CN210464437U - Automatic contact net laser detector who aims - Google Patents
Automatic contact net laser detector who aims Download PDFInfo
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- CN210464437U CN210464437U CN201921527418.2U CN201921527418U CN210464437U CN 210464437 U CN210464437 U CN 210464437U CN 201921527418 U CN201921527418 U CN 201921527418U CN 210464437 U CN210464437 U CN 210464437U
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Abstract
The utility model belongs to the technical field of laser detection, in particular to an automatic aiming contact net laser detector, which comprises a track scale and a measuring instrument, wherein the track scale is internally provided with a track gauge measuring sensor, the measuring instrument is connected on the track scale, and the measuring instrument is used for solving the coordinates of a contact net contact line through software after completing automatic aiming and angle distance measurement of an image; the image sensor shoots an image and transmits the image to the main control board, and the main control board displays the image on the display screen for an operator to aim manually; and simultaneously, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and controls the servo motor to rotate so that the image light path is aligned to the contact line, and the automatic aiming is finished. The utility model has the beneficial technical effects of simple structure, convenient operation, intelligent automatic aiming precision height etc.
Description
Technical Field
The utility model belongs to the technical field of laser detects, especially, relate to an automatic contact net laser detector who aims.
Background
The contact net detector is used for detecting contact net parameters in a railway system. The prior known geometric parameter detection equipment for the contact network of the electrified railway comprises three types: (1) the contact type insulating rod is matched with the graduated scale, and a suspension measurement method is adopted, so that the method is greatly influenced by environment and has poor measurement precision. (2) Hand-held type laser contact net detector, because instrument weight is big, workman intensity of labour is high, aims and adopts optical aiming, aims the difficulty, and measuring speed is slow, and degree of automation is low. (3) A measuring bow is arranged on a standard train body, the measuring bow is in contact with a contact network line during the operation of the train, and the pull-out value and the lead height of the contact network are measured by a displacement sensor arranged in the measuring bow. In the second category of devices, the operator typically views the contact line through a camera and then uses a fine motion handwheel to rotate the camera to aim at the contact line. The mode needs continuous manual and visual adjustment, wastes time and labor, has low efficiency, and is difficult to meet the requirement of rapid measurement.
CN2005201252538 discloses a hand-push type multifunctional laser contact net detector, which can be pushed on a track, and is aimed by a camera, and the aiming optical axis and the distance measurement optical axis are coaxial. The static fixed-point measurement is quick and convenient in aiming and high in precision. Aiming is not needed in the occasion of dynamic continuous measurement, and full-automatic measurement is realized. The cross line generated by the camera is displayed on the liquid crystal display, and the coincidence of the image of the contact reticle to be detected and the cross point of the ten lines indicates that the contact reticle is aimed.
CN2012201182643 discloses a full-automatic laser contact net detector, which finds a contact net to be measured through the movement adjustment of a laser measuring instrument, and calculates the measured data through the data measured by the laser measuring instrument and an encoder device to obtain the distance between the contact net and the rail plane.
In the above disclosed method, still more manual intervention is required to successfully complete the automatic measurement.
SUMMERY OF THE UTILITY MODEL
To the above problem, the utility model aims at: the laser detector for the contact line with automatic aiming is disclosed, a camera image is automatically identified through a computer to obtain position data of a contact line, and the camera is rotated through a servo motor system to automatically aim at the contact line. The utility model is realized by adopting the following technical scheme.
