, and m is controller target order, αF,kFor fractional order aspect ratio, k=1 ..., m-1, τF
For time constant；
μ∈(0,1)
And meet:
Preferably, motor current signal IoutMultiplied by motor torque COEFFICIENT KTThe rotating torque M of motor is obtained afterwardsm, rotatory force
Square MmLaser ranging system is obtained multiplied by the 1/Js reciprocal of motor drive ratio and the rotary inertia of device and stereoscopic vision senses
The velocity of rotation W of deviceout, it is converted into angle, θout。
Preferably, driving device carries out self-test to Servocontrol device after receiving the self-checking command that host computer is sent, and reads
The motor angle information for taking encoder to measure, and control motor rotate to the closer positive limit of the angle or negative limit, then
Another limit is gone to again, finally returns to zero position, during rotation, reads the motor angle information of encoder measurement, judgement
Whether restraining position and the angle information of zero-bit are correct, and self-test is normal if correct, otherwise repair.
The working method of the Servocontrol device of the online cruising inspection system of contact net geometric parameter described in one kind is provided simultaneously,
Include the following steps:
(1) daytime or mode of working at night are selected；Select single line tracking distance measurement mode or multi-thread tracking distance measurement mode；
(2) host computer sends self-checking command, and driving device carries out self-test；Self-test normally then enters step (3), otherwise carries out
Maintenance；
(3) host computer sends image information collecting instruction to stereo vision sensor, and stereo vision sensor is to host computer
Manipulation sends image information；
(4) host computer carries out miss distance calculating, and miss distance information is sent to driving device；Encoder is by motor angle
Information feeds back to driving device, and the angular velocity information of present laser device is fed back to driving device by gyro, and current sensor is adopted
Collection motor exports current feedback to driving device, and driving device passes through speed, angle information, output electric current and miss distance letter
Breath calculates the angle rotated needed for laser ranging system and stereo vision sensor cruising inspection system, generates driving instruction, sends
To motor；
(5) motor driven is rotated according to driving instruction driving laser ranging system and stereo vision sensor, laser ranging
Device carries out ranging, and host computer carries out out leading high level, stagger, superelevation of outer rail value and side threshold value and depositing for contact line
Storage；Return step (3), until measurement terminates.
The invention has the following advantages over the prior art:
(1) current contact line image information is fed back to host computer by stereo vision sensor by the present invention, will by encoder
Motor current angular information feeds back to driving device, and the angular velocity information of present laser device is fed back to driving dress by gyro
It sets, driving device calculates the angle rotated needed for cruising inspection system by image, angular speed and angle information, sends correctly fortune
Dynamic instruction makes motor according to movement instruction and required rotational angle, and the laser ranging system arrival inside logging is driven to refer to
Fixed position ranging.Easy to use, measurement accuracy is high.
(2) host computer of the present invention and stereo vision sensor use the communication modes of network interface, total using CAN with driving device
The communication modes of line, come obtain stereo vision sensor, driving device, with encoder motor and with the more of gyro range unit
Sample information feedback guarantees convenient for carrying out going deep into control to cruising inspection system to contact net stagger and the essence for leading the information such as high level
Really measurement.
(3) inventive drive means carry out position tracking and rate control using fractional order position and rate compensator,
Guarantee that driving device is enable to respond quickly under big disturbance, track target, so that whole system is kept tenacious tracking, make contact line
Measurement accuracy it is reliable and stable.
Detailed description of the invention
Fig. 1 is the Servocontrol device schematic diagram of the online cruising inspection system of contact net geometric parameter of the present invention.
Fig. 2 is that the Servocontrol device of the online cruising inspection system of contact net geometric parameter of the present invention manipulates relationship signal
Figure.
Fig. 3 is that the Servocontrol device workflow of the online cruising inspection system of contact net geometric parameter of the present invention is illustrated
Figure.
Fig. 4 is the Controlling model of driving device of the present invention.
Fig. 5 is the online cruising inspection system structural schematic diagram of contact net geometric parameter of the present invention.
Specific embodiment
In order to which we bright purpose, technical solution and effect are more clearly understood, referring to the drawings and in detail
Illustrate specific embodiment.
In conjunction with the online cruising inspection system structure of the entire contact net geometric parameter of Fig. 5 include mobile platform, Servocontrol device with
And push-rod assembly.
