CN114923520A - Automatic detection system of contact net - Google Patents
Automatic detection system of contact net Download PDFInfo
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- CN114923520A CN114923520A CN202210556625.0A CN202210556625A CN114923520A CN 114923520 A CN114923520 A CN 114923520A CN 202210556625 A CN202210556625 A CN 202210556625A CN 114923520 A CN114923520 A CN 114923520A
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- 238000001514 detection method Methods 0.000 title claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 56
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention belongs to the technical field of contact net detection, and particularly relates to an automatic detection system of a contact net, which aims at solving the problem in the prior art that a portable mobile detection device is provided, solves the problem of low efficiency of traditional manual laser measurement, effectively promotes contact net detection automation, and improves the intelligent level of detection equipment; the automatic detection system constructs a comprehensive measurement system for the contact network, and comprises the measurement of contact lines, carrier cables, positioning points, dropper, anchor section joints, line forks and other high points, 500/800 height difference and side boundary of the contact network, the automatic measurement of safety building limits, dynamic inclusion lines, local line/adjacent line hanging columns, the laser single-point measurement of any position of the contact network and the management of one-rod one-grade monitoring photos, so that the automatic detection of equipment is improved, and the use efficiency of the equipment is greatly improved.
Description
Technical Field
The invention belongs to the technical field of contact net detection, and particularly relates to an automatic detection system of a contact net.
Background
In recent years, rail transit such as high-speed rails and subways in China is rapidly developed, and a contact net is very important to whether a train can safely run or not and is an important guarantee for safe running of the train. At present, the detection of safety boundary, positioning point, dropper, line fork and other high points of a contact network line by railway related departments is mostly finished by adopting a laser measurement mode, and the measurement efficiency is very low. Along with the railway operation line is longer and longer, and the requirement of train speed raising on safe operation and maintenance is improved, an automatic detection technology and an automatic detection system are urgently needed to improve the efficiency of detecting the contact network.
Disclosure of Invention
The purpose of the invention is: the automatic detection system of the contact network can automatically identify and measure a contact line, a carrier cable, a positioning point, a dropper, an anchor section joint, a line fork and other high points, 500/800 height difference, a safety building limit, an envelope line, a side limit and a local/adjacent line suspension post of the contact network under the condition of completely not needing manual intervention and manual measurement, and realizes automatic detection of the contact network and one-pole one-grade image management establishment by adopting an automatic camera shooting technology for the contact network.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an automatic check out system of contact net, includes portable removal check out test set, portable removal check out test set includes the measuring element, automatic module, algorithm and control center of shooing, man-machine real-time interaction module, laser measuring module and data analysis system. The system comprises a measurement unit, an automatic photographing module, a man-machine real-time interaction module, a data analysis system and a control module, wherein the measurement unit is communicated with an algorithm and control center through an RJ45 network port and an RS232 interface and performs data interaction and data interaction with the algorithm and control center, the laser measurement module is connected to the algorithm and control center through an RS232 interface, an automatic photographing module transmits a picture to the algorithm and control center through an RJ45 network port, the man-machine real-time interaction module displays measurement data and configures measurement parameters through HDMI and USB interfaces, and the data analysis system performs offline import, analysis, trend judgment and report statistics on the detection data;
the measuring unit comprises a laser radar for scanning and measuring the contact network, a linear displacement sensor for measuring the gauge, a multi-axis tilt angle sensor for measuring the superelevation of two rails and monitoring the posture of the detection equipment, an encoder for measuring the mileage and positioning the position, and an acquisition board for receiving the data of the sensor, wherein the laser radar continuously scans the contact network, returns the geometric parameter value of the contact network, and calculates the contact network and forms three-dimensional point cloud data of the contact network together with the mileage data of the encoder by combining the gauge measured by the linear displacement sensor; the encoder is used for calculating mileage and accurately positioning the mileage mark position corresponding to the contact network measurement data, and the measurement unit has an automatic calibration function and is calibrated once when passing a strut, so that accumulated errors of the mileage are eliminated; the multi-axis tilt sensor measures the height of the two rails, monitors and detects the attitude of the equipment, processes abnormal attitudes such as vibration and inclination of the equipment in the dynamic measurement process, and corrects and compensates measured data.