An automatic aiming laser detector for a contact net comprises a track scale and a measuring instrument, wherein the track scale is internally provided with a track gauge measuring sensor, the measuring instrument is connected to the track scale, and the measuring instrument is used for solving through software to obtain coordinates of a contact line of the contact net after completing automatic aiming and angle distance measurement of an image; the method is characterized in that:
the measuring instrument consists of a measuring group, a display screen, a hand wheel, a main control board, a bracket, an angle measuring system, a servo motor driving system, a battery and a base connector, and is connected with the track scale through the base connector; the angle measurement device comprises a measurement group, an angle measurement system and a servo motor driving system which are coaxially arranged on a support, wherein a first rotating shaft of the angle measurement system, a second rotating shaft of the servo motor driving system and first shafts on two sides of the measurement group are connected together to form an integral shaft, and the measurement group can rotate around the integral shaft;
the measuring group consists of an image aiming system and a laser ranging system, and the image aiming system and the laser ranging system are arranged in parallel; the image aiming system consists of an image sensor, an iris diaphragm, an imaging lens and a laser emission prism which are coaxially arranged from left to right in sequence; the center of the image sensor and the center connecting line of the imaging lens form an image light path; the aerial contact line is imaged on the image sensor through the imaging lens, and the iris diaphragm ensures that the image sensor can form a clear image in both a bright environment and a low-light environment;
the servo driving system consists of a servo motor, a high-speed gear, a low-speed gear, a worm and a worm wheel; the high-speed gear and the low-speed gear form a primary speed reducing structure, the worm wheel and the worm form a secondary speed reducing structure, the servo motor drives the high-speed gear, the high-speed gear drives the low-speed gear to further drive the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel is connected with the measuring set through a second rotating shaft of the servo motor driving system to further drive the measuring set to rotate, and therefore the purpose that the servo motor drives the measuring set to rotate is achieved;
when the system works, the image sensor shoots an image and transmits the image to the main control board, and the main control board displays the image on the display screen for an operator to aim manually; meanwhile, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and the main control board controls the servo motor to rotate so that the image light path is aligned to the contact line, and automatic aiming is finished;
the measuring group can aim at the contact line in any direction; the operator can aim the contact line manually through a hand wheel, the measuring group has an image aiming function and a laser ranging function at the same time, the distance L from the contact line to the center of the measuring instrument can be measured, the angle measuring system can measure the angle theta of the contact line deviating from the zenith direction of the measuring instrument, so as to obtain the polar coordinates (L, theta) of the contact line in the coordinate system of the measuring instrument, and then the height H of the contact line deviating from the center of the track scale is L multiplied by cos theta, and the horizontal deviation value is D multiplied by L multiplied by sin theta.
The automatic-aiming contact net laser detector is characterized in that in the servo driving system, the low-speed gear and the worm gear are both composed of two pieces, and a spring is arranged between the two pieces for staggered teeth.
The automatic-aiming contact net laser detector is characterized in that the first-stage reduction ratio of the servo driving system is 1: 4, the second-stage reduction ratio is 1: 184, and the servo motor is subdivided by 1/4096.
The automatic-aiming contact net laser detector is characterized in that the minimum resolution of the servo driving system is 0.43 ".
The above-mentioned contact net laser detector of automatic aim, characterized by that the contact line position solution method is as follows:
the image sensor shoots a gray image, and the gray value ranges from 0 to 255; the main control board receives the image and then makes a one-dimensional gray value section on the image to form a curve; the curve peak represents the contact line center;
firstly, calculating the width of a contact line to judge whether the currently detected contact line is the contact line to be detected or not, and eliminating the interference of other objects such as a dropper, a wrist arm, a positioner and the like; the contact line width calculation formula is:
then calculating the central position of the contact line, and adopting a weight number calculation method with a threshold value, wherein the calculation formula is as follows:
the calculation formula of the angle value of the contact line deviating from the image center is as follows:
after the deviation angle of the contact line is calculated, the servo driving system is controlled to rotate by a corresponding angle, so that the contact line image can be moved to the center of the image sensor, and the center of the contact line is automatically aimed.
The utility model has the beneficial technical effects of simple structure, convenient operation, intelligent automatic aiming precision height etc.
Drawings
Fig. 1 is a schematic view of the present invention in an installation state.
Fig. 2 is a schematic front structural view of the measuring instrument of the present invention.
Fig. 3 is a schematic diagram of the internal structure of the present invention.
Fig. 4 is a schematic structural diagram of the servo driving system of the present invention.
Fig. 5 is a schematic structural diagram of the image targeting system of the present invention.
Fig. 6 is a schematic polar coordinate diagram of the contact line in the coordinate system of the measuring instrument.
Fig. 7 is a connection control block diagram of the image sensor, the main control board, the servo motor and the display screen of the present invention.
