A contact network parameter measuring device and a measuring method

Abstract

The present invention discloses a contact network parameter measurement device, including a mobile trolley, a limit laser sensor, a telescopic measuring frame and a three-dimensional laser scanner. The mobile trolley includes a vehicle body, a mileage encoder and a plurality of wheels, and the mileage encoder is connected to one of the wheels; the telescopic measuring frame includes a telescopic measuring support, a telescopic measuring support and a locking device, and the telescopic measuring support is mounted on the telescopic measuring support so that the upper and lower positions of the telescopic measuring support can be adjusted; the limit laser sensor is mounted on the telescopic measuring support to obtain the inner distance data of the contact network support; the three-dimensional laser scanner is mounted on the top of the telescopic measuring support to obtain the contour of the flexible contact line or the rigid contact line, and the laser beam emitted by the three-dimensional laser scanner faces upward. The present invention adopts a long-distance, high-precision three-dimensional laser scanner, which has high precision and stability, and can obtain the contour of the contact line, and then obtain the pull-out value and the guide height value through fitting and coordinate transformation.

Description

Technical Field

[0001] The invention belongs to the field of contact network parameter measurement, and more specifically, relates to a contact network parameter measurement device and a measurement method. Background Art

[0002] The contact network is responsible for the important task of directly transmitting the electric energy obtained from the traction substation to the electric locomotive. Therefore, the quality and working condition of the contact network will directly affect the transportation capacity of the electrified railway.

[0003] Japan, France and Germany are the countries with the fastest and most developed high-speed railways in the world, and are generally recognized as the best. However, the types of high-speed overhead lines in these three countries are different. Japan is famous for its use of multiple chain suspension, France is a representative country that uses simple chain suspension, and Germany uses almost all elastic chain suspension.

[0004] my country's TB 10621-2009 "High-speed Railway Design Specifications" stipulates that the high-speed railway overhead line suspension type adopts a fully compensated simple chain suspension or a fully compensated elastic chain suspension. When double or multiple bows are used for current collection, a fully compensated elastic chain suspension should be used.

[0005] Catenary inspection is a necessary means for the safe operation of railway lines. At present, catenary inspection mainly relies on two inspection methods: manual on-site static measurement and catenary inspection vehicle, thereby obtaining the geometric parameters of the catenary and the dynamic parameters of the interaction between the catenary, thereby providing an objective inspection basis for the operation and maintenance department. In the manual on-site static measurement of the catenary in my country, the handheld catenary parameter detectors of Shandong Landong DDJ-8 and Tangyuan Electric TDJ-6 are mainly used. However, the manual on-site static measurement method is inefficient and intensive, and cannot meet the needs of the rapid growth of railway lines.

[0006] The existing inspection methods, on the one hand, are expensive, difficult to coordinate, and unsafe for the top-mounted inspection vehicle, which can only perform rough inspections; on the other hand, for static measurement methods, the measurement process requires manual participation in the alignment and selection of measurement points, and each node needs to be measured and the equipment needs to be lifted, which is time-consuming and laborious; on the other hand, for dynamic measurement equipment, the measurement work can only be completed when it is stationary or moving at a low speed, and there are problems such as low measurement accuracy and low efficiency under dynamic measurement conditions. Both of the above aspects cannot meet the rapidly growing needs of railway lines. Summary of the invention

[0007] In view of the above defects or improvement needs of the prior art, the present invention provides a contact network parameter measuring device and a measuring method, which can automatically aim and position, realize the measurement of contact network geometric parameters without human intervention, and have high comprehensive accuracy and measurement efficiency.

[0008] To achieve the above object, according to one aspect of the present invention, a contact network parameter measuring device is provided, characterized in that it includes a mobile trolley, a limit laser sensor, a telescopic measuring frame and a three-dimensional laser scanner, wherein:

[0009] The mobile vehicle comprises a vehicle body, a mileage encoder and a plurality of wheels mounted on the vehicle body, each of the wheels being rotatably mounted on the vehicle body, and the mileage encoder being connected to one of the wheels so as to obtain a distance change of the mobile vehicle on the track through the rotation of the wheel;

[0010] The telescopic measurement frame comprises a telescopic measurement support, a telescopic measurement bracket and a locking device, wherein the telescopic measurement support is supported by the vehicle body, the telescopic measurement bracket is adjustable in up and down position on the telescopic measurement support, and the telescopic measurement bracket is locked on the telescopic measurement support by the locking mechanism after being adjusted into position;

[0011] The limit laser sensor is installed on the telescopic measurement support to obtain the inner horizontal distance data of two contact network pillars at corresponding positions;

[0012] The three-dimensional laser scanner is installed on the top end of the telescopic measuring bracket to obtain the contour of the flexible contact line or the rigid contact line, and the laser beam emitted by the three-dimensional laser scanner faces upward.

