Intelligent detection device and detection method for contact network
阅读说明:本技术 一种用于接触网智能检测装置和检测方法 (Intelligent detection device and detection method for contact network ) 是由 宋学谦 毕江海 王东琳 李佳欣 武彭彭 冯东阁 王继军 郭柱 简浩 刘玖林 熊秋 于 2019-11-05 设计创作,主要内容包括:本发明公开了一种用于接触网智能检测装置和检测方法,其检测装置包括行走结构,行走结构包括左纵梁、右纵梁、横梁及电机轮,行走结构上设置有立架,横梁上的行走部外壳顶部设置有位置检测模块以及线阵相机,立架上端设置有激光雷达。其检测方法,包括以下步骤:开启控制电路板控制各部件同步工作;线阵相机拍摄接触线底部一维图像;位置检测模块检测地理位置的经纬度;全景相机拍摄环绕检测车的360°照片;激光雷达测量检测车与接触网几何距离;雷达测量的直线距离计算导高值、拉出值;进行数据处理与展示;异常触发拍照及发出警报。本发明实现对接触网参数信息的非接触式连续获取,并将接触网信息和地理信息进行匹配,进行全面而精确的管理。(The invention discloses an intelligent detection device and a detection method for a contact network, wherein the detection device comprises a walking structure, the walking structure comprises a left longitudinal beam, a right longitudinal beam, a cross beam and a motor wheel, a vertical frame is arranged on the walking structure, a position detection module and a linear array camera are arranged at the top of a shell of a walking part on the cross beam, and a laser radar is arranged at the upper end of the vertical frame. The detection method comprises the following steps: starting a control circuit board to control each part to work synchronously; shooting a one-dimensional image at the bottom of a contact line by a linear array camera; the position detection module detects the longitude and latitude of the geographic position; the panoramic camera shoots 360-degree photos around the detection vehicle; measuring the geometric distance between the detection vehicle and a contact network by using a laser radar; calculating a height-leading value and a pull-out value of the linear distance measured by the radar; processing and displaying data; and abnormal triggering of photographing and alarm. The invention realizes the non-contact continuous acquisition of the parameter information of the contact network, matches the contact network information with the geographic information and carries out comprehensive and accurate management.)
1. The utility model provides a be used for contact net intellectual detection system device, includes the walking structure along rail-engaging, its characterized in that: the walking structure comprises a left longitudinal beam (23), a right longitudinal beam (24) and a motor wheel (30) which correspond to the track in parallel, the left longitudinal beam (23) and the right longitudinal beam (24) are connected through a cross beam (22), a stand (34) is arranged on the walking structure, a position detection module (3) for positioning the walking structure in real time and a linear array camera (28) for measuring a contact line abrasion value are arranged at the top of a walking part shell (21) on the cross beam (22), and a laser radar (4) for scanning and measuring the contact line (35) is arranged at the upper end of the stand (34).
2. The intelligent detection device for the overhead line system according to claim 1, characterized in that: the top of the walking part shell (21) is also provided with an area-array camera (5) for two-dimensional photographing of the abnormal position of the contact line (35).
3. The intelligent detection device for the overhead line system according to claim 2, characterized in that: the top of the walking part shell (21) is provided with a photographing light source module (27), and the photographing light source module (27) improves the photographing quality of the linear array camera (28) and the planar array camera (5).
4. The intelligent detection device for the overhead line system according to claim 3, wherein: the panoramic camera is further arranged at the upper end of the stand (34), and the panoramic camera (6) transmits videos of the surrounding environment in real time when the walking structure walks.
5. The intelligent detection device for the overhead line system according to claim 4, wherein: be provided with calculation processing module (8), control circuit module (7) that the circuit links to each other in walking portion shell (21), calculation processing module (8) and handheld terminal (9), distal end management platform (10) communicate mutually, control circuit module (7) are connected and are accepted position detection module (3), laser radar (4), area-array camera (5), linear array camera (28) panorama camera (6).