FIG. 8 is a cross-sectional view of one-dimensional gray scale values.
Wherein, the corresponding reference numbers of parts are as follows: track scale-1, measuring instrument-2, measuring group-3, display screen-4, hand wheel-5, support-6, angle measuring system-7, servo motor driving system-8, base connector-9, image sensor-10, variable diaphragm-11, imaging lens-12, laser emission prism-13, contact wire-151, worm gear-14, worm-15, servo motor-16, high-speed gear-17, low-speed gear-18, main control board-50, third rotating shaft-60, first rotating shaft-70, first shaft-71, second rotating shaft-72, battery-80, image aiming system-90, laser ranging system-91, center-100 of image sensor, center-102 of imaging lens, image sensor-13, Contact line position-103, image gray scale curve-104.
Detailed Description
In order to enable those skilled in the art to more accurately understand the present application and practice the same, the technical solutions of the present application will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 8, an automatic-aiming laser detector for a contact line system comprises a track scale 1 and a measuring instrument 2, wherein the track scale 1 contains a track gauge measuring sensor, the measuring instrument 2 is connected to the track scale, and the measuring instrument 2 performs automatic aiming and angle distance measurement of an image and then calculates by software to obtain coordinates of a contact line of the contact line system; the method is characterized in that:
the measuring instrument 2 consists of a measuring group 3, a display screen 4, a hand wheel 5, a main control board 50, a bracket 6, an angle measuring system 7, a servo motor driving system 8, a battery 80 and a base connector 9, and the measuring instrument 2 is connected with the track scale through the base connector 9; the measuring group 3, the angle measuring system 7 and the servo motor driving system 8 are coaxially arranged on the bracket 6, a first rotating shaft 70 of the angle measuring system 7, a second rotating shaft 72 of the servo motor driving system 8 and first shafts 71 at two sides of the measuring group 3 are connected together to form an integral shaft, and the measuring group can rotate around the integral shaft;
the measurement group 3 consists of an image aiming system 90 and a laser ranging system 91, and the image aiming system 90 and the laser ranging system 91 are arranged in parallel; the image aiming system 90 consists of an image sensor 10, an iris diaphragm 11, an imaging lens 12 and a laser emission prism 13 which are coaxially arranged from left to right in sequence; the connecting line of the center 100 of the image sensor 10 and the center of the imaging lens 12 forms an image light path; the aerial contact line 151 is imaged on the image sensor 10 through the imaging lens 12, and the iris diaphragm 11 ensures that the image sensor can form a clear image under both a bright environment and a low-light environment;
the servo driving system 8 consists of a servo motor 16, a high-speed gear 17, a low-speed gear 18, a worm 15 and a worm wheel 14; the high-speed gear 17 and the low-speed gear 18 form a primary speed reduction structure, the worm wheel 14 and the worm 15 form a secondary speed reduction structure, the servo motor 16 drives the high-speed gear 17, the high-speed gear 17 drives the low-speed gear 18 to further drive the worm 15 to rotate, the worm 15 drives the worm wheel 14 to rotate, the worm wheel 14 is connected with the measuring set 3 through a second rotating shaft 72 of the servo motor driving system 8 to further drive the measuring set 3 to rotate, and therefore the purpose that the servo motor 16 drives the measuring set 3 to rotate is achieved;
when the system works, the image sensor 10 shoots an image and transmits the image to the main control board 50, and the main control board 50 displays the image on the display screen 4 for an operator to aim manually; meanwhile, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and the main control board controls the servo motor 16 to rotate so that the image light path is aligned with the contact line, and then automatic aiming is completed;
the measuring group 3 can aim at a contact line in any direction; the operator can also aim the contact line manually by the hand wheel 5, the measuring group 3 has both the image aiming function and the laser ranging function, the distance L from the contact line to the center of the measuring instrument can be measured, the angle measuring system 7 can measure the angle theta of the contact line deviating from the zenith direction of the measuring instrument, so as to obtain the polar coordinates (L, theta) of the contact line in the coordinate system of the measuring instrument, and then the height H of the contact line deviating from the center of the track scale is L × cos theta, and the horizontal deviation value is D is L × sin theta.