[0013] Preferably, a reinforcing rib is provided between the telescopic measuring support and the vehicle body.

[0014] Preferably, the telescopic measuring bracket extends into the telescopic measuring support, and a row of through holes is vertically arranged on the telescopic measuring bracket, and the locking device is a bolt device, which passes through the connecting hole on the telescopic measuring support and the through hole on the telescopic measuring bracket to lock the telescopic measuring bracket on the telescopic measuring support.

[0015] According to another aspect of the present invention, a method for measuring contact network parameters using the contact network parameter measuring device is provided, which is characterized by comprising the following steps:

[0016] 1) Selecting the contact network type on the host, the host loads a pre-stored model point cloud of the contact line contour, wherein the contact line is a flexible contact line or a rigid contact line;

[0017] 2) The mileage encoder obtains the distance change of the parameter measurement device during its movement on the track and transmits it to the synchronous controller. The synchronous controller continuously triggers the laser scanner according to the distance change at equal intervals, thereby obtaining the data on the contact line surface and transmitting it to the host to form a collection point cloud of the contact network contour;

[0018] 3) filtering out discrete noise points of the collected point cloud based on Euclidean clustering;

[0019] 4) The denoised point cloud is used as the starting point set P = {P i , i = 1, 2, 3...n}, the model point cloud is used as the terminal point set Q = {Q i , i = 1, 2, 3...n}, perform m iterations to obtain the target point set in the starting point set P The corresponding point set in the terminal point set Q Where n is the number of points;

[0020] 5) Calculation arrive The translation matrix of

[0021] 6) According to step 5), the translation matrix is ​​obtained to obtain the pull-out value and the height conduction value of the required contact line, wherein the Y value of the translation matrix on the y-axis is the pull-out value; and the Z value of the translation matrix on the z-axis is the height conduction value.

[0022] Preferably, the m-iteration process in step 4) specifically includes the following sub-steps:

[0023] 4.1) Select a point set from the starting point set P Where, k = 1, 2, ., m; m represents the maximum number of iterations;

[0024] 4.2) Calculate the point set in the terminal point set Q As The corresponding point set is Calculate the rotation matrix as R k and the translation matrix is ​​T k ;

[0025] 4.3) Update the point set and calculate

[0026] 4.4) Calculation point set With point set The average distance between

[0027] 4.5) If d k+1 ≥L, return to step b) and repeat the calculation until the number of iterations is greater than the preset maximum number of iterations m or d k+1 <L, and finally the required translation matrix is ​​obtained, where L represents the preset threshold.

[0028] Preferably, in step 2), the synchronous controller obtains the wheel rotation information measured by the mileage encoder, senses the distance change of the parameter measurement device, and then triggers the three-dimensional laser scanner to emit laser at equal intervals according to the distance change, so that the host obtains complete data information of the contact line profile.

[0029] Preferably, in step 3), the host combines and aligns a plurality of continuous sections of the contact line according to the interval distance values ​​in the direction of travel of the parameter measurement device, and finally forms complete three-dimensional data of the contact line.

[0030] Preferably, in step 3), the host performs curve fitting on the data of each section of the contact line, and uses different standard contact line data to match the model point cloud stored inside the host according to whether the contact line is flexible or rigid. The data that can match the stored model point cloud is used as the target contact line data, and other irrelevant data is eliminated, leaving only the target contact line data.

[0031] Preferably, during the movement of the contact network parameter measuring equipment, the host computer eliminates irrelevant contact line data, tracks the retained valid target contact line data, and continuously calculates the pull-out and derived value parameters, and automatically stores the calculation results according to the position of the target contact line, thereby achieving the purpose of automatic line finding.

[0032] Preferably, the contact network parameter measurement device can simultaneously measure the parameters of contact lines belonging to at most three anchor sections, that is, it can display the detection results of at most three contact lines, wherein:

[0033] The profile data of the contact lines belonging to the same anchor section are continuous in spatial position. The contact network parameter measurement equipment identifies the profile data of the continuous contact lines. When the profile data are continuous in spatial position, they are classified as one anchor section, and the calculation result is associated with the anchor section.