6. The intelligent detection device for the overhead line system according to claim 1, characterized in that: the electric drive rail wheel (2) is arranged at the mounting grooves at the two ends of the left longitudinal beam (23) and the right longitudinal beam (24), and the electric drive rail wheel (2) comprises a motor wheel (30) in rolling contact with a rail and a motor controller (31) arranged on the left longitudinal beam (23) and the right longitudinal beam (24).
7. The intelligent detection device for the overhead line system according to claim 1, characterized in that: and track gauge detection modules (33) are arranged at the outer side walls of the left longitudinal beam (23) and the right longitudinal beam (24).
8. The intelligent detection device for the overhead line system according to claim 1, characterized in that: the cross beam (22) is provided with a battery (25) for supplying power to electrical components.
9. The utility model provides a detection method for contact net intellectual detection system device which characterized in that: the method comprises the following steps:
starting the synchronous operation of each part controlled by the control circuit board in the intelligent detection device
After the control circuit module (7) is started, the battery module (1) supplies power to the laser radar (4), the position detection module (3), the panoramic camera (6), the area array camera (5), the calculation processing module (8) and the motor controller (31), the motor wheel (30) drives the walking structure to automatically run on the track, and meanwhile, the control circuit board (7) controls the modules to synchronously work;
(ii) the location detection module detects the latitude and longitude of the geographic location
The position detection module (3) acquires longitude and latitude information of the location in real time and sends the longitude and latitude information to the calculation processing module (8);
(iii) the panoramic camera takes a360 ° photograph of the surrounding test vehicle
The panoramic camera (6) shoots 360-degree photos/videos surrounding the detection device and sends the photos/videos to the calculation processing module (8);
(iv) Linear array Camera shooting bottom one-dimensional transverse line Picture of contact line
The images shot by the linear array camera (28) are sequentially sent to the calculation processing module (8);
(v) laser radar measures and detects car and contact net geometric distance
The laser radar module (4) measures the linear distance and the angle value from the detection device to the contact line (35) and sends the values to the calculation processing module (8);
(vi) calculating a height leading value and a pull-out value of the linear distance measured by the radar; calculating a contact line bottom abrasion value by using a picture shot by a linear array camera;
the calculation processing module (8) calculates the height leading value and the pull-out value of the contact line (35) according to the linear distance and the angle value; the calculation processing module (8) fuses one-dimensional transverse line pictures shot by the linear array camera into a two-dimensional picture, and the width of a high-brightness part at the bottom of a contact line is measured and calculated through image recognition processing to serve as a wear value;
(vii) data processing and displaying of remote management platform and handheld terminal
The calculation processing module (8) sends the longitude and latitude information, the 360-degree photo/video, the lead height value and the pull-out value to a remote management platform (10) and a handheld terminal (9) through a wireless transmission network for display;
(viii) abnormal shooting triggering area-array camera
When the height guiding value, the pulling value and the bottom abrasion value of the contact wire (35) are abnormal, the area array camera (5) is triggered to shoot the abnormal part, and the shot picture is transmitted to the remote management platform (10) and the handheld terminal (9);
(ix) alarm is given
The alarm lamp (26) in the detection device and the alarm area (19) of the remote management platform (10) flash to alarm.
10. The intelligent detection device for the overhead line system according to claim 1, characterized in that: and (vii) when finding that the height guiding value, the pulling value and the bottom abrasion value of the contact line (35) are abnormal, the position detection module (3) sends longitude and latitude information of the abnormal position, and performs abnormal marking.
Technical Field
The invention belongs to the field of railway detection, and particularly relates to an intelligent detection device and method for a contact network.
Background
The rapid development of the electrified railways in China has the operation mileage of 13 kilometers, the contact network facilities reach as many as 200 kilometers, and the number of the contact network facilities is increased year by year. Once the contact network equipment fails, the train is shut down, and then the transportation of the whole section of railway is interrupted, so that the serious consequences of the interruption of the transportation of the whole section of railway bring loss to the country and people in terms of time and economy. Therefore, automatic and intelligent monitoring of the contact network equipment is of great importance to overhaul and first-aid repair of an operation unit.
