A detection device for catenary operation and maintenance and its detection method

Abstract

The present invention discloses a detection device and a detection method for catenary operation and maintenance. The detection device includes a walking vehicle body, on which a lidar module for scanning is provided. A control circuit board and a calculation and processing module are also provided on the walking vehicle body. The calculation and processing module is connected to a terminal for display. The detection method includes the following steps: turning on the control circuit board of the on-site line inspection vehicle to control the synchronous operation of each component; using the lidar to measure the geometric distance between the inspection vehicle and the catenary; calculating the conductor height value and the pull-out value from the linear distance and angle measured by the lidar; triggering the area array camera to take pictures when an abnormality is found; using the panoramic camera to take 360° pictures around the inspection vehicle; using the detection module to detect the longitude and latitude of the geographical location; and performing data processing and display by the terminal. The present invention can convert the detection of the catenary into the detection of geometric parameters directly constructed by the lidar and the catenary, so as to perform continuous and real-time detection along the track direction through a non-contact measurement method.

Description

Technical Field

[0001] The present invention belongs to the field of detection and maintenance of railway catenaries, and particularly relates to a detection device and a detection method for catenary operation and maintenance. Background Art

[0002] With the rapid development of electrified railways in China, the operating mileage has exceeded 1.3 million kilometers, and there are as many as 2 million catenary facilities, and the number is still increasing year by year. Once a fault occurs in the catenary equipment, it will lead to the suspension of train operation, and then cause the serious consequence of the interruption of the entire railway transportation section, bringing losses to the country and the people in terms of time and economy. Therefore, the automatic and intelligent monitoring of catenary equipment is crucial for the maintenance and emergency repair of operating units.

[0003] At present, the main way to obtain the operating state of the catenary is to arrange personnel and vehicles to conduct regular inspections of the line during the "window time" of the railway. However, there are problems such as long inspection cycles and poor inspection effects in the inspection by inspection vehicles and manual inspections. At the same time, most of these data are in the form of forms, completely relying on manual analysis, with a huge workload, and the advantages of the information system cannot be fully utilized.

[0004] Therefore, there is an urgent need for an online intelligent real-time monitoring device that integrates technologies such as wireless sensing and real-time data processing, and on this basis, establish an evaluation system and a scientific maintenance system for the safety of the railway network system. Summary of the Invention

[0005] The present invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a detection device and a detection method for catenary operation and maintenance.

[0006] The technical solution of the present invention is: a detection device for catenary operation and maintenance, including a traveling vehicle body that travels along the railway track, a lidar module for rotating and scanning the position of the catenary is arranged on the traveling vehicle body, a control circuit board connected to the lidar module and a calculation and processing module connected to the control circuit board are also arranged on the traveling vehicle body, a power supply for power supply is further arranged on the traveling vehicle body, and the calculation and processing module is connected to a terminal for display.

[0007] Furthermore, a support column is arranged on the traveling vehicle body, and the lidar module is arranged on the support column.

[0008] Furthermore, the scanning rotation plane of the lidar module is perpendicular to the catenary.

[0009] Furthermore, a position detection module for real-time positioning of the traveling vehicle body is also arranged on the traveling vehicle body, and the position detection module is connected to the control circuit board.

[0010] Further, a area array camera for taking abnormal photos of the catenary is also arranged on the walking vehicle body, and the area array camera is connected to the control circuit board.

[0011] Further, a panoramic camera for obtaining real-time video is also arranged on the walking vehicle body, and the panoramic camera is connected to the control circuit board.

[0012] Further, the terminal includes a handheld terminal and a remote platform.

[0013] Further, the distance value ρ scanned by the lidar module from the catenary and the angle α with the vertical direction are obtained, so as to calculate the leading height value H and the pull-out value L of the catenary.

[0014] Among them, the leading height value H = ρ * conα, and the pull-out value L = ρ * sinα.

