A contact line real-time following method and system

Abstract

The present invention discloses a contact line real-time following method, the method comprising establishing a rectangular coordinate system 0-YZ of a rectangular coordinate manipulator, a rectangular coordinate system 0-Y of a 3D intelligent sensor, Q Z Q During the dynamic measurement of walking, the 3D intelligent sensor can collect the contact line (Y Q , Z Q ), the parameter coordinates (y i ,z i ), and trigger the distance measuring unit to obtain the x value of the contact line acquisition point within a single span i The spatial coordinate values ​​of the contact line collection points can be continuously obtained by the least squares method. The two-dimensional linear regression equation of a certain section of the contact line in space can be fitted. A single span contact line can be fitted into multiple line segments including the starting position, the ending position and the straight line equation, which provides motion parameters for the real-time precise following control stability and smoothness of the rectangular coordinate manipulator and avoids problems such as missing marks or hitting the line.

Description

Technical Field

[0001] The invention relates to a contact line real-time following method, and in particular to a real-time following method and system for automatic calibration of a contact line. Background Art

[0002] The suspension string is an important part of the contact network. The contact line is suspended on the load-bearing cable through the suspension string. The length of the suspension string is adjusted to ensure the structural height of the contact suspension and the height of the contact line, thereby improving the elasticity of the contact suspension and improving the current-collecting quality of the pantograph. The suspension string calibration machine is an intelligent high-altitude construction equipment that can replace manual automatic calibration of the contact line according to the set parameters, which improves the construction efficiency and calibration accuracy. The application prospects are very broad. In order to ensure that the spray gun can complete the automatic marking on the contact line every time, it is necessary to solve the technical problem that the spray gun can follow the spatial trajectory of the contact line in real time. The method of real-time tracking control of the spray gun to the contact line is realized by real-time acquisition of the coordinate value of the spatial trajectory of the contact line. The stability is poor, that is, technical problems such as collision with the line or missing marking will occur during the dynamic following process. Summary of the invention

[0003] The purpose of the present invention is to provide a contact line real-time following method and system to solve the problems of missing marks, hitting the line and so on caused by the poor following stability of the contact line spatial trajectory by the spray gun at the end of the rectangular coordinate manipulator during the dynamic operation of the hanging string calibration machine.

[0004] The object of the present invention is achieved in the following manner:

[0005] A contact line real-time following method, the method comprising:

[0006] Step 1: Establish the rectangular coordinate system 0-YZ of the 2-DOF rectangular coordinate manipulator and the rectangular coordinate system 0-Y of the 3D sensor respectively Q Z Q and the coordinate axis system X of a single span, where the X axis represents the direction along the track, the Y axis represents the direction perpendicular to the track, and the Z axis represents the direction perpendicular to the track surface;

[0007] Step 2: The walking device starts and travels at a constant speed V according to the set speed. The span value x of the contact line collection point is measured in real time by the distance measurement setting device. i ;

[0008] Step 3: 3D sensor collects the contact line in its coordinate system 0-Y in real time Q Z Q The parameter coordinate value (y Qi、 z Qi ), and is converted into the parameter coordinates (y i ,z i );

[0009] Among them, y i =y Qi +a,z i =z Qi +b, automatically store the spatial coordinate parameters of the contact line acquisition points (x i ,y i ,z i );

[0010] Where a represents the coordinate system 0-Y Q Z Q Relative to the coordinate system 0-YZ in the Y direction, b represents the distance in the coordinate system 0-Y Q Z Q The distance in the z direction relative to the coordinate system 0-YZ, i = 1 ~ n;

[0011] Step 4: Set the span value x of the current measurement point n , the span value x of the last measurement point n-1 Compare with the span value x1 of the starting measurement point in real time, x n -x1≥αL and x n-1 -x1<αL, α is a constant, and the parameter acquisition of the set length contact line is completed; where L represents the rectangular coordinate manipulator coordinate system 0-YZ and the 3D intelligent sensor coordinate system 0-Y Q Z Q Distance along the X direction;

[0012] Step 5: According to the spatial coordinate parameters (x1, y1, z1) of the contact line acquisition points that are automatically stored, ..., (x n ,y n ,z n ) and the data fitting algorithm respectively calculate the following starting position, ending position and following speed V of the Y-axis linear moving module of the rectangular coordinate manipulator y , the starting position, end position and follow-up speed V of the Z-axis linear moving module z ;

[0013] Step 6: Follow the contact line to collect the starting and ending positions of the line segment: Save the end position of the contact line as the starting position of the next contact line segment collection point, and return to step 2.