At present, the method for obtaining the running state of a contact network is mainly to arrange personnel and vehicles to regularly patrol and examine a line by using the window time of a railway. However, the inspection vehicle and the manual inspection have the problems of long inspection period, poor inspection effect and the like, and most of data are form modes, and the manual analysis workload is huge, so that the advantages of an information system cannot be fully exerted.
Therefore, an online intelligent real-time monitoring method integrating technologies such as wireless sensing, real-time data processing, big data early warning analysis and the like is needed, and an evaluation system and a scientific maintenance system for the safety of the railway network system are established on the basis.
Disclosure of Invention
The invention aims to provide an intelligent detection device and method for a contact network, which are used for solving the problems in the prior art.
The technical scheme of the invention is as follows: the utility model provides a be used for contact net intellectual detection system device, includes along the walking structure of rail motion, walking structure includes left longeron, right longeron and the motor wheel that corresponds with the track parallel, left side longeron, right longeron pass through the crossbeam and link to each other, the structural grudging post that is provided with of walking, walking portion shell top on the crossbeam is provided with carries out the position detection module of real-time location to walking structure, the grudging post upper end is provided with carries out scanning measurement's laser radar to the contact line.
Furthermore, the top of the shell is also provided with an area-array camera for photographing the abnormal part of the contact line.
Furthermore, a photographing light source module is arranged at the top of the walking part shell, and the photographing light source module improves the photographing quality of the area-array camera.
Furthermore, a panoramic camera is further arranged at the upper end of the stand and transmits the walking structure walking surrounding environment videos in real time.
Furthermore, a calculation processing module and a control circuit module which are connected with each other through circuits are arranged in the walking part shell, the calculation processing module is communicated with the handheld terminal and the far-end management platform, and the control circuit module is connected with and receives the position detection module, the laser radar, the area array camera and the panoramic camera.
Furthermore, electric driving rail wheels are arranged at the mounting grooves at the two ends of the left longitudinal beam and the right longitudinal beam, and each electric driving rail wheel comprises a motor wheel in rolling contact with the rail and a motor controller arranged on the left longitudinal beam and the right longitudinal beam.
Furthermore, the outer side walls of the left longitudinal beam and the right longitudinal beam are provided with track gauge detection modules.
Furthermore, a battery for supplying power to the electrical elements is arranged on the cross beam.
A detection method for an intelligent detection device of a contact network comprises the following steps:
opening a control circuit board in the intelligent detection device to control all parts to synchronously work
After the control circuit module is started, the battery module supplies power to the laser radar, the position detection module, the panoramic camera, the area-array camera, the calculation processing module and the motor controller, the motor wheel driving walking structure automatically runs on the track, and meanwhile the control circuit board controls all the modules to synchronously work;
ii, the longitude and latitude of the geographic position is detected by the position detection module
The position detection module acquires longitude and latitude information of a location in real time and sends the longitude and latitude information to the calculation processing module;
iii, taking a 360-degree picture of surrounding detection vehicle by using panoramic camera
The panoramic camera shoots 360-degree photos/videos surrounding the detection device and sends the photos/videos to the calculation processing module;
iv line array camera shooting contact line bottom image
v. laser radar measures and detects car and contact net geometric distance
The laser radar module measures the linear distance and the angle value from the detection device to the contact network and sends the values to the calculation processing module;
calculating a height guide value and a pull-out value according to the linear distance measured by the radar;
the calculation processing module calculates a height leading value and a pull-out value of the contact net according to the linear distance and the angle value;
the calculation processing module fuses line pictures shot by the line camera into a picture, and the width of a highlighted part at the bottom of a contact line is measured and calculated through image recognition processing to serve as abrasion;
and vii, the end management platform and the handheld terminal perform data processing and display
The calculation processing module sends the longitude and latitude information, the 360-degree photo/video, the height leading value and the pull-out value to a remote management platform and a handheld terminal for display through a wireless transmission network;
triggering area array camera to take pictures when finding abnormal conditions
When the height guiding value and the pulling value of the contact line are abnormal, the area array camera is triggered to shoot the abnormal part, and the shot picture is transmitted to the remote management platform and the handheld terminal;
ix. issuing an alarm
And an alarm lamp in the detection device and an alarm area of the remote management platform flash to alarm.