Mobile platform can travel on the railroad track.Mobile platform includes cross-member, vertical package and wheel.Laterally
Component and vertical package are using being rigidly connected, and cross-member is for carrying measuring device box and push-rod assembly.
Mobile platform includes 3 wheels, and two of them wheel is mounted on vertical package, and a wheel is mounted on transverse set
On part, the wheel shape of wheel is matched with the profiled outline shape of rail, and wheel includes cylindrical section, changeover portion and limit section, cylindrical section
It is moved on rail, limit section is used for by mobile platform limit on the inside of rail, the cross section profile of changeover portion and the section of rail
Contour matching is L1, the circle of the wheel on two rail the distance between on the outside of the limit section of the wheel on two rail
It is L2 the distance between on the outside of shell of column, L1~L2 covers the gauge of existing primary trace route, including both wired, and high iron wire makes
Mobile platform can on all kinds of primary trace routes normally travel, and can adapt to the variation of existing track circuit gauge.
Push-rod assembly includes strut, connecting bend, handle and pallet, and connecting bend is connected to the single side face of cross-member,
One end of strut is fixed in connecting bend, and the other end is connected with handle, and pallet is installed above handle.Pallet is upper for installing
Machine, for example, by using reinforced notebook computer.
Connecting bend is also fixed on mobile platform by screw and bolt, system practical work process, and operator is logical
Crossing the handle held on push-rod assembly can push whole system to move ahead.Strut, connecting bend are hollow structure, so that data line
Cable is drawn after the extraction of measuring device box by connecting bend and strut to be connected with host computer.
As shown in Figure 1, the Servocontrol device of the online cruising inspection system of contact net geometric parameter, includes host computer 1, three-dimensional
Visual sensor 2, driving device 3, motor 4 and laser ranging system 6, wherein motor 4 further includes encoder 5, laser ranging dress
Setting 6 further includes gyro 7.
Host computer 1 is connected by network interface with stereo vision sensor 2.
Host computer 1 is connected by CAN bus with driving device 3.
Host computer 1 receives the image information of stereo vision sensor 2 by network interface and is received by CAN bus through driving
The angle information sent by encoder 5 and the ranging information sent by laser ranging system 6 that device 3 transmits, and send control
It instructs to driving device 3.Driving device 3 sends according to control instruction and drives to receive control instruction transmitted by host computer 1
Dynamic instruction is to motor 4.Motor 4 with encoder 5 receives the driving instruction as transmitted by driving device 3.
The image information of current contact line is fed back to host computer 1 by stereo vision sensor 2, is computed miss distance information
Driving device 3 is passed to, the current angle information of motor is fed back to driving device 3 by encoder 5, and gyro 7 works as range unit
Preceding angular velocity information feeds back to driving device 3.Therefore, driving device 3 receives control instruction transmitted by host computer 1, according to
The information of miss distance, current angular and angular speed calculates the angle rotated needed for motor, then sends correct driving instruction
To motor 4, motor 4 is needed to receive the driving instruction as transmitted by driving device 3 to drive the rotation of laser ranging system 6 extremely
In the contact line to be measured.Control instruction includes System self-test, starting measurement, stops measurement and close system.Host computer 1 is logical
The image information for crossing the transmission of stereo vision sensor 2 extracts the image of contact line, calculates in the acquisition image of Current camera
The pixel difference of the heart and contact line is as miss distance and is sent to driving device 3.
After driving device 3 receives self-checking command, the motor angle information that encoder 5 measures is read, and controls motor rotation
To with the closer positive limit in the position or negative limit, then go to another limit, then return to zero position, during rotation, read
The motor angle information for taking encoder 5 to measure, judges whether the angle information of restraining position and zero-bit is correct, if correct certainly
Inspection is normal, otherwise repairs.After driving device 3 receives starting measurement instruction, miss distance, the gyro 7 that host computer 1 is sent are received
The motor angular velocity of acquisition, calculate driving signal, control motor rotate so that the center of the acquisition image of Current camera with contact
The pixel difference of line is kept within the set range.After driving device 3 receives stopping measurement instruction, the motor that encoder 5 measures is read
Angle information, the motor angular velocity that gyro 7 acquires, control motor return to zero-bit.Driving device 3 receives closing system command
Afterwards, it is powered off to visual sensor.
As shown in Fig. 2, host computer 1 has parameter setting 8, data storage report generation unit 9, tracking picture monitoring unit
10 and abnormal alarm unit 11 determine that the setting of working state of system and feedback are shown.