[0034] When two continuous contact line contour data are detected, the second continuous contact line parameter is stored as the result of the second anchor segment;

[0035] When three pieces of contour data of continuous contact lines are detected, the parameters of the second and third continuous contact lines are stored as the results of the second anchor segment and the third anchor segment respectively.

[0036] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0037] 1) The present invention utilizes a three-dimensional laser scanner to collect spatial three-dimensional point clouds of the contact line, extracts and analyzes the contact line related detection object accessories, and realizes an automated instrument for non-contact, real-time, and rapid measurement of the geometric parameters of the contact network.

[0038] 2) The present invention utilizes a high-speed, high-precision three-dimensional laser scanner to collect data on the contact line area and form a complete three-dimensional model of the contact network. Under the condition of fast walking, it automatically analyzes the position of the pillars and the contact line, automatically aims and locates, and realizes the measurement of the geometric parameters of the contact network without human intervention, with high comprehensive accuracy and measurement efficiency.

[0039] 3) A long-distance, high-precision 3D laser scanner is used, and a freely retractable telescopic measuring frame is designed and placed on the vehicle body. Through telescopic adjustment and locking mechanism, the 3D laser scanner only moves in the vertical direction relative to the vehicle body without swinging, and the structural stability is better. On the other hand, a mobile cart with wheels is designed in the parameter measurement equipment, so that the parameter measurement equipment can be manually pushed, and the measurement process does not require transportation or stopping.

[0040] 4) The present invention can adopt push-type continuous measurement with high measurement efficiency and automation, and can obtain the parameters of the contact network such as the conductor height, pull-out value, support side limit, locator slope, track gauge, etc., and has data analysis and automatic calculation functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a front view of the overhead line parameter measuring device of the present invention;

[0042] Figure 2 It is a side view of the contact network parameter measuring device in the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Reference Figure 1 , Figure 2 , a contact network parameter measuring device, including a mobile trolley, a limit laser sensor 6, a telescopic measuring frame and a three-dimensional laser scanner 1, wherein,

[0045] The mobile vehicle comprises a vehicle body 5, and a distance encoder and a plurality of wheels 7 mounted on the vehicle body 5. Each of the wheels 7 can be rotatably mounted on the vehicle body 5. The distance encoder is connected to one of the wheels 7 so as to obtain the distance change of the mobile vehicle on the track through the rotation of the wheel 7.

[0046] The telescopic measurement frame comprises a telescopic measurement support 4, a telescopic measurement bracket 2 and a locking device, wherein the telescopic measurement support 4 is supported by the vehicle body 5, the telescopic measurement bracket 2 is mounted on the telescopic measurement support 4 in an adjustable manner in terms of up and down positions, and the telescopic measurement bracket 2 is locked on the telescopic measurement bracket 4 by the locking mechanism 3 after being adjusted into position;

[0047] The limit laser sensor 6 is installed on the telescopic measurement support 4 to obtain the inner horizontal distance data of two contact network pillars at corresponding positions;

[0048] The three-dimensional laser scanner 1 is installed on the top of the telescopic measuring bracket 2 to obtain the contour of the flexible contact line or the rigid contact line, and the laser beam emitted by the three-dimensional laser scanner 1 is directed upward.

[0049] Furthermore, a reinforcing rib is provided between the telescopic measuring support 4 and the vehicle body 5 to further improve the strength and stability of the parameter measuring device and prevent the three-dimensional laser scanner 1 from swinging or shaking during measurement.

[0050] Furthermore, the telescopic measurement bracket 2 extends into the telescopic measurement support 4, and a row of through holes is vertically arranged on the telescopic measurement bracket 2. The locking device is a bolt device, which passes through the connection hole on the telescopic measurement support 4 and the through hole on the telescopic measurement bracket 2 to lock the telescopic measurement bracket 2 on the telescopic measurement support 4, so that the three-dimensional laser scanner 1 can be adjusted in height to adapt to contact networks of different heights. In this way, the parameter measurement of different contact lines, such as flexible and rigid contact lines, can be adapted, which is another obvious structural difference between this parameter measurement device and other products.

[0051] The present invention adopts a long-distance, high-precision three-dimensional laser scanner 1, which is significantly different from the single-point measurement adopted by other similar products. The mileage signal of the mileage encoder is used to sense the distance change of the parameter measuring device during the track translation process, and the three-dimensional laser scanner 1 is synchronously triggered continuously at intervals of distance change, thereby obtaining continuous contour data of the contact line surface and forming complete contact line data, rather than the parameter measuring equipment described in other products that only stops at the measuring point for measurement.

[0052] The present invention adopts a data switch as a medium for data exchange in the parameter measurement device, centrally exchanges the data of the three-dimensional laser scanner 1, the limit laser sensor 6 and the synchronization controller data, and the data switch is connected to the host for communication.

[0053] Data signal flow: The three-dimensional laser scanner 1 transmits the contour data of the contact line to the host through the data switch, the limit laser sensor 6 transmits the contact network pillar data to the host through the data switch, and the synchronization controller transmits the synchronization data to the host through the data switch; the mileage encoder is connected to the synchronization controller to provide equally spaced signals for the three-dimensional laser scanner 1.

[0054] Function of the host: The host is installed on the mobile vehicle and is used to obtain the contour data of the contact line of the 3D laser scanner 1, the data of the limit laser sensor 6 and the synchronization data of the synchronization controller. It matches the contour data of the contact line, calculates the relevant parameters of the contact line, and stores the results.

[0055] Function of the three-dimensional laser scanner 1: to obtain continuous contour data of the contact line and transmit it to the host through the data switch.

[0056] Function of the limit laser sensor 6: used to obtain the side distance data of the contact network pillar and transmit it to the host through the data switch.

[0057] Function of the synchronous controller: Connect the mileage encoder to sense the distance change of the mileage encoder and send signals to the three-dimensional laser scanner 1 at equal distances.

[0058] According to another aspect of the present invention, there is also provided a method for measuring contact network parameters using the contact network parameter measuring device, comprising the following steps:

[0059] 1) Selecting the contact network type on the host, the host loads a pre-stored model point cloud of the contact line contour, wherein the contact line is a flexible contact line or a rigid contact line;

[0060] 2) The mileage encoder obtains the distance change of the parameter measurement device during its movement on the track and transmits it to the synchronous controller. The synchronous controller continuously triggers the laser scanner according to the distance change at equal intervals, thereby obtaining the data on the contact line surface and transmitting it to the host to form a collection point cloud of the contact network contour;

[0061] 3) filtering out discrete noise points of the collected point cloud based on Euclidean clustering;

[0062] 4) The denoised point cloud is used as the starting point set P = {P i , i = 1, 2, 3...n}, the model point cloud is used as the terminal point set Q = {Q i , i = 1, 2, 3...n}, perform m iterations to obtain the target point set in the starting point set P The corresponding point set in the terminal point set Q Where n is the number of points;

[0063] The model point cloud of the contact line contour is obtained by scanning the contact line contour under the standard state to obtain the standard three-dimensional point cloud contour data of the contact line. The design pull-out value and the design guide height value of the contact line can be obtained through the standard three-dimensional point cloud contour data;

[0064] The m-iteration process specifically includes the following sub-steps:

[0065] 4.1) Select a point set from the starting point set P Wherein, k = 1, 2, ..., m; m represents the maximum number of iterations;

[0066] 4.2) Calculate the point set in the terminal point set Q As The corresponding point set is Calculate the rotation matrix as R k and the translation matrix is ​​T k ;Min in the formula means taking the minimum value;

[0067] 4.3) Update the point set and calculate

[0068] 4.4) Calculation point set With point set The average distance between

[0069] 4.5) If d k+1 ≥L, return to step b) and repeat the calculation until the number of iterations is greater than the preset maximum number of iterations m or d k+1 <L, and finally the required translation matrix is ​​obtained, where L represents the preset threshold.

[0070] 5) Calculation arrive The translation matrix of

[0071] 6) According to step 5), the translation matrix is ​​obtained to obtain the pull-out value and the height conduction value of the required contact line, wherein the Y value of the translation matrix on the y-axis is the pull-out value; and the Z value of the translation matrix on the z-axis is the height conduction value.

[0072] Further, in step 2), the synchronous controller obtains the rotation information of the wheel 7 measured by the mileage encoder, senses the distance change of the parameter measurement device, and then triggers the three-dimensional laser scanner 1 to emit laser at equal intervals according to the distance change, so that the host obtains complete data information of the contour of the contact line.