The automatic-aiming contact net laser detector is characterized in that in the servo driving system, the low-speed gear 18 and the worm wheel 14 are both composed of two pieces, and a spring is arranged between the two pieces for staggered teeth.
The automatic-aiming contact net laser detector is characterized in that the first-stage reduction ratio of the servo driving system is 1: 4, the second-stage reduction ratio is 1: 184, and the servo motor is subdivided by 1/4096.
The automatic-aiming contact net laser detector is characterized in that the minimum resolution of the servo driving system is 0.43 ".
The automatic-aiming contact net laser detector is characterized in that the image sensor is in CCD type or CMOS type.
The automatic-aiming contact net laser detector is characterized in that the iris diaphragm is a light shading sheet with a diaphragm as a hole in the center, and the electromagnet can be used for switching between a large hole position and a small hole position.
The automatic-aiming contact net laser detector is characterized in that the imaging lens is a convex lens.
The automatic-aiming contact net laser detector is characterized in that the laser emission prism is a right-angle reflecting prism.
The above-mentioned contact net laser detector of automatic aim, characterized by that the contact line position solution method is as follows:
the image sensor shoots a gray image, and the gray value ranges from 0 to 255; the main control board receives the image and then makes a one-dimensional gray value section on the image to form a curve; the curve peak represents the contact line center;
firstly, calculating the width of a contact line to judge whether the currently detected contact line is the contact line to be detected or not, and eliminating the interference of other objects such as a dropper, a wrist arm, a positioner and the like; the contact line width calculation formula is:
then calculating the central position of the contact line, and adopting a weight number calculation method with a threshold value, wherein the calculation formula is as follows:
the calculation formula of the angle value of the contact line deviating from the image center is as follows:
after the deviation angle of the contact line is calculated, the servo driving system is controlled to rotate by a corresponding angle, so that the contact line image can be moved to the center of the image sensor, and the center of the contact line is automatically aimed.
The utility model disclosesIn (3), the focal length f' of the imaging lens is 35mm, and the pixel width w of the image sensor is 0.0055 mm. In actual detection, if the width d' of the contact line is 15mm and the distance L from the contact line to the center of the measuring instrument is 6m, the image width of the contact line is inversely calculated
A pixel. Namely, the distance x' from the center of the contact line to the center of the image sensor is calculated by 16 pixels according to the gray weight number, and the position calculation with the pixel precision of 0.2-0.3 can be realized under the general illumination condition. The calculation error Δ d 'is 0.3 × w × L/f' is 0.28mm, which is far better than the human eye aiming accuracy.
The utility model discloses in, the worm wheel is connected with the rotation axis of the sight system. Here, the motor needs to have the capability of driving the rotating shaft to rotate 1 ″, and it is a common practice to adopt a stepping motor plus subdivision method, however, with the existing best technology, the rotating speed of the stepping motor is 2000rpm, the number of steps of a single circle is a coefficient fraction of 200 steps per circle in a small volume so as to be a limit, the speed reduction ratio of the stepping motor to be resolved to seconds is to be 1269000/200-6480, and for the motor of 2000rpm to rotate for one circle for 3.24 minutes, such a speed cannot be achieved, so that a direct current servo motor is adopted, firstly, the direct current motor can achieve the rotating speed of 10000rpm, and simultaneously, a direct current motor shaft adopting a 4096: 1 rotary encoder can stay at any position of a single circle 1/4096, which is equivalent to walk 4096 steps/circle. Thus, the reduction ratio to be subdivided to 1 second is: 1296000/4096-316, we use 1: 4 motor to drive 1: 184 worm gear, the final speed reduction ratio is: 1: 736, the angular resolution of the single step is: 0.43 seconds, can meet the use requirement.
The angular resolution is as follows: 0.43 seconds is only a preferred way, and in fact, other values are possible and can be obtained without inventive effort and with only a limited number of tests, for the person skilled in the art, and other values are therefore also within the scope of protection of the present application.
The utility model discloses on measuring apparatu zenith be the perpendicular ascending direction of measuring apparatu.