Working mode set of the parameter setting unit 8 to determine logging ranging, Working mode set include work on daytime
Operation mode, mode of working at night.If it is the mode of working at night, operator issues daytime switching command by host computer,
Driving device 3 opens lighting device, and the upper surface of measuring device box is arranged in lighting device, illuminates to contact net.
Data store report generation unit 9 to will lead high level, stagger, superelevation of outer rail value and side threshold value according to
Time of measuring and distance location information store and generate report.
Tracking picture monitoring unit 10 is to monitor current measurement contact line tracking effect, distance measurement value, driving device state
And range unit state.
Abnormal alarm unit 11 is to the abnormality for leading high level, stagger, superelevation of outer rail value and side threshold value
It is fed back.
The manipulation connection relationship of the Servocontrol device of the online cruising inspection system of contact net geometric parameter, is set by parameter first
Order member 8 sets following items: a) daytime/mode of working at night, b) single/mostly with tracking distance measurement mode, c) lead high level, draw
The setting of value, superelevation of outer rail value and side threshold value abnormal alarm upper lower limit value these parameters out.After the completion of setting, system
Self-test is carried out, the situations such as operative communication between whole system each unit are detected, if normal, then carry out subsequent work
Make, if abnormal, alarm, user is notified to carry out exclusion movement to abnormality.
After the completion of the Servocontrol device self-test of the online cruising inspection system of contact net geometric parameter, stereo vision sensor 2
The image information of current contact line is fed back into host computer 1, is computed and miss distance information is passed into driving device 3, encoder 5
The current angle information of motor is fed back into driving device 3, the current angular velocity information of range unit is fed back to driving by gyro 7
Device 3.Therefore, driving device 3 receive host computer 1 transmitted by control instruction, according to the image miss distance information of contact line, when
Preceding angle and the information of angular speed calculate the angle rotated needed for motor, then send correct driving instruction to motor 4, electricity
Machine 4 is to receive the driving instruction as transmitted by driving device 3, to drive the rotation of laser ranging system 6 to connect to what needs measured
It touches on line.At this point, the tracking mark in tracking picture monitoring unit 10 is in the contact line tracked.
High level, stagger, superelevation of outer rail value and side threshold value are led according to calculate railway, even the same DATA REASONING
When and where be deposited into database together, and generate report.
The calculated bound place value leading high level, stagger, superelevation of outer rail value and side threshold value and setting before
It is compared, if it is within range, is saved in report with black font, if going beyond the scope, saved with red font, it is different to show
Often alarm.
Host computer identifies the image information of contact line according to camera image, and tracks the line, if there is more lines
Situation identifies that tracked contact line image is tracked, and guarantees that the measurement direction of laser ranging system 6 is directed toward contact line.
The Controlling model of driving device 3 is referring to fig. 4, (certainly anti-in the compensation channel that electric current loop introduces automatic disturbance rejection controller
It disturbs controller to be mainly made of extended state observer and gamma controller, extended state observer is used to track feedback signal
And " summation disturbance " estimation), and Fractional Order PID (differential of traditional PID, integral are improved to fractional-order) is combined, into
The stability and Control platform of one step raising system.
1, fractional order position compensation device carries out Position Tracking Control, θoutThe rotation angle detected for coding disk:
Win(s)=HF(s)(θin-θout)
The full pole minimum phase new fractional-order system stable for one, its transmission function expression formula are as follows:
Wherein, μ is the fractional order order of system, and it is positive integer that m, which is controller target order,.
New fractional-order system HF(s), its fractional order aspect ratio αF,k(k=1 ..., m-1) and corresponding timeconstantτFExpression
Shown in formula such as formula (2) and formula (3):
When (0,1) ∈ order μ, if fractional order feature shown in formula (2) meets following condition, then new fractional-order system HF
It (s) is stable.Stable condition are as follows:
(1)
(2)
2, fractional order velocity compensator carries out rate control, WoutFor the angular velocity information of present laser device:
Iin(s)=HF′(s)(Win-Wout)
HFThe calculation method and H of ' (s)F(s) identical.
3, the motor current signal I based on current sensor detectionoutWith the output valve I of fractional order velocity compensatorinIt carries out
PID control generates motor-driven pwm control signal, reduces the two difference.