[0073] Further, in step 3), the three-dimensional laser scanner 1 serves as the core sensor for obtaining the contour data of the contact line table, and under the control of the synchronous controller, obtains the cross-sectional data of the contact line in the longitudinal direction at equal intervals; the host combines and aligns multiple consecutive cross-sections of the contact line according to the interval distance value in the direction of travel of the parameter measurement device, and finally forms a complete contour of the contact line.

[0074] Further, in step 3), the host performs curve fitting on the data of each section of the contact line surface, loads different curve fitting methods according to the difference between flexible and rigid contact lines, and matches with the model point cloud of the contact line surface stored in the host, and the data that can match the stored model point cloud curve of the contact line surface is used as the target contact line data, and other irrelevant data is eliminated, and only the target contact line data is retained. The irrelevant data includes non-contact line data such as electrical connectors, suspension strings and positioning tubes.

[0075] Furthermore, the present invention can realize an algorithm for automatic line search. Automatic line search means that there are usually multiple contact wires in the same space in the line, and their functions are different. According to the characteristic that the contour data of the same contact wire is connected in space during the translation of the measurement system, the contour data of the target contact wire is calculated by continuous position (including X and Y parameters). In space, the cable data at the same position are processed as the same contact wire, and the detection results are stored as the parameters of the same contact wire. During the movement of the contact network parameter measurement equipment, the host computer removes the non-related contact wire data, tracks the retained valid target contact wire data, and continuously calculates the pull-out value and the derived value parameters, and automatically stores the calculation results according to the position of the target contact wire, thereby achieving the purpose of automatic line search. Automatic line search can be performed without manual participation in the line search process. Compared with other products, the calculation efficiency of automatic line search is high, and the operator no longer cares about the position of the contact wire, and does not need to manually aim at the measurement position.

[0076] Furthermore, there are at most three anchor sections in the overhead contact system, and the overhead contact parameter measurement device can simultaneously measure the parameters of the contact lines belonging to at most three anchor sections, that is, it can display the detection results of at most three contact lines, wherein:

[0077] The profile data of the contact lines belonging to the same anchor section are continuous in spatial position. The contact network parameter measurement equipment identifies the profile data of the continuous contact lines. When the profile data are continuous in spatial position, they are classified as one anchor section, and the calculation result is associated with the anchor section.

[0078] When two continuous contact line contour data are detected, the second continuous contact line parameter is stored as the result of the second anchor segment;

[0079] When three pieces of contour data of continuous contact lines are detected, the parameters of the second and third continuous contact lines are stored as the results of the second anchor segment and the third anchor segment respectively.

[0080] The performance indicators of the overhead line parameter measuring device of the present invention are shown in Table 1.

[0081] Table 1 Performance index table of contact network parameter measuring instrument

[0082]

[0083] The functions met by this parameter measurement equipment are as follows:

[0084] (1) Measurement function:

[0085] The measurement accuracy of this parameter measurement equipment is ±3mm, and the maximum measurement speed can reach 5km / h. There are about 110 positioning measurement points for flexible contact lines and about 700 positioning measurement points for rigid contact lines.

[0086] The performance indicators meet the requirements of Table 1.

[0087] (2) Route mileage data records;

[0088] (3) Pole number recording: Enter the starting pole number and the number will be automatically recorded according to the rules (up and down lines will increase according to odd and even numbers);

[0089] (4) Data recording method: Data is stored in an arrangement corresponding to mileage and positioning point pole number, and exported in table form. Fixed-point measurement can be selectively stored;

[0090] (5) Data analysis: The equipment considers two different measurement modes: rigid and flexible.