[0015] Further, the leading height value and the pull-out value of the catenary are superimposed on the position coordinates of the support column, so as to obtain the real-time coordinates of the catenary, so as to judge whether the position of the catenary is normal.

[0016] A detection method for a detection device for catenary operation and maintenance includes the following steps:

[0017] ⅰ. Turn on the control circuit board of the on-site line inspection vehicle to control the synchronous operation of each component.

[0018] The power supply supplies power to each acquisition component, and the control circuit board receives the information collected by the position detection module, the lidar module, the area array camera, and the panoramic camera.

[0019] ⅱ. The lidar measures the geometric distance between the inspection vehicle and the catenary.

[0020] The lidar module collects the distance value ρ of the catenary and the angle α with the vertical direction.

[0021] ⅲ. Calculate the leading height value and the pull-out value from the linear distance and angle measured by the radar.

[0022] The distance value ρ and the angle α with the vertical direction in step ⅱ are used to calculate the leading height value H and the pull-out value L through the formula.

[0023] The formula is as follows:

[0024] The leading height value H = ρ * conα, and the pull-out value L = ρ * sinα;

[0025] ⅳ. When an abnormality is detected, trigger the area array camera to take a photo.

[0026] As the walking vehicle body moves, the real-time leading height value H and pull-out value L are obtained. If the running position of the catenary is abnormal, an alarm is issued and the area array camera takes a photo of the catenary at this place.

[0027] ⅴ. The panoramic camera takes 360° photos of the surrounding inspection vehicle

[0028] The panoramic camera takes 360° photos of the surrounding inspection vehicle and sends them to the terminal through the control circuit board and the calculation and processing module;

[0029] ⅵ. The detection module detects the longitude and latitude of the geographical location

[0030] The position detection module obtains the real-time longitude and latitude information of the moving vehicle body and sends it to the terminal through the control circuit board and the calculation and processing module;

[0031] ⅶ. The terminal processes and displays the data

[0032] The terminal stores and displays the longitude and latitude obtained by the position detection module, the 360° photos obtained by the panoramic camera, and the size value of the catenary.

[0033] Furthermore, the frequency of the lidar module is not less than 25 Hz.

[0034] The present invention can convert the detection of the catenary into the detection of geometric parameters directly constructed by the lidar and the catenary, so as to perform continuous and real-time detection along the track direction through a non-contact measurement method, and match the catenary and geographical information, so that the catenary can be comprehensively and accurately managed.

[0035] In the present invention, the lidar continuously scans and works, and can completely and continuously obtain the geometric parameters of the contact wire, avoiding missed detection of the single-point detection method, and at the same time providing more comprehensive analysis information for catenary faults.

[0036] According to the detection result, the present invention can trigger the area array camera to take photos of the abnormal part and transmit them to the terminal through the wireless network, which can realize off-site evidence collection, and further accurately locate the abnormal position and picture of the catenary, so as to gain time for fault repair.

[0037] The inspection vehicle of the present invention is equipped with a panoramic camera, which is convenient for the terminal to supervise and manage the working status of each on-site line inspection intelligent vehicle. Description of the Drawings

[0038] Figure 1 is the installation schematic diagram of the present invention;

[0039] Figure 2 is the flow chart of the detection method of the present invention;

[0040] Figure 3 is the connection schematic diagram of the present invention;

[0041] Figure 4 is the data transmission diagram of the real-time positioning function in the present invention;

[0042] Figure 5 It is the data transmission diagram of the abnormal photographing function in the present invention;

[0043] Figure 6 It is the data transmission diagram of the real-time video function in the present invention;

[0044] Figure 7 It is the data transmission diagram of the handheld terminal in the present invention;

[0045] Figure 8 It is the left position diagram of the catenary in the present invention;

[0046] Figure 9 It is the calculation diagram of the sag value and stagger value of the catenary in the present invention;

[0047] Wherein:

[0048] 1 Power supply 2 Traveling vehicle body

[0049] 3 Position detection module 4 Lidar module

[0050] 5 Area array camera 6 Panoramic camera

[0051] 7 Control circuit board 8 Calculation and processing module

[0052] 9 Handheld terminal 10 Remote platform

[0053] 11 Catenary. Specific implementation manner

[0054] Hereinafter, the present invention will be described in detail with reference to the drawings and embodiments:

[0055] As Figures 1 to 9 shown, a detection device for catenary operation and maintenance includes a traveling vehicle body 2 that travels along a railway track. A lidar module 4 for rotating and scanning the position of the catenary 11 is provided on the traveling vehicle body 2. A control circuit board 7 connected to the lidar module 4 and a calculation and processing module 8 connected to the control circuit board 7 are also provided on the traveling vehicle body 2. A power supply 1 for power supply is further provided on the traveling vehicle body 2. The calculation and processing module 8 is connected to a display terminal.

[0056] A support column is provided on the traveling vehicle body 2, and the lidar module 4 is provided on the support column.

[0057] The scanning and rotating surface of the lidar module 4 is perpendicular to the catenary 11.

[0058] A position detection module 3 for real-time positioning of the traveling vehicle body 2 is further provided on the traveling vehicle body 2, and the position detection module 3 is connected to the control circuit board 7.

[0059] A area array camera 5 for taking abnormal photos of the catenary 11 is further provided on the traveling vehicle body 2, and the area array camera 5 is connected to the control circuit board 7.

[0060] A panoramic camera 6 for obtaining real-time video is further provided on the traveling vehicle body 2, and the panoramic camera 6 is connected to the control circuit board 7.

[0061] The terminal includes a handheld terminal 9 and a remote platform 10.

[0062] The distance value ρ scanned by the lidar module 4 from the catenary 11 and the angle α with the vertical direction are obtained, so as to calculate the sag value H and the stagger value L of the catenary 11.

[0063] Among them, the sag value H = ρ * cosα, and the stagger value L = ρ * sinα.

[0064] The sag value and the stagger value of the catenary 11 are superimposed on the position coordinates of the support column, so as to obtain the real-time coordinates of the catenary 11, and then judge whether the position of the catenary 11 is normal.

[0065] The area array camera 5 faces the catenary 11.

[0066] The position detection module 3 is connected to the calculation and processing module 8 of the inspection vehicle through a serial port. The lidar module 4, the area array camera 5 and the panoramic camera 6 are all connected to the calculation and processing module 8 of the inspection vehicle through network cables. The control circuit board 7 sends the data output by the lidar module 4 to the calculation and processing module 8 through a serial port. The calculation and processing module 8 calculates the sag value and the stagger value of the catenary 11 in combination with the above information, and sends the pillar pictures, working environment pictures and geographical coordinate information of the inspection vehicle of the catenary 11 obtained synchronously to the handheld terminal 9 and the remote platform 10 on site through a wireless network.

[0067] The on-site handheld terminal 9 can view the photos taken by the inspection vehicle and the geometric parameters of the catenary contact wire measured, and can also take photos and make measurements manually. After receiving the catenary 11 pictures and measurement information sent by the inspection vehicle, the remote platform 10 determines the accurate position of the inspection vehicle by obtaining the longitude and latitude geographical coordinate information of the inspection vehicle position and matching the known pillar number longitude and latitude information and combining with the GIS geographical information platform. The remote platform 10 can operate the running state of the inspection vehicle through a wireless network and take photos and make measurements.

[0068] In this application, the detection of the state of the catenary 11 is transformed into the measurement of the geometric distance between the inspection vehicle and the catenary. By improving the stability and detection range of the system, the detection accuracy can be improved. The lidar module 4 is used for scanning. The working state of the lidar module 4 is minimally affected by the environment, and the frequency of the lidar is not less than 25 Hz, and continuous measurement can be carried out, effectively improving the detection accuracy.