Motor current signal IoutMultiplied by motor torque COEFFICIENT KTThe rotating torque M of motor is obtained afterwardsm, rotating torque MmMultiplied by
The 1/Js reciprocal of the rotary inertia of motor drive ratio and device obtains the velocity of rotation W of measuring device boxout, convert angled
θout。
As shown in figure 3, the workflow of the Servocontrol device of the online cruising inspection system of contact net geometric parameter.Fig. 3 is root
According to the Servocontrol device and the online cruising inspection system of Fig. 2 contact net geometric parameter of the online cruising inspection system of Fig. 1 contact net geometric parameter
Servocontrol device manipulate relationship, the Servocontrol device workflow of the online cruising inspection system of contact net geometric parameter is carried out
It further illustrates.
Step A01: setting according to operating mode of the parameter setting unit to system, i.e. daytime or mould of working at night
Formula, single line track distance measurement mode or multi-thread tracking distance measurement mode；It is total to host computer 1 and the CAN of the completion parameter setting of driving device 3
After line communication, host computer 1 sends the control instruction for starting measurement to driving device 3.
Step A02: driving device 3 receive host computer 1 start measure control instruction after, detection battery, each sensor with
And the situation of servo motor.If normal, host computer 1 sends image information collecting instruction, stereoscopic vision to stereo vision sensor 2
After sensor 2 receives image capture instruction, image information is sent to host computer 1.If abnormal, host computer 1, which is sent, terminates measurement
Manipulation instruction, and user is notified to carry out exclusion movement to abnormality.
Step A03: it after host computer 1 receives the image information of the transmission of stereo vision sensor 2, is selected according to step A01
The operating mode selected selects corresponding image recognition algorithm, and calculated miss distance information is sent to drive by CAN bus
Dynamic device 3.
Step A04: driving device 3 is by receiving the miss distance information of the transmission of host computer 1, receiving the angle of encoder 5
The angular velocity information of degree information and gyro 7 calculates driving instruction information, and driving instruction information is sent to motor 4.
Step A05: after motor 4 receives the driving instruction of the transmission of driving device 3, laser ranging system 6 is gone to specified
Position at, carry out ranging, and ranging information is sent to host computer 1 by driving device 3, carry out data calculation, until receiving
After the stopping measurement instruction that host computer 1 is sent, system stops measurement work.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (13)
1. a kind of Servocontrol device of the online cruising inspection system of contact net geometric parameter, it is characterised in that: including host computer, solid
Visual sensor, driving device, motor and laser ranging system；
Stereo vision sensor, transmission acquisition contact line image information to and be sent to the host computer；
Laser ranging system, to feed back to host computer by driving device to contact line ranging, and by ranging information；Laser Measuring
It is wholely set away from device and stereo vision sensor, and optical centre is overlapped；
Host computer calculates miss distance information based on image and is sent to driving device；
Driving device sends miss distance information to receive the host computer, and sends driving instruction to motor；
Motor receives the driving movement instruction as transmitted by driving device；Drive stereo vision sensor and laser ranging system
Rotation, adjusts the field of view angle of stereo vision sensor and the measurement position of laser ranging system.
2. the Servocontrol device of the online cruising inspection system of contact net geometric parameter as described in claim 1, which is characterized in that also
Including encoder, gyro and current sensor；Current contact line image information is fed back to host computer by stereo vision sensor, is compiled
Motor angle information is fed back to driving device by code device, and the angular velocity information of present laser device is fed back to driving dress by gyro
It sets, current sensor acquisition motor exports current feedback to driving device, and driving device passes through speed, angle information, output
Electric current and miss distance information calculate the angle rotated needed for laser ranging system and stereo vision sensor cruising inspection system, raw
At driving instruction, it is sent to motor.
3. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 2, it is characterised in that:
The host computer further includes parameter adjustment unit, operating mode of the parameter setting unit to determine logging ranging, work
Operation mode setting includes the mode that works by day, mode of working at night, single line tracking distance measurement mode and multi-thread tracking distance measurement mode；
In the mode of working at night, lighting device is opened, contact net is illuminated；If it is single line track distance measurement mode, persistently with
Single contact line in track image, if it is multi-thread tracking distance measurement mode, identify the contact line image that Chu not tracked into
Line trace.
4. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 3, it is characterised in that:
The host computer further includes data storage report generation unit, and lead high level, stagger, the outer rail that host computer calculates contact line surpass
High level and side threshold value, data store report generation unit will lead high level, stagger, superelevation of outer rail value and side
Threshold value stores according to time of measuring and location information and generates report.
5. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 2, it is characterised in that:
The host computer further includes geometric parameter abnormal alarm unit, to leading high level, stagger, superelevation of outer rail value and side threshold value
Abnormality alarm.
6. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 2, it is characterised in that:
The host computer is connect by the communication modes of network interface with stereo vision sensor.
7. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 2, it is characterised in that:
The host computer is connect by CAN bus with driving device.
8. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 2, it is characterised in that:
The angle information θ that driving device is detected by coding diskoutAnd target angle θinBy fractional order position compensation device carry out position with
Track control, generates target angular velocity Win；By gyro by the angular velocity information W of present laser deviceoutAnd target angular velocity Win
Rate tracing control is carried out by fractional order velocity compensator；Pass through motor current signal IoutWith fractional order velocity compensator
Output valve IinPID control is carried out, motor-driven pwm control signal is generated；
Target angle θinIt is calculated and is obtained by miss distance x, θin=arctan (xa/f), wherein a is stereo vision sensor
Pixel dimension, f are stereo vision sensor focal length.
9. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 8, it is characterised in that:
The transmission function of fractional order position compensation device are as follows:
Win(s)=HF(s)(θin-θout)
Wherein μ is fractional order order, and m is controller target order, αF,kFor fractional order aspect ratio, k=1 ..., m-1, τFFor the time
Constant；
And μ ∈ (0,1) meets:
10. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 9, feature exist
In: fractional order velocity compensator transmission function are as follows:
Iin(s)=HF′(s)(Win-Wout)
Wherein μ is fractional order order, and m is controller target order, αF,kFor fractional order aspect ratio, k=1 ..., m-1, τFFor the time
Constant；
And μ ∈ (0,1) meets:
11. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 10, feature exist
In: motor current signal IoutMultiplied by motor torque COEFFICIENT KTThe rotating torque M of motor is obtained afterwardsm, rotating torque MmMultiplied by motor
The 1/Js reciprocal of the rotary inertia of transmission ratio and device obtains the velocity of rotation of laser ranging system and stereo vision sensor
Wout, it is converted into angle, θout。
12. the Servocontrol device of the online cruising inspection system of contact net geometric parameter according to claim 4, feature exist
Self-test is carried out to Servocontrol device after the self-checking command that: driving device receives host computer transmission, reads encoder measurement
Motor angle information, and control motor rotate to the closer positive limit of the angle or negative limit, then go to other one again
A limit finally returns to zero position, during rotation, reads the motor angle information of encoder measurement, judges restraining position and zero
Whether the angle information of position is correct, and self-test is normal if correct, otherwise repairs.
13. the work side of the Servocontrol device of the online cruising inspection system of contact net geometric parameter described in a kind of claim 12
Method, characterized by the following steps:
(1) daytime or mode of working at night are selected；Select single line tracking distance measurement mode or multi-thread tracking distance measurement mode；
(2) host computer sends self-checking command, and driving device carries out self-test；Self-test normally then enters step (3), is otherwise tieed up
It repairs；
(3) host computer sends image information collecting instruction to stereo vision sensor, and stereo vision sensor is manipulated to host computer
Send image information；
(4) host computer carries out miss distance calculating, and miss distance information is sent to driving device；Encoder is by motor angle information
Driving device is fed back to, the angular velocity information of present laser device is fed back to driving device, current sensor acquisition electricity by gyro
Machine exports current feedback to driving device, and driving device passes through speed, angle information, output electric current and miss distance information meter
The angle rotated needed for laser ranging system and stereo vision sensor cruising inspection system is calculated, driving instruction is generated, is sent to electricity
Machine；
(5) motor driven is rotated according to driving instruction driving laser ranging system and stereo vision sensor, laser ranging system
Ranging is carried out, host computer carries out out leading high level, stagger, superelevation of outer rail value and side threshold value and storing for contact line；It returns
It returns step (3), until measurement terminates.
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| CN111721349B (en) * | 2020-06-24 | 2021-10-01 | 西南交通大学 | High-speed railway contact network dynamic detection simulation verification system and method |
| CN113932773A (en) * | 2020-07-13 | 2022-01-14 | 北京国联众泰科技有限公司 | Contact net suspension state detection device and longitudinal suspension and transverse suspension detection method |
| CN113932773B (en) * | 2020-07-13 | 2023-12-15 | 北京国联众泰科技有限公司 | Contact net suspension state detection device, longitudinal suspension and transverse suspension detection method |
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