The automatic photographing module photographs the contact net, the algorithm and the control center give the mileage position of the contact net part, the contact net part comprises a positioner, a support column, a dropper, a suspension column and a section insulator, the photographing module is triggered to automatically focus and photograph, and the picture is managed and retrieved according to the pole number.
The algorithm and the control center are core parts of an automatic detection system of the contact network, a measurement module inputs original three-dimensional point cloud data obtained by scanning and measurement, the algorithm and the control center carries out noise point removal, filtering, modeling and model matching, iterative calculation and learning improvement, contact lines, carrier cables, positioning points, hanging strings, anchor section joints, line fork equal-altitude points, 500/800 altitude differences, safety building limits, envelope lines, side limits and local line/adjacent line hanging columns of the contact network are automatically judged in real time, optimal solutions are iteratively calculated, and measurement results of the contact network are output to a human-computer real-time interaction module in real time. The algorithm and the control center coordinate and control the laser measurement module and the automatic photographing module to complete measurement of a special target of the contact network and one-rod one-grade photographing management.
The man-machine real-time interaction module and the algorithm interact with the control center in real time, the measurement data is displayed in real time by oscillogram, real-time fault and over-limit voice alarm are given, and the measurement modes of the tunnel, the platform and the bridge are switched to measure various scenes.
The laser measurement module comprises a high-speed motor, a laser range finder and a high-precision single-turn encoder, measurement coordinates are input into any contact net measurement target through the man-machine interaction module, the motor is controlled by the algorithm and the control center to rotate to drive the laser range finder to a specified angle for measurement, and the height guiding and pulling-out of the measurement target are calculated by combining an angle value returned by the single-turn encoder.
The data analysis system intelligently analyzes data exported off line, performs data comparison analysis, trend judgment and early warning by combining design data and historical measurement data, and quickly generates various classification reports and operation suggestion schemes. And according to the real-time measured contact network data, the three-dimensional characteristics of the contact network line are truly restored, and the data and characteristics of the contact network can be comprehensively retrieved from different perspectives.
1. By adopting the automatic detection system, the problem of low efficiency of traditional manual laser measurement can be solved, the detection automation of the contact network is effectively promoted, and the intelligent level of detection equipment is improved;
2. the automatic detection system constructs a comprehensive measurement system for the contact network, and comprises the measurement of contact lines, carrier cables, positioning points, dropper, anchor section joints, line forks and other high points, 500/800 height difference and side boundary of the contact network, the automatic measurement of safety building limits, dynamic inclusion lines, local line/adjacent line hanging columns, the laser single-point measurement of any position of the contact network and the management of one-rod one-grade monitoring photos, so that the automatic detection of equipment is improved, and the use efficiency of the equipment is greatly improved.
Drawings
The invention is further illustrated by the non-limiting examples given in the figures.
FIG. 1 is a diagram of a system for automatically detecting a catenary of the invention;
fig. 2 is a system processing flow chart of the automatic detection system of the overhead line system according to the present invention.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1-2, the automatic detection system of the contact network of the present invention comprises a portable mobile detection device, wherein the portable mobile detection device comprises a measurement unit, an automatic photographing module, an algorithm and control center, a human-computer real-time interaction module, a laser measurement module, and a data analysis system. The measuring unit is communicated and performs data interaction with an algorithm and a control center through an RJ45 network port and an RS232, the laser measuring module is connected to the algorithm and the control center through the RS232, the automatic photographing module transmits pictures to the algorithm and the control center through the RJ45 network port, the man-machine real-time interaction module displays measured data and configures measured parameters through an HDMI and a USB interface, and the data analysis system performs off-line import, analysis, trend judgment and report statistics on the detected data.