[0069] A panoramic camera 6 is used to capture the catenary road surface environment. The panoramic camera can achieve 360° panoramic shooting without blind spots, and the high-definition video night vision infrared irradiation is not less than 30 meters, and the video resolution is not lower than 1080P, fully meeting the requirements of road surface environment live broadcast. For the convenience of subsequent viewing, the video will be stored for more than 3 days.

[0070] The high-definition area array camera 5 is specifically used to capture high-definition close-up local photos of abnormal parts, with a resolution not lower than 1080P, and provides automatic photo storage for more than 7 days.

[0071] An integrated geographic information system developed based on Google Maps has calibrated each mast number and imported it into the system. Since the interval between mast numbers is only 50 meters, this ensures that the positioning accuracy of the on-site line inspection intelligent detection vehicle in the open section is within 3 meters.

[0072] A detection method for a detection device for catenary operation and maintenance includes the following steps:

[0073] ⅰ. Turn on the control circuit board of the on-site line inspection detection vehicle to control the synchronous operation of each component

[0074] The power supply 1 supplies power to each acquisition component, and the control circuit board 7 receives the information collected by the position detection module 3, the lidar module 4, the area array camera 5, and the panoramic camera 6;

[0075] ⅱ. The lidar measures the geometric distance between the detection vehicle and the catenary

[0076] The lidar module 4 collects the distance value ρ between the detection vehicle and the catenary 11 and the angle α with the vertical direction.

[0077] ⅲ. Calculate the sag value and the stagger value from the linear distance and angle measured by the radar

[0078] The distance value ρ and the angle α with the vertical direction in step ⅱ are used to calculate the sag value H and the stagger value L through the formula.

[0079] The formula is as follows:

[0080] Sag value H = ρ * conα, stagger value L = ρ * sinα;

[0081] ⅳ. Detect abnormalities and trigger the area array camera to take pictures

[0082] As the walking vehicle body 2 moves, the real-time sag value H and stagger value L are obtained. If the position of the catenary 11 is abnormal, an alarm is issued and the area array camera 5 takes a picture of the catenary 11 at this place;

[0083] ⅴ. The panoramic camera takes 360° photos around the detection vehicle

[0084] The panoramic camera 6 takes 360° photos of the surrounding inspection vehicle and sends them to the terminal through the control circuit board 7 and the calculation and processing module 8;

[0085] ⅵ. The detection module detects the longitude and latitude of the geographical location

[0086] The position detection module 3 obtains the real-time longitude and latitude information of the walking vehicle body 2 and sends it to the terminal through the control circuit board 7 and the calculation and processing module 8;

[0087] ⅶ. The terminal performs data processing and display

[0088] The terminal stores and displays the longitude and latitude obtained by the position detection module 3, the 360° photos obtained by the panoramic camera 6, and the size value of the catenary 11.

[0089] The frequency of the lidar module 4 is not less than 25 Hz.

[0090] The position detection module 3 obtains the geographical location coordinate information of the on-site line inspection intelligent detection vehicle, the lidar module 4 measures the straight-line distance from the detection vehicle to the catenary, the calculation and processing module 8 converts the straight-line distance into geometric parameters such as the sag value and the stagger value of the catenary, the panoramic camera 6 takes 360° photos of the surrounding detection vehicle, and the detection vehicle synchronously transmits the geographical coordinates, catenary geometric parameter data, and photo information to the terminal through the wireless transmission network.

[0091] When the calculation and processing module 8 calculates the constant parameters, the control circuit board 7 triggers the area array camera 5 to take specific photos of the abnormal part and sends them to the terminal through the wireless network, and a warning of a red solid triangle is marked at the abnormal position on the terminal interface.

[0092] When the terminal receives the data sent by the on-site line inspection detection vehicle, it can monitor and manage it, and display the catenary geometric parameter information in a more intuitive form such as converting data into charts for easy viewing; live broadcast and display the 360° video of the panoramic camera 6 taking around the detection vehicle; set a strong reminder when receiving the abnormal pictures taken by the area array camera 5, automatically pop up the high-definition photos of the abnormal part, and realize off-site evidence collection.