[0091] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A contact network parameter measuring device, characterized in that: It includes a mobile car, a limit laser sensor, a telescopic measuring frame and a 3D laser scanner, among which: The mobile vehicle comprises a vehicle body, a mileage encoder and a plurality of wheels mounted on the vehicle body, each of the wheels being rotatably mounted on the vehicle body, and the mileage encoder being connected to one of the wheels so as to obtain a distance change of the mobile vehicle on the track through the rotation of the wheel; The telescopic measurement frame comprises a telescopic measurement support, a telescopic measurement bracket and a locking device, wherein the telescopic measurement support is supported by the vehicle body, the telescopic measurement bracket is adjustable in up and down position on the telescopic measurement support, and the telescopic measurement bracket is locked on the telescopic measurement support by the locking mechanism after being adjusted into position; The limit laser sensor is installed on the telescopic measurement support to obtain the inner horizontal distance data of two contact network pillars at corresponding positions; The three-dimensional laser scanner is installed on the top of the telescopic measuring bracket to obtain the contour of the flexible contact line or the rigid contact line, and the laser beam emitted by the three-dimensional laser scanner is directed upward; The method for measuring contact network parameters by the contact network parameter measuring device comprises the following steps: 1) Selecting the contact network type on the host, the host loads a pre-stored model point cloud of the contact line contour, wherein the contact line is a flexible contact line or a rigid contact line; 2) The mileage encoder obtains the distance change of the parameter measurement device during its movement on the track and transmits it to the synchronous controller. The synchronous controller continuously triggers the laser scanner according to the distance change at equal intervals, thereby obtaining the data on the contact line surface and transmitting it to the host to form a collection point cloud of the contact network contour; 3) filtering out discrete noise points of the collected point cloud based on a Euclidean clustering method; The host combines and aligns a plurality of continuous sections of the contact line according to the interval distance values ​​in the direction of the parameter measurement device, and finally forms complete three-dimensional data of the contact line; The host performs curve fitting on the data of each section of the contact line, and uses different standard contact line data to match the model point cloud stored in the host according to the difference between the flexible contact line and the rigid contact line, and the data that can match the stored model point cloud is used as the target contact line data, and other irrelevant data is eliminated, and only the target contact line data is retained; 4) The denoised point cloud is used as the starting point set P = , taking the model point cloud as the terminal point set Q = , perform m iterations to obtain the target point set in the starting point set P The corresponding point set in the terminal point set Q , where n is the number of points; 5) Calculation arrive The translation matrix of 6) According to step 5), the translation matrix is ​​obtained to obtain the pull-out value and the height guide value of the required contact line, wherein the Y value of the translation matrix on the y-axis is the pull-out value; and the Z value of the translation matrix on the z-axis is the height guide value.

2. A contact network parameter measuring device according to claim 1, characterized in that: A reinforcing rib is arranged between the telescopic measuring support and the vehicle body.

3. A contact network parameter measuring device according to claim 1, characterized in that: The telescopic measuring bracket extends into the telescopic measuring support, and a row of through holes is vertically arranged on the telescopic measuring bracket. The locking device is a bolt device, which passes through the connecting hole on the telescopic measuring support and the through hole on the telescopic measuring bracket to lock the telescopic measuring bracket on the telescopic measuring support.

4. The contact network parameter measuring device according to claim 1, characterized in that: The m-iteration process in step 4) specifically includes the following sub-steps: 4.1) Select a point set from the starting point set P ,in, ; m represents the maximum number of iterations; 4.2) Calculate the point set in the terminal point set Q As The corresponding point set is , calculate the rotation matrix as and the translation matrix is ; 4.3) Update the point set and calculate ; 4.4) Calculation point set With point set The average distance between ; 4.5) If , then return to step 4.2) and repeat the calculation until the number of iterations is greater than the preset maximum number of iterations m or , and finally the required translation matrix is ​​obtained, where L represents the preset threshold.

5. The contact network parameter measuring device according to claim 1, characterized in that: In step 2), the synchronous controller obtains the wheel rotation information measured by the mileage encoder, senses the distance change of the parameter measurement device, and then triggers the three-dimensional laser scanner to emit laser at equal intervals according to the distance change, so that the host obtains complete data information of the contact line profile.

6. The contact network parameter measuring device according to claim 1, characterized in that: During the movement of the contact network parameter measurement equipment, the host computer eliminates irrelevant contact line data, tracks the retained valid target contact line data, and continuously calculates the pull-out value and conduction height value parameters, and automatically stores the calculation results according to the position of the target contact line, thereby achieving the purpose of automatic line finding.

7. The contact network parameter measuring device according to claim 1, characterized in that: The contact network parameter measurement device can simultaneously measure the parameters of contact lines belonging to up to three anchor sections, that is, it can display the detection results of up to three contact lines, where: The profile data of the contact lines belonging to the same anchor section are continuous in spatial position. The contact network parameter measurement equipment identifies the profile data of the continuous contact lines. When the profile data are continuous in spatial position, they are classified as one anchor section, and the calculation result is associated with the anchor section. When two continuous contact line contour data are detected, the second continuous contact line parameter is stored as the result of the second anchor segment; When three pieces of contour data of continuous contact lines are detected, the parameters of the second and third continuous contact lines are stored as the results of the second anchor segment and the third anchor segment respectively.

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