The measuring unit comprises a laser radar for scanning and measuring the contact network, a linear displacement sensor for measuring the gauge, a multi-axis tilt angle sensor for measuring the height of two rails and monitoring the posture of the detection equipment, an encoder for measuring the mileage and positioning the position, and an acquisition board for receiving sensor data, wherein the laser radar continuously scans the contact network, returns the geometric parameter value of the contact network, and calculates the contact network and forms three-dimensional point cloud data of the contact network together with the mileage data of the encoder by combining the gauge measured by the linear displacement sensor; the encoder is used for calculating mileage and accurately positioning the mileage mark position corresponding to the contact network measurement data, and the measurement unit has an automatic calibration function and calibrates the mileage once when a strut is passed, so that mileage accumulation errors are eliminated; the multi-axis tilt sensor measures the height of the two rails, monitors and detects the attitude of the equipment, processes abnormal attitudes such as vibration and inclination of the equipment in the dynamic measurement process, and corrects and compensates measured data.
The laser radar scans the contact net along a rail uninterruptedly to form section data under an XY coordinate system, and simultaneously, the encoder returns mileage data as a Z axis to jointly form XYZ three-dimensional point cloud data of the contact net;
the height (y) of any point of the contact net measured by laser radar i ) And a pull-out value (x) i ) The following:
y i ＝y 0 +d i ×sinθ i
trackwidth is the track gauge measured by a linear displacement sensor, d i Testing the dropper for radarDistance of contact line point at point, θ i For radar testing of angle, x 0 y 0 Installing an initial coordinate for the laser radar;
the two-rail superelevation (Δ h) at any one location is:
Δh＝trackwidth×sinα
wherein alpha is the inclination angle of the two rails measured by the inclination angle sensor; when the angle jitter exceeds a certain critical value, the abnormal postures of vibration, inclination and the like of the equipment in the dynamic measurement process can be judged for processing, and the measured data needs to be corrected and compensated.
The data acquisition board adopts an STM32 embedded scheme, is provided with CAN, RS485, RS422 and RS232 universal interfaces, acquires data of a linear displacement sensor, a multi-axis tilt sensor, a mileage encoder, a laser displacement sensor and a single-circle encoder, and sends an algorithm and a control center after verification and primary processing.
The automatic photographing module photographs the contact net, sends an instruction to the photographing module after the algorithm and the control center positioner, the support, the dropper, the suspension post and the segmented insulator, triggers the photographing module to automatically focus and photograph, and manages and retrieves photos according to pole numbers.
The algorithm and the control center are connected to a measurement module to input original three-dimensional point cloud data obtained by scanning and measurement, noise point removal, filtering, modeling and model matching, iterative calculation and learning improvement are performed by adopting PCL point cloud, model learning and an uncertainty analysis algorithm and the control center, contact lines, carrier cables, positioning points, hangers, anchor segment joints, line fork equal high points, 500/800 height difference, safety building limits, envelope lines, side limits and local/adjacent line suspension columns of the contact network are automatically judged in real time, and optimal solutions are calculated in an iterative manner.
The algorithm and control center comprises three parts: the system comprises an algorithm center, a control center and a data storage module. The algorithm center comprises filtering, segmentation, registration and iterative algorithms of the contact network point cloud and a calculation algorithm of the optimal solution of the measured value; the control center comprises control over the camera and linkage control over the laser measurement module, receives a user instruction, and switches a measurement scene and a measurement mode. The data storage module stores the measured data and the image data of the contact network in a redundant storage mode.
The measurement result of the contact network is output to the man-machine real-time interaction module in real time, and the algorithm and the control center coordinate and control the laser measurement module and the automatic photographing module to complete the measurement of the special target of the contact network and the one-rod one-file photographing management.
The man-machine real-time interaction module adopts QT under Linux to draw a real-time oscillogram of measurement data, is provided with a touch screen, can arbitrarily amplify, reduce, drag and delete the oscillogram, alarms real-time faults and overrun voice, and switches tunnel, platform and bridge measurement modes to measure various scenes.
The man-machine real-time interaction module directly reads the measurement data, draws a real-time curve of a contact wire carrier cable on a display screen, lists detailed measurement data in a data area, guides an operator to adjust equipment in real time, gives an alarm to an overrun position and an important suspension part in a voice mode, and prompts retest and existing risks. All measured data can be retrieved and not changed.
The high-speed motor, the laser range finder and the high-precision single-ring encoder form a laser measuring module, and specific measuring targets including non-standard contact net suspension pieces, tunnel walls and bridges are freely measured.