[0093] On the terminal, you can view the 3D map, pole number identification, and detection vehicle driving path provided by the integrated geographic information system, etc.; when an abnormality occurs in a certain pole number, the longitude and latitude information will be highlighted.

[0094] When viewing the live video of 360° around the detection vehicle taken by the panoramic camera on the terminal and finding that there is a road surface collapse or other harsh environment in the front section, the detection vehicle can be controlled in time to stop it to avoid unnecessary losses.

[0095] The specific implementation of the real-time positioning function of the detection vehicle based on the position detection module 3 is as follows:

[0096] As Figure 4 shown, after the position detection module 3 on the inspection vehicle obtains the longitude and latitude geographic coordinate information, it sends the data to the calculation and processing module 8 through the serial port. Here, the detection module can be a GNSS signal receiver, and the serial port can be RS232. Then, the calculation and processing module 8 transmits the preprocessed data to the remote platform 10 through the wireless network. This wireless network can be a 4G or 5G transmission network. The remote platform 10 matches the known pole number longitude and latitude information according to the longitude and latitude information of the inspection vehicle's position and combines it with the GIS geographic information platform to determine the accurate position of the inspection vehicle, and realizes the 2D plane display or 3D stereoscopic display of the inspection vehicle's position.

[0097] The specific implementation of the automatic photographing function for abnormal catenary geometric parameters based on the lidar module 4 is as follows:

[0098] As Figure 5 shown, during the operation of the inspection vehicle, the lidar module 4 continuously scans the catenary 11 and sends the scan data to the calculation and processing module 8 through the network cable. Here, the network cable can be an Ethernet port. The calculation and processing module 8 calculates the catenary geometric parameters based on the original data scanned by the lidar. When the calculation result exceeds the normal parameters of the catenary, an alarm will be triggered. At the same time, the computer processing module 8 controls the area array camera 5 on the inspection vehicle to take pictures through the network cable. The area array camera's 5 taking position is consistent with the radar scanning position, so that high-definition image information of the abnormal part of the catenary 11 can be obtained simultaneously. The image information is transmitted to the remote platform 10 through the wireless network and displayed on the interface, enabling off-site evidence collection.

[0099] The specific implementation of the real-time video function of the panoramic camera 6 for the catenary laying section is as follows:

[0100] As Figure 6 shown, the panoramic camera 6 has a wireless network transmission function. The panoramic camera 6 transmits the real-time video captured through the network cable to the calculation and processing module 8 through the wireless network. The calculation and processing module 8 transmits it to the remote platform 10 through the wireless network. The remote platform 10 reads the video data of the server, decodes the video data in real time and plays it. The remote platform 10 can display the on-site video data in real time.

[0101] The specific implementation of the control and detection result display based on the handheld terminal 9 is as follows:

[0102] As Figure 7As shown, the operation instructions of the handheld terminal 9 are transmitted to the computing and processing module 8 via a wireless network. Here, the wireless network uses WIFI. These instructions include: taking pictures, recording videos, reading detection results, displaying real-time on-site video images and picture information, etc. After being processed by the computer processing module 8, the above operation information is transmitted to the detection vehicle control circuit board 7 via the RS232 interface and to the area array camera 5 and the panoramic camera 6 via Ethernet.

[0103] As Figures 8 to 9 shown, the lidar module 4 continuously scans the catenary 11. Based on the radar return data, a geometric parameter model of the catenary is constructed, including the pull-out and sag values of the catenary. In the lidar measurement system, the center point of the two-track connection is taken as the coordinate origin, the direction of the detection vehicle's movement is the positive direction of the X-axis, the direction to the right of the vehicle's movement direction is the positive direction of the y-axis, and the pull-out value of the contact wire is recorded; perpendicular to the railway plane, the direction pointing to the sky is the positive direction of the z-axis, and the sag value of the contact wire is recorded.