Furthermore, when finding that the height guiding value, the pulling value and the abrasion value of the contact line are abnormal in step vii, the position detection module sends longitude and latitude information of the abnormal position, and performs abnormality marking.
The invention has the following beneficial effects:
the invention can realize the non-contact continuous acquisition of the parameter information of the contact network and match the contact network information with the geographic information, thereby comprehensively and accurately managing the contact network.
The laser radar continuously scans, can completely and continuously acquire the geometric parameters of the contact line, avoids missing detection of a single-point detection method, and provides more comprehensive analysis information for the contact line faults because the linear array camera can continuously measure the abrasion value of the contact line.
The detection device automatically triggers the area-array camera to shoot the abnormal part picture according to the detection result, and the abnormal part picture is transmitted to the remote intelligent management platform through the wireless network, so that the remote evidence obtaining can be realized.
According to the invention, the remote management platform can accurately position the accurate position of the contact network fault section by integrating the geographic information system, so that time is won for fault first-aid repair.
The panoramic camera of the invention is convenient for the remote management platform to supervise and manage the working state of each on-site line patrol intelligent detection vehicle.
The three track gauge detection modules can detect the actual track gauges of various road conditions including curves and switches in real time.
The invention adopts modularized installation, and is convenient to disassemble and carry.
Drawings
FIG. 1 is an external perspective view of the present invention;
FIG. 2 is an internal perspective view of the present invention;
FIG. 3 is a circuit block diagram of the present invention;
FIG. 4 is a flow chart of the detection method of the present invention;
FIG. 5 is a schematic diagram of the connection of the position detection module of the present invention;
FIG. 6 is a schematic diagram of the connection of the area-array camera according to the present invention;
FIG. 7 is a schematic view of the connection of the panoramic camera of the present invention;
FIG. 8 is a schematic diagram of the connection of the handheld terminal of the present invention;
FIG. 9 is a schematic illustration of the detection of the present invention;
FIG. 10 is a detection schematic of the present invention;
FIG. 11 is an interface diagram of the remote platform of the present invention;
wherein:
1 battery module 2 electrically driven rail wheel
3
5-area-
7
9 hand-held
11
13
15 History
17
19
21 walking
23 left
25
27
29 push handle 30 motor wheel
31
33
35 lines of contact.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings and examples:
as shown in fig. 1-11, a be used for contact net intellectual detection system device, include along the walking structure of rail motion, the walking structure includes left
The top of the walking
The top of the walking
The upper end of the
A
The two ends of the left
And track
The
As shown in fig. 2, the left
The
The
The top of the
The middle of the left
The
As shown in fig. 1, the traveling
The push handle 29 passes through the traveling
The
As shown in fig. 5, the present invention has a real-time positioning function of the detection device, and after acquiring latitude and longitude geographic coordinate information, the
As shown in fig. 6, the automatic photographing device has an automatic photographing function for geometric parameter abnormality of the contact line, the
As shown in fig. 7, the system has a real-time live video broadcast function for a section where a contact network is laid, the
As shown in fig. 8, the present invention can be displayed and controlled by the handheld terminal 9, and the operation instructions of the handheld terminal 9 are transmitted to the
The operation information is sent to the
As shown in fig. 9 to 10, during the operation of the detection device, the
The detection vehicle is designed by adopting a known fixed structure, runs on a track, and the radar is installed on one side of the detection vehicle, so that the coordinate of the laser radar can be measured and calculated.
The coordinate of the laser radar on the trolley in the track coordinate system is (x, y)radar,zradar) The coordinates of the contact line with respect to the orbital coordinate system are then (x, y)wire+yradar,zwire+zradar) I.e. the contact line geometry: (distance (or time), pull-out value, lead-up).