The above-mentioned embodiments are merely preferred technical solutions of the present invention, and should not be construed as limitations of the present invention. The protection scope of the present invention shall be defined by the claims and the technical solutions described in the claims, including the technical features of the equivalent alternatives as the protection scope. Namely, equivalent alterations and modifications within the scope of the invention are also within the scope of the invention.
Claims (7)
1. An automatic aiming laser detector for a contact net comprises a track scale and a measuring instrument, wherein the track scale is internally provided with a track gauge measuring sensor, the measuring instrument is connected to the track scale, and the measuring instrument is used for solving through software to obtain coordinates of a contact line of the contact net after completing automatic aiming and angle distance measurement of an image; the method is characterized in that:
the measuring instrument consists of a measuring group, a display screen, a hand wheel, a main control board, a bracket, an angle measuring system, a servo motor driving system, a battery and a base connector, and is connected with the track scale through the base connector; the angle measurement device comprises a measurement group, an angle measurement system and a servo motor driving system which are coaxially arranged on a support, wherein a first rotating shaft of the angle measurement system, a second rotating shaft of the servo motor driving system and first shafts on two sides of the measurement group are connected together to form an integral shaft, and the measurement group can rotate around the integral shaft; the measuring group consists of an image aiming system and a laser ranging system, and the image aiming system and the laser ranging system are arranged in parallel; the image aiming system consists of an image sensor, an iris diaphragm, an imaging lens and a laser emission prism which are coaxially arranged from left to right in sequence; the center of the image sensor and the center connecting line of the imaging lens form an image light path; the aerial contact line is imaged on the image sensor through the imaging lens, and the iris diaphragm ensures that the image sensor can form a clear image in both a bright environment and a low-light environment; the servo driving system consists of a servo motor, a high-speed gear, a low-speed gear, a worm and a worm wheel; wherein high-speed gear and low-speed gear constitute one-level reduction structure, and worm wheel and worm constitute second grade reduction structure, and during operation servo motor drives high-speed gear, and high-speed gear drives low-speed gear, and then drives the worm and rotate, and the worm drives the worm wheel rotatory, and the worm wheel passes through servo motor drive system's second rotation axis and links to each other with the measurement group, and then drives the rotation of measurement group to reach servo motor drive measurement group pivoted purpose.
2. The laser detector according to claim 1, wherein the servo drive system comprises two low-speed gears and a worm gear, and a spring is provided between the two gears for staggering teeth.
3. The laser detector for the contact net capable of automatically aiming as claimed in claim 1, wherein the first-stage reduction ratio of the servo drive system is 1: 4, the two-stage reduction ratio is 1: 184 and 1/4096.
4. The laser detector of claim 3, wherein the servo drive system has a minimum resolution of 0.43 ".
5. The laser detector of claim 1, wherein the image sensor is of a CCD type or a CMOS type.
6. The automatic-aiming laser detector for the overhead line system of claim 1, wherein the imaging lens is a convex lens.
7. The laser detector of claim 1, wherein the iris diaphragm is a light-shielding plate with a hole in the center.
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| CN201921527418.2U CN210464437U (en) | 2019-09-13 | 2019-09-13 | Automatic contact net laser detector who aims |
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| CN201921527418.2U CN210464437U (en) | 2019-09-13 | 2019-09-13 | Automatic contact net laser detector who aims |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710229A (en) * | 2020-12-07 | 2021-04-27 | 济南蓝动激光技术有限公司 | Subway contact net geometric parameter measuring instrument and measuring method |
| CN115187869A (en) * | 2022-09-08 | 2022-10-14 | 南昌理工学院 | AI algorithm-based high-speed rail contact network equipment inspection system |
-
2019
- 2019-09-13 CN CN201921527418.2U patent/CN210464437U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710229A (en) * | 2020-12-07 | 2021-04-27 | 济南蓝动激光技术有限公司 | Subway contact net geometric parameter measuring instrument and measuring method |
| CN115187869A (en) * | 2022-09-08 | 2022-10-14 | 南昌理工学院 | AI algorithm-based high-speed rail contact network equipment inspection system |
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