[0104] The detection vehicle is designed with a known fixed structure and runs on the track. The radar is installed on one side of the detection vehicle. Therefore, the coordinates of the lidar can be calculated, and its coordinate diagram is as follows:

[0105] The coordinates of the lidar on the vehicle in the track coordinate system are (X, Yradar, Zradar), then the coordinates of the contact wire relative to the track coordinate system are (X, Ywire + Yradar, Zwire + Zradar), that is, the geometric parameters of the contact wire.

[0106] The lidar scans repeatedly from the starting angle to the ending angle. When an obstacle is encountered during the scan, the distance from the obstacle to the laser source is returned. According to the angular resolution of the lidar scan, the polar coordinate data obtained by the lidar is converted into planar coordinate data, and then the position of the contact wire is calculated.

[0107] The sag value H = ρ * sinα

[0108] The pull-out value L = ρ * conα

[0109] The position detection module 3 can be but is not limited to the Beidoustar OEM719 module.

[0110] The lidar module 4 can be but is not limited to the German SICK LMS511 - 20100.

[0111] The computing and processing module 8 can be but is not limited to the Advantech IPC - 610L.

[0112] The handheld terminal 9 can be but is not limited to the ThinkPad 8.

[0113] The remote platform 10 can be, but is not limited to, a ThinkSystem IBM server, SR650

[0114] The area array camera 5 can be, but is not limited to, a Zhongwei CN5123FD-HT7 high-definition camera.

[0115] The panoramic camera 6 can be, but is not limited to, an Insta360 OneX.

[0116] The control circuit board 7 can be, but is not limited to, a ZYNQ XC7Z7020.

[0117] The present invention can convert the detection of the catenary into the detection of geometric parameters directly constructed by the lidar and the catenary, so as to perform continuous and real-time detection along the track direction through a non-contact measurement method, and match the catenary with geographical information, thereby enabling comprehensive and accurate management of the catenary.

[0118] In the present invention, the lidar scans continuously, and can completely and continuously obtain the geometric parameters of the contact wire, avoiding missed detection by the single-point detection method, and at the same time providing more comprehensive analysis information for catenary faults.

[0119] According to the detection results, the present invention can trigger the area array camera to take pictures of abnormal parts and transmit them to the terminal through the wireless network, enabling off-site evidence collection, and further accurately locating the abnormal position and pictures of the catenary, thus saving time for fault repair.

[0120] The detection vehicle of the present invention is equipped with a panoramic camera, which is convenient for the terminal to supervise and manage the working status of each on-site line inspection intelligent detection vehicle.

Claims

1. A detection device for the operation and maintenance of catenary, comprising a walking vehicle body (2) that travels along a railway track, characterized in that: A lidar module (4) for rotating and scanning the position of the catenary (11) is provided on the traveling vehicle body (2). A control circuit board (7) connected to the lidar module (4) and a calculation and processing module (8) connected to the control circuit board (7) are also provided on the traveling vehicle body (2). A power supply (1) for power supply is further provided on the traveling vehicle body (2). The calculation and processing module (8) is connected to a display terminal; The scanning rotation plane of the lidar module (4) is perpendicular to the catenary (11); The lidar module (4) scans the distance value ρ of the catenary (11) and the angle α with the vertical direction, so as to calculate the sag value H and the stagger value L of the catenary (11). Among them, the sag value H = ρ * conα, and the stagger value L = ρ * sinα. The sag value and stagger value of the catenary (11) are superimposed on the position coordinates of the support column, so as to obtain the real-time coordinates of the catenary (11), and then judge whether the position of the catenary (11) is normal; A position detection module (3) for real-time positioning of the traveling vehicle body (2) is also provided on the traveling vehicle body (2). The position detection module (3) is connected to the control circuit board (7); A area array camera (5) for taking abnormal photos of the catenary (11) is also provided on the traveling vehicle body (2). The area array camera (5) is connected to the control circuit board (7); A panoramic camera (6) for obtaining real-time video is also provided on the traveling vehicle body (2). The panoramic camera (6) is connected to the control circuit board (7); When the lidar module (4) detects an abnormal position of the catenary (11), the area array camera (5) is triggered to take a photo; The panoramic camera (6) takes real-time 360° photos around the inspection vehicle and transmits them to the terminal together with the longitude and latitude information obtained by the position detection module (3) and the geometric parameters measured by the lidar module (4).