The laser radar scans repeatedly from the starting angle to the ending angle, and returns the distance from the obstacle to the laser source when the scanning meets the obstacle. And converting polar coordinate data obtained by the laser radar into plane coordinate data according to the angular resolution of the scanning of the laser radar, and further solving the position of the contact line.
Derivative height value H = ρ × cos α
Pullout value L = ρ × sin α
The intelligent detection device for the contact network detects parameters such as the current track gauge superheight and the like through a body bottom walking structure, the upper detection part provides parameters such as an upper contact line and the like, and the calculation processing module displays the parameters such as the height guide, the pull-out and the positioner gradient and the like of the processed contact network parameters and waveforms.
Preferably, the detection of the contact network state can be converted into the measurement of the geometric distance between the detection vehicle and the contact network, the detection precision can be improved by improving the stability and the detection range of the system, the laser radar is adopted for scanning, the working state of the laser radar is little affected by the environment, the frequency of the
According to the invention, the
The
The high-definition area-
The integrated geographic information system developed based on the Google map calibrates and imports each support column number into the system, and because the interval between the support column numbers is only 50 meters, the positioning accuracy of the on-site line patrol intelligent detection vehicle on an open road section is guaranteed to be within 3 meters.
As shown in fig. 11, the screen area of the
The middle part of the far-
The lower part of the
As shown in fig. 3 to 4, by turning on the control circuit module 7, the control circuit module 7 controls the battery power channel to supply power to the
After the on-site intelligent detection vehicle starts to work, the control circuit module 7 commands each module to work synchronously: the
If a user checks live videos which are shot by the
If the detection device finds that the
If the detection device breaks down in the working process, other nearby detection vehicles can be searched through the geographic information system and allocated in time, so that the work progress is prevented from being delayed.
The model of the
The model of the
The model of the area-
The model of the
The model of the control circuit module 7 may be, but is not limited to, ZYNQ XC7Z 7020.
The model number of the
The model of the handheld terminal 9 may be, but is not limited to, Johnson IPC-610L.
The model of the
The
The model of the
Preferably, acceleration sensors are provided on the
A detection method for an intelligent detection device of a contact network comprises the following steps:
opening a control circuit board in the intelligent detection device to control all parts to synchronously work
After the control circuit module 7 is started, the battery module 1 supplies power to the
ii, the longitude and latitude of the geographic position is detected by the position detection module
The
iii, taking a 360-degree picture of surrounding detection vehicle by using panoramic camera
The
iv, linear array camera shoots bottom one-dimensional transverse line picture of contact line
The pictures shot by the
v. laser radar measures and detects car and contact net geometric distance
The
calculating a height guide value and a pull-out value of the linear distance measured by the radar; calculating a contact line bottom abrasion value by using a picture shot by a linear array camera;
the
vi, the end management platform and the handheld terminal perform data processing and display
The
vii. finding an abnormality triggers the area array camera to take a picture
When the height guiding value and the pulling value of the
ix. issuing an alarm
The
Step vii, when finding that the height guiding value, the pulling value and the abrasion value of the
The invention can realize the non-contact continuous acquisition of the parameter information of the contact network and match the contact network information with the geographic information, thereby comprehensively and accurately managing the contact network.
The laser radar continuously scans, can completely and continuously obtain the geometric parameters of the contact line, avoids the omission of the single-point detection method, and provides more comprehensive analysis information for the contact network faults.
The detection device automatically triggers the area-array camera to shoot the abnormal part picture according to the detection result, and the abnormal part picture is transmitted to the remote intelligent management platform through the wireless network, so that the remote evidence obtaining can be realized.
According to the invention, the remote management platform can accurately position the accurate position of the contact network fault section by integrating the geographic information system, so that time is won for fault first-aid repair.
The panoramic camera of the invention is convenient for the remote management platform to supervise and manage the working state of each on-site line patrol intelligent detection vehicle.
The three track gauge detection modules can detect the actual track gauges of various road conditions including curves and switches in real time.
The invention adopts modularized installation, and is convenient to disassemble and carry.
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