The algorithm and the control center control the motor to rotate, the motor, the laser range finder and the single-turn encoder are coaxial, the single-turn encoder returns the actual deflection angle of the laser range finder, and the height guiding and pulling-out of the measurement target can be accurately calculated by combining the distance returned by the laser range finder and the encoder angle value.
The data analysis system carries out classified query, classified report derivation, data comparison analysis and fault early warning on the measurement data derived off line, and various classified reports and operation suggestion schemes are rapidly generated. According to the real-time measured contact network data, the three-dimensional characteristics of the contact network line are truly restored, and the data and characteristics of the contact network can be comprehensively retrieved from different perspectives; the three-dimensional view needs to contain all geometrical parameters of the contact line, the carrier cable, the dropper, the positioner, the strut, the tunnel suspension post and other components of the industrial and non-commercial power station, and can check details of the detection target of the contact line and overview the line state trend of the contact line.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (7)
1. The utility model provides an automatic detection system of contact net, includes portable removal check out test set, its characterized in that: the portable mobile detection device comprises a measuring unit, an automatic photographing module, an algorithm and control center, a human-computer real-time interaction module, a laser measuring module and a data analysis system, wherein the measuring unit is communicated with the algorithm and control center through an RJ45 network port and an RS232 interface and is used for data interaction, the laser measuring module is connected with the algorithm and control center through an RS232 interface, the automatic photographing module is used for transmitting a picture to the algorithm and control center through an RJ45 network port, the human-computer real-time interaction module is used for displaying measured data and configuring measured parameters through HDMI and USB interfaces, and the data analysis system is used for conducting off-line leading-in, analysis, trend judgment and report statistics on the detected data;
the measuring unit comprises a laser radar for scanning and measuring the contact network, a linear displacement sensor for measuring the gauge, a multi-axis tilt angle sensor for measuring the height of the two rails and monitoring the posture of the detecting equipment, an encoder for measuring the mileage and positioning the position, and a collecting board for receiving sensor data, wherein the laser radar scans the contact network, returns the geometric parameter values of the contact network, combines the gauge measured by the linear displacement sensor, calculates the contact network and three-dimensional point cloud data formed by mileage data engineering of the encoder, and the encoder is used for calculating the mileage and accurately positioning the kilometer post position corresponding to the measurement data of the contact network.
2. The automatic detection system of contact net of claim 1, characterized in that: the measuring unit has an automatic calibration function, and the multi-axis tilt sensor measures the two-rail superelevation and monitors the attitude of the detection equipment.
3. The automatic detection system of contact net of claim 1, characterized in that: the automatic photographing module photographs the contact net, the mileage position of the contact net part is given by an algorithm and a control center, and the photographing module is triggered to automatically focus and photograph.
4. The automatic detection system of a contact net of claim 1, characterized in that: the algorithm and control center receives original three-dimensional point cloud data scanned and measured by the measuring unit, the algorithm and control center carries out noise point removal, filtering, modeling and model matching, iterative computation and learning improvement, all parts of the contact net are automatically judged in real time, the optimal solution is iteratively computed, and the measuring result of the contact net is output to the man-machine real-time interaction module in real time.
5. The automatic detection system of contact net of claim 1, characterized in that: the man-machine real-time interaction module and the algorithm interact with the control center in real time, and the measured data is displayed in real time by a oscillogram, and real-time fault and overrun voice alarm are given.
6. The automatic detection system of a contact net of claim 1, characterized in that: the laser measuring module comprises a high-speed motor, a laser range finder and a high-precision single-turn encoder, measuring coordinates are input into any contact net measuring target through the man-machine interaction module, the algorithm and the control center control the motor to rotate to drive the laser range finder to a specified angle for measuring, and the height of the measuring target is calculated and pulled out by combining an angle value returned by the single-turn encoder.
7. The automatic detection system of a contact net of claim 1, characterized in that: the data analysis system intelligently analyzes data exported offline, performs data comparison analysis, trend judgment and early warning by combining design data and historical measurement data, and quickly generates various classification reports and operation suggestion schemes.
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