2. The detection device for catenary operation and maintenance according to claim 1, characterized in that: Support columns are provided on the traveling vehicle body (2), and the lidar module (4) is provided on the support columns.

3. The detection device for catenary operation and maintenance according to claim 1, wherein: The terminal includes a handheld terminal (9) and a remote platform (10).

4. A detection method for a detection device used in the operation and maintenance of catenary, characterized by: Including the following steps: (ⅰ) Turn on the control circuit board of the on-site line inspection vehicle to control the synchronous operation of each component The power supply (1) supplies power to each acquisition component, and the control circuit board (7) receives the information collected by the position detection module (3), the lidar module (4), the area array camera (5), and the panoramic camera (6); (ⅱ) The lidar measures the geometric distance between the inspection vehicle and the catenary The lidar module (4) collects the distance value ρ of the catenary (11) and the angle α with the vertical direction, (ⅲ) Calculate the sag value and the stagger value from the linear distance and angle measured by the lidar For the distance value ρ and the angle α with the vertical direction in step (ⅱ), the sag value H and the stagger value L are calculated through the formula. The formula is as follows: The sag value H = ρ * conα, and the stagger value L = ρ * sinα; (ⅳ) Discover an abnormality and trigger the area array camera to take a photo As the traveling vehicle body (2) travels, the real-time sag value H and stagger value L are obtained. If the position of the catenary (11) is abnormal, an alarm is issued and the area array camera (5) takes a photo of the catenary (11) at this place; (v) The panoramic camera takes 360° photos of the surrounding inspection vehicle The panoramic camera (6) takes 360° photos of the surrounding inspection vehicle and sends them to the terminal through the control circuit board (7) and the calculation and processing module (8); (vi) The detection module detects the longitude and latitude of the geographical location The position detection module (3) obtains the real-time longitude and latitude information of the traveling vehicle body (2) and sends it to the terminal through the control circuit board (7) and the calculation and processing module (8); (vii) The terminal performs data processing and display The terminal stores and displays the longitude and latitude obtained by the position detection module (3), the 360° photos obtained by the panoramic camera (6), and the dimension values of the catenary (11); The lidar module (4) continuously scans the catenary (11). According to the radar return data, a catenary geometric parameter model is constructed, including the pull-out and guide height values of the catenary; in the lidar measurement system, the center point of the two-track connection is used as the coordinate origin, the running direction of the inspection vehicle is the positive direction of the X-axis, the direction pointing to the right of the vehicle movement direction is the positive direction of the y-axis, and the pull-out value of the contact wire is recorded; perpendicular to the railway track plane, the direction pointing to the sky is the positive direction of the z-axis, and the guide height value of the contact wire is recorded; The inspection vehicle is designed with a known fixed structure and runs on the track. The radar is installed on one side of the inspection vehicle. Therefore, the coordinates of the lidar can be calculated, and its coordinate diagram is as follows: If the coordinates of the lidar on the vehicle in the track coordinate system are (X, Yradar, Zradar), then the coordinates of the contact wire relative to the track coordinate system are (X, Ywire + Yradar, Zwire + Zradar), that is, the catenary geometric parameters; The lidar scans repeatedly from the starting angle to the ending angle. When an obstacle is encountered during the scan, the distance from the obstacle to the laser source is returned. According to the angular resolution of the lidar scan, the polar coordinate data obtained by the lidar is converted into plane coordinate data, and then the position of the contact wire is obtained; The guide height value H = ρ * sinα The pull-out value L = ρ * conα.

5. The detection method of a detection device for catenary operation and maintenance according to claim 4, characterized in that: The frequency of the lidar module (4) is not less than 25 Hz.

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