A method and device for calibrating rotary contact network detection equipment

Abstract

A method and device for calibrating a rotary contact network detection device, the method comprising the following steps: a total station obtains spatial position information of a ground rail platform mark point in a total station coordinate system; the total station obtains spatial position information of a chessboard target simulated contact line measurement point in a total station coordinate system; a spatial rectangular coordinate system, i.e., a measurement coordinate system, is established based on the position information of three mark points on the rail platform; the spatial position information of the simulated contact line measurement point in the measurement coordinate system is solved by the coordinate conversion principle, and the conduction height and pull-out value of the simulated contact line measurement point are calculated; the rotary contact network detection device is placed at the position of the ground rail platform mark point, and the conduction height and pull-out value of the simulated contact line measurement point are measured; two sets of measurement data are substituted into the calibration compensation equation, and the compensation value is calculated to compensate the rotary contact network detection device. The method of the present invention is simple to operate, flexible to use, and has high precision.

Description

Technical Field

[0001] The invention relates to the technical field of industrial measurement, and in particular to a calibration method and device for rotary contact network detection equipment. Background Art

[0002] The overhead contact network is an important component of the power supply system of electrified railways. Its safety is directly related to whether the railway can operate normally, and the geometric parameters of the overhead contact network are important technical indicators that directly reflect its safety status. For this reason, many relevant studies have been carried out at home and abroad on the detection methods of the geometric parameters of the overhead contact network.

[0003] With the advancement of technology, the existing mainstream detection methods mainly adopt non-contact measurement solutions, including laser radar measurement solution, laser rangefinder measurement solution, ultrasonic measurement solution, and image measurement solution. The contact network geometric parameter analysis method based on laser radar (CN103852011A) can only find the minimum height value in the valid data as the bow-net contact point, so it cannot realize the positioning and tracking of multiple contact lines, and cannot meet the detection requirements of contact network geometric parameters at the line branch and anchor section.

[0004] The principle of ultrasonic testing is similar to that of non-contact laser radar testing, except that the detection medium is changed from laser radar to ultrasonic wave. Ultrasonic testing is currently expensive, and the measurement range is small when used alone. It needs to be coordinated with other detection devices, which not only increases the cost of ultrasonic testing, but also causes inconvenience in the later maintenance of the equipment, resulting in ultrasonic testing not being widely used yet.

[0005] The laser rangefinder measurement solution is a single-point measurement, which requires manual selection of the measurement target or automatic capture of the target in combination with image recognition to achieve measurement. Therefore, it must have a rotation function and an angle measurement element, which is less affected by the outside world and has high measurement accuracy. It is currently widely used in the field of railway contact network inspection. The measurement accuracy of the laser rangefinder solution depends on the measurement accuracy of the laser rangefinder itself, the accuracy of the angle measurement element, and the calibration compensation accuracy. Summary of the invention

[0006] The technical problem to be solved by the present invention is: the present invention establishes a calibration compensation model for rotary contact network detection equipment, overcomes the shortcomings of the prior art, and provides a rotary contact network detection equipment calibration method and device with high calibration accuracy.

[0007] The above-mentioned object of the present invention is achieved by the following technical solution: A method for calibrating a rotary contact network detection device, comprising:

[0008] Install the rail platform on the ground, set several marking points on the simulated rails of the rail platform; hang the chessboard target plate above the rail platform, place the total station on the side of the rail platform, and place the rotary contact network detection equipment on the rail platform;

[0009] Use the total station to obtain the spatial position information of the marking point of the rail platform in the total station coordinate system;

[0010] Use a total station to obtain the spatial position information of the measuring points on the simulated contact line on the checkerboard target in the total station coordinate system;

[0011] A spatial rectangular coordinate system is established according to the position information of the marking points on the rail platform as a measurement coordinate system;

[0012] Through the principle of coordinate transformation, the spatial position information of the simulated contact line measurement point in the measurement coordinate system is solved, and the guide height of the simulated contact line measurement point is calculated. and pull out value

[0013] Place the rotary contact network detection equipment at the marked point of the ground rail platform, and measure the conduction height H' and pull-out value S' of the simulated contact line measurement point;

[0014] The conductance H' and pull-out value S' of the simulated contact line measuring point measured by the rotating contact network detection equipment are compared with the conductance H' and pull-out value S' of the simulated contact line measuring point measured by the total station. and pull out value Substituting into the calibration compensation equation, the conduction height compensation value and the pull-out value compensation value are calculated to compensate the rotating contact network detection equipment.

[0015] Furthermore, the rotating contact network detection equipment includes a laser rangefinder and an angle measuring element. The laser rangefinder measurement point is manually or automatically rotated to hit the simulated contact line to achieve the measurement of the distance value from the contact line to the laser rangefinder; the angle measuring element is used to measure the rotation angle of the laser rangefinder; the conductance and pull