[0014] The data fitting algorithm includes collecting spatial coordinate parameters (x1, y1, z1), ..., (x n ,y n ,z n ) is calculated using the least squares method:

[0015]

[0016] in,

[0017] x1, x n Substituting them into formula (1), we can get:

[0018]

[0019] From the principle of space vector synthesis, we know that:

[0020]

[0021] From equations (3) and (4), we can get:

[0022] The starting and ending positions of the following contact line acquisition segment are: where (x1, y1, z1), …, (x n ,y n ,z n ),x i ,y i ,z i They respectively represent the starting spatial coordinate value, the ending spatial coordinate value and the spatial coordinate value of any position of a certain acquisition point of the contact line;

[0023] represents the average value of all the acquisition point coordinates, and n represents the number of points that are discretely acquired by the 3D sensor on this contact line;

[0024] It represents the Y coordinate of the fitted straight line equation of the discrete points collected by the contact line in the 0-XY coordinate system. represents the slope of the fitted straight line equation, Represents the constant value of the fitted straight line equation;

[0025] It represents the Z coordinate of the fitted straight line equation of the discrete points collected by the contact line in the 0-XZ coordinate system. represents the slope of the fitted straight line equation, Represents the constant value of the fitted straight line equation;

[0026] They represent the starting Y coordinate value and the ending Y coordinate value of the fitting straight line equation of the first contact line collected in the 0-XY coordinate system. They represent the starting Z coordinate value and the ending Z coordinate value of the fitting straight line equation of the first contact line collected in the 0-XZ coordinate system, v represents the driving speed of the working platform, V y 、V z They respectively represent the movement speed of the Y-axis linear module and the Z-axis linear module in real-time following the straight line segment.

[0027] A contact line real-time following system, comprising:

[0028] A distance measuring and setting device is set on the left and right sides of the running device along the track direction, which is used for real-time measurement and contact line acquisition point span value x i ;

[0029] A rectangular coordinate manipulator and a 3D sensor are respectively mounted on the upper loading platform through fixed brackets and arranged front and back along the track.

[0030] The distance measurement and setting device includes a walking wheel that travels on a track, an encoder, a connecting unit and a force-applying unit, one end of the connecting unit is connected to the rotating shaft of the walking wheel, and the other end is connected to the force-applying unit, and the rotating shaft of the walking wheel is connected to the encoder through a coupling; the force-applying unit is used to apply force to the connecting unit to press the walking wheel downward.

[0031] The rectangular coordinate manipulator includes a Y-axis linear moving module and a Z-axis linear moving module which are perpendicular to each other. The mounting bracket is arranged on the Y-axis linear moving module or the Z-axis linear moving module. The moving directions of the Z-axis linear moving module and the Y-axis linear moving module are both perpendicular to the walking direction of the walking device.

[0032] The beneficial effects of the present invention are as follows: Compared with the prior art, the present invention is adaptable to the contact network construction of high-speed railways and conventional railways, can be applied to conventional railway construction, high-speed railway construction and all high-altitude operations requiring precise positioning, automatic following and automatic calibration, and can further improve the quality, reliability and safety of automated construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a front view of the automatic hanging string calibration system in an embodiment of the present invention.

[0034] Figure 2 It is a structural schematic diagram of the distance measurement and setting device in the present invention.

[0035] Figure 3 yes Figure 2 Other perspectives of .

[0036] Figure 4 It is a schematic diagram of the contact line real-time following system of the present invention.

[0037] Figure 5 It is a flow chart of the contact line real-time following method.

[0038] Among them, 1-walking device; 2-distance measuring and setting device, 201-walking wheel; 202-first connecting member; 203-second connecting member; 202a-first connecting plate; 202b-first connecting rod; 202-mounting rod; 205-spring; 203a-mounting part; 3-lifting device; 4-contact line; 5-3D sensor; 6-upper loading platform; 7-zero point positioning unit; 8-inkjet device; 801-rectangular coordinate manipulator; 801a-Y-axis linear moving module; 801b-Z-axis linear moving module; 802-spray gun. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0040] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same technical meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0043] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0044] like Figure 1As shown, it is the front view of the automatic suspension string calibration system provided by this embodiment. The suspension string calibration system includes a walking device 1, a lifting device 3, and a coding device 8. The walking device 1 has a walking wheel group and a main platform. The walking wheel group drives the main platform to move above the track through a power mechanism. The distance measurement and setting device 2 is installed on the left and right sides of the forward direction of the walking device. The distance measurement and setting device is a wheel structure that independently walks along the track, is close to the track and maintains a constant pressure. The lifting device 3 is arranged on the main platform, and an upper loading platform is arranged above the lifting device. The coding device is arranged on the upper loading platform and can move up and down with the lifting of the lifting device. The coding device 8 codes the contact line at a preset position according to the position parameters of the contact line to realize the calibration of the suspension position of the suspension string. The coding device 8 includes a rectangular coordinate manipulator 801, a 3D sensor and a spray gun 802, wherein the rectangular coordinate manipulator 801 and the 3D sensor are respectively installed on the upper loading platform through fixed brackets, and are arranged before and after the track line. The rectangular coordinate manipulator 801 includes two mutually perpendicular linear moving modules. The walking direction of the walking device 1 on the track is defined as the X direction. The moving directions of the two linear moving modules are respectively the Y direction and the Z direction perpendicular to the X direction. The movement of the walking device in the X direction, the movement of the lifting device 3 and the Z-direction linear moving module 801b in the Z direction, and the movement of the Y-direction linear moving module 801a in the Y direction can realize the movement of the spray gun 802 in three-dimensional space.

[0045] like Figure 2 and Figure 3 As shown, the distance measuring and setting device 2 includes a running wheel 201 that can run on a track, an encoder, a connection unit and a force unit. One end of the connection unit is connected to the rotating shaft of the running wheel, and the other end is connected to the force unit. The rotating shaft of the running wheel is connected to the encoder through a coupling. The force unit applies pressure to the running wheel to make the running wheel 201 rotate on the track as the running device 1 moves. The running wheel 201 calculates the stroke according to the number of circles the wheel rotates. If the running wheel 201 idles, the stroke calculation will be inaccurate. The force unit is used to press the running wheel against the track to ensure that the running wheel 201 always rotates as the running device 1 moves during the running process of the running device 1. Therefore, the calculated stroke is more accurate.

[0046] Furthermore, in some embodiments of the present disclosure, the connection unit includes a first connection member 202 and a second connection member 203, the first connection member 202 includes two first connection plates 202a arranged in parallel and a first connection rod 202b connected between the two first connection plates 202a, and the first connection rod 202b is connected to the ends of the two first connection plates 202a, and the other ends of the two first connection plates 202a are respectively connected to the two ends of the wheel axle of the running wheel 201. Specifically, one end of the first connection plate 202a is provided with a first connection portion for connecting to the wheel axle of the running wheel 201, and the other end of the first connection plate 202a is provided with a through hole, and the two ends of the first connection rod 202b are respectively rotatably connected to the through holes of the two first connection plates 202a. In some embodiments of the present disclosure, the two ends of the first connection rod 202b are respectively provided with an annular groove arranged along the circumferential direction, and the first connection rod 202b is rotatably connected to the through hole at the position of the annular groove. In order to protect the first connecting rod 202b, a protective cover is provided on the portion of the first connecting rod 202b between the two first connecting plates 202a. The second connecting member 203 is fixed on the walking device 1, and the second connecting member 203 includes two second connecting plates arranged in parallel and a third connecting plate connected between the two second connecting plates, the two second connecting plates are respectively arranged on the outside of the two first connecting plates, and the two second connecting plates are respectively rotatably connected to the middle of the two first connecting plates through a rotating shaft, and one side of the third connecting plate extends outward to form a mounting portion 203a, and the mounting portion 203a is provided with a first mounting hole. The force-applying unit also includes an elastic member, a mounting rod 202 and a fixing member. The lower end of the mounting rod 202 is provided with a second connecting portion, and the second connecting portion is provided with a second mounting hole for the first connecting rod 202b to pass through. The upper end of the mounting rod 202 is connected to the fixing member after passing through the second mounting hole on the mounting portion 203a. The elastic member is a spring 205, which is arranged between the fixing member and the mounting portion 203a, and the spring is sleeved on the mounting rod 202. When not subjected to external force, the spring 205 is in a compressed state. Since the position of the mounting portion 203a is fixed and cannot move, the elastic force of the spring 205 will drive the spring mounting rod 202 to move upward, thereby pulling up the end of the first connecting member 202 away from the walking wheel 201, and further, a downward pressure will be applied to the walking wheel 201, so that the walking wheel 201 is always pressed on the track.

[0047] It should be noted that in some embodiments of the present disclosure, the spring can also be replaced with other elastic members. The upper end of the spring mounting rod is provided with a thread, the fixing member is selected from a nut that matches the thread, and spring washers are provided at both ends of the spring to facilitate the installation of the spring.

[0048] The distance measuring and setting device 2 is installed on the left and right sides of the forward direction of the traveling device 1. Under the action of the spring 205, the traveling wheel 201 can always keep in contact with the track. The traveling wheel 201 rotates with the movement of the traveling device 1. Since the traveling wheel 201 is a driven wheel, there will be no slipping. Therefore, the vehicle speed and mileage can be accurately measured by the traveling wheel 201.

[0049] When installing the spring mounting rod 202 and the spring 205, first make the upper end of the spring mounting rod 202 pass through the first mounting hole from bottom to top, then put the spring 205 on the spring mounting rod 202 above the mounting portion 203a, and then install the nut. As the nut is continuously tightened downward, the spring 205 is in a compressed state, so that the elastic force of the spring 205 will drive the spring mounting rod 202 to move upward, thereby pressing the walking wheel 201 onto the track.

[0050] The rectangular coordinate manipulator is a 2-DOF rectangular coordinate manipulator. The 2-DOF rectangular coordinate manipulator and the 3D sensor are respectively installed on the upper platform through fixed brackets. The distance measurement and setting device is fixed on the bottom of the walking device. The 3D sensor and the rectangular coordinate manipulator are arranged front and back along the track layout. The rectangular coordinate system 0-YZ of the 2-DOF rectangular coordinate manipulator and the rectangular coordinate system 0-Y of the 3D intelligent sensor are established respectively. Q Z Q and the coordinate axis system X of a single span, where X represents the direction along the track, Y represents the direction perpendicular to the track, Z represents the direction perpendicular to the track surface, and a represents the coordinate system 0-Y Q Z Q Relative to the coordinate system 0-YZ in the Y direction, b represents the distance in the coordinate system 0-Y Q Z Q Relative to the coordinate system 0-YZ in the z direction, L represents the distance in the coordinate system 0-Y Q Z Q Relative to the distance in the X direction of the coordinate system 0-YZ, V represents the uniform running speed along the track direction; during the walking dynamic measurement process, when the zero point positioning unit detects the wrist arm positioner, as the zero point of a single span, the 3D intelligent sensor collects the contact line (Y Q , Z Q ), (Y Q , Z Q ) can be transformed into the parameter coordinates (y i ,z i ), and trigger the distance measuring unit in real time to obtain the x value of the contact line acquisition point within a single span i Therefore, the spatial coordinate parameters of the contact line acquisition points are (x1, y1, z1), ..., (x n ,y n ,z n) The least square method is used to fit the two-dimensional linear regression equation of a certain section of the contact line in space. A single span contact line can be fitted into multiple line segments including the starting point, end point and straight line equation.

[0051] The working steps of this method are:

[0052] Step 1: The walking work platform starts and travels at a constant speed V according to the set speed. The span value x of the contact line collection point can be measured in real time through the distance measurement setting device. i ;

[0053] Step 2: The 3D sensor can collect the contact line in its coordinate system 0-Y in real time Q Z Q The parameter coordinate value (y Qi、 z Qi ), which can be transformed into the parameter coordinates (y i ,z i ), where y i =y Qi +a,z i =z Qi +b, automatically store the spatial coordinate parameters of the contact line acquisition points (x i ,y i ,z i )(a, b are known fixed parameter values, which are related to the relative installation positions of the rectangular coordinate manipulator and the 3D sensor, and i = 1 to n);

[0054] Step 3: Set the span value x of the current measurement point n , the span value x of the last measurement point n-1 Compare with the span value x1 of the starting measurement point in real time, x n -x1≥αL and x n-1 -x1<αL (such as α=0.8), the parameter acquisition of the set length contact line is completed (L represents the rectangular coordinate manipulator coordinate system 0-YZ and the 3D intelligent sensor coordinate system 0-Y Q Z Q distance along the X direction);

[0055] Step 4: According to the spatial coordinate parameters (x1, y1, z1) of the contact line acquisition points that are automatically stored, ..., (x n ,y n ,z n ) and the data fitting algorithm respectively calculate the following starting position, ending position and following speed V of the Y-axis linear moving module y , the starting position, end position and follow-up speed V of the Z-axis linear moving module z ;

[0056] The data fitting algorithm is:

[0057] Specifically establish Figure 1 The rectangular robot coordinate system 0-YZ and the 3D sensor coordinate system 0-Y Q Z Q And the span coordinate axis system X, where X represents the direction along the track, Y represents the direction perpendicular to the track, and Z represents the direction perpendicular to the rail surface. The spatial coordinate parameters of the contact line collection points are (x1, y1, z1), ..., (x n ,y n ,z n ) is calculated using the least squares method:

[0058]

[0059] in,

[0060] x1, x n Entering into formula (1) respectively, we can get:

[0061]

[0062] From the principle of space vector synthesis, we know that:

[0063]

[0064] From equations (3) and (4), we can get:

[0065] The starting and ending positions of the following contact line acquisition segment are: Save contact line Collect the starting position of the point for the next contact line segment and return to step 1;

[0066] where (x1, y1, z1), …, (x n ,y n ,z n ),x i ,y i ,z i They represent the starting spatial coordinate value, ending spatial coordinate value and spatial coordinate value of any position of a certain acquisition point of the contact line.

[0067] It represents the average value of all the collected point coordinates, and n represents the number of points collected discretely by the 3D sensor on this contact line.

[0068] It represents the Y coordinate of the fitted straight line equation of the discrete points collected by the contact line in the 0-XY coordinate system. represents the slope of the fitted straight line equation, Represents the constant value of the fitted line equation.

[0069] It represents the Z coordinate of the fitted straight line equation of the discrete points collected by the contact line in the 0-XZ coordinate system. represents the slope of the fitted straight line equation, Represents the constant value of the fitted line equation.

[0070] They represent the starting Y coordinate value and the ending Y coordinate value of the fitting straight line equation of the first contact line collected in the 0-XY coordinate system. They represent the starting Z coordinate value and the ending Z coordinate value of the fitting straight line equation of the first contact line collected in the 0-XZ coordinate system, v represents the driving speed of the working platform, V y 、V z They respectively represent the movement speed of the Y-axis linear module and the Z-axis linear module in real-time following the straight line segment.

[0071] The contact line real-time following method provided by the present invention solves the problems of missing marks, hitting the line, etc. caused by the poor stability of the spray gun at the end of the rectangular coordinate manipulator in real-time following the contact line spatial trajectory during the dynamic operation of the hanging string calibration machine. The present invention is suitable for the construction of high-speed and ordinary railway contact networks, and can be applied to ordinary railway construction, high-speed railway construction and all high-altitude operation occasions with precise positioning, automatic following and automatic calibration, which can further improve the quality, reliability and safety of automated construction.

[0072] The system is built by 3D sensor, 2-DOF rectangular coordinate manipulator, zero point positioning unit, distance measurement setting unit and control unit. The 3D sensor and rectangular coordinate manipulator are arranged front and back along the track to establish the rectangular coordinate system 0-YZ of the rectangular coordinate manipulator and the rectangular coordinate system 0-Y of the 3D intelligent sensor. Q Z Q During the dynamic measurement of walking, the 3D intelligent sensor can collect the contact line (Y Q , Z Q ), the parameter coordinates (y i ,z i ), and at the same time trigger the distance measuring unit to obtain the x value of the contact line acquisition point within a single span i The spatial coordinate values ​​of the contact line acquisition points (x1, y1, z1), (x2, y2, z3)…(x n ,y n , z n), according to the least squares method, a two-dimensional linear regression equation of a certain section of the contact line in space is fitted. A single span contact line can be fitted into multiple line segments including the starting position, the ending position and the straight line equation, which provides motion parameters for the real-time precise following control stability and smoothness of the rectangular coordinate manipulator and avoids problems such as missing the mark or hitting the line.

[0073] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0074] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present invention, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present invention.

Claims

1. A contact line real-time following method, characterized in that: The method comprises: Step 1: Establish the rectangular coordinate system 0-YZ of the 2-DOF rectangular coordinate manipulator and the rectangular coordinate system 0-Y of the 3D sensor respectively Q Z Q and the coordinate axis system X of a single span, where the X axis represents the direction along the track, the Y axis represents the direction perpendicular to the track, and the Z axis represents the direction perpendicular to the track surface; Step 2: The walking device starts and travels at a constant speed V according to the set speed. The span value x of the contact line collection point is measured in real time by the distance measurement setting device. i ; Step 3: 3D sensor collects the contact line in its coordinate system 0-Y in real time Q Z Q The parameter coordinate value (y Qi、 z Qi ), and is converted into the parameter coordinates (y i ,z i ); Among them, y i =y Qi +a,z i =z Qi +b, automatically store the spatial coordinate parameters of the contact line acquisition points (x i ,y i ,z i ); where a represents the coordinate system 0-Y Q Z Q Relative to the coordinate system 0-YZ in the Y direction, b represents the distance in the coordinate system 0-Y Q Z Q The distance in the z direction relative to the coordinate system 0-YZ, i = 1 ~ n; Step 4: Set the span value x of the current measurement point n , the span value x of the last measurement point n-1 Compare with the span value x1 of the starting measurement point in real time, x n -x1≥αL and x n-1 -x1<αL, α is a constant, and the parameter acquisition of the set length contact line is completed; where L represents the rectangular coordinate manipulator coordinate system 0-YZ and the 3D intelligent sensor coordinate system 0-Y Q Z Q Distance along the X direction; Step 5: According to the spatial coordinate parameters (x1, y1, z1) of the contact line acquisition points that are automatically stored, ..., (x n ,y n ,z n ) and the data fitting algorithm respectively calculate the following starting position, ending position and following speed V of the Y-axis linear moving module of the rectangular coordinate manipulator y , the starting position, end position and follow-up speed V of the Z-axis linear moving module z ; Step 6: Follow the contact line to collect the starting and ending positions of the line segment: Save the end position of the contact line as the starting position of the next contact line segment collection point, and return to step 2; The data fitting algorithm includes collecting spatial coordinate parameters (x1, y1, z1) of the contact line points, ..., (x n ,y n ,z n ) is calculated using the least squares method: in, x1, x n Substituting them into formula (1), we can get: From the principle of space vector synthesis, we know that: From equations (3) and (4), we can get: The starting and ending positions of the following contact line acquisition segment are: where (x1, y1, z1), …, (x n ,y n ,z n ),x i ,y i ,z i They respectively represent the starting spatial coordinate value, the ending spatial coordinate value and the spatial coordinate value of any position of a certain acquisition point of the contact line; represents the average value of all the acquisition point coordinates, and n represents the number of points that are discretely acquired by the 3D sensor on this contact line; It represents the Y coordinate of the fitted straight line equation of the discrete points collected by the contact line in the 0-XY coordinate system. represents the slope of the fitted straight line equation, Represents the constant value of the fitted straight line equation; It represents the Z coordinate of the fitted straight line equation of the discrete points collected by the contact line in the 0-XZ coordinate system. represents the slope of the fitted straight line equation, Represents the constant value of the fitted straight line equation; They represent the starting Y coordinate value and the ending Y coordinate value of the fitting straight line equation of the first contact line collected in the 0-XY coordinate system. They represent the starting Z coordinate value and the ending Z coordinate value of the fitting straight line equation of the first contact line collected in the 0-XZ coordinate system, v represents the driving speed of the working platform, V y 、V z They respectively represent the motion speed of the Y-axis linear module and the Z-axis linear module in real-time following the straight line segment; It also includes a contact line real-time following system, the contact line real-time following system includes A distance measuring and setting device is set on the left and right sides of the running device along the track direction, which is used for real-time measurement and contact line acquisition point span value x i ; A rectangular coordinate manipulator and a 3D sensor, wherein the rectangular coordinate manipulator and the 3D sensor are respectively mounted on the upper mounting platform through fixed brackets and arranged front and back along the track direction; The upper loading platform is installed on the main platform of the traveling device, and the distance measuring and setting device is installed on the left and right sides of the traveling direction of the traveling device.

2. The contact line real-time following method according to claim 1, characterized in that: The distance measurement and setting device comprises a running wheel (201) running on a track, an encoder, a connection unit and a force applying unit, one end of the connection unit is connected to the rotating shaft of the running wheel (201), and the other end is connected to the force applying unit, and the rotating shaft of the running wheel is connected to the encoder via a coupling; the force applying unit is used to apply force to the connection unit to press the running wheel (201) downward.

3. The contact line real-time following method according to claim 1, characterized in that: The rectangular coordinate manipulator (801) comprises a Y-direction linear motion module (801a) and a Z-direction linear motion module (801b) which are perpendicular to each other, the fixed bracket is arranged on the Y-direction linear motion module (801a) or the Z-direction linear motion module (801b), and the moving directions of the Z-direction linear motion module (801b) and the Y-direction linear motion module (801a) are both perpendicular to the walking direction of the walking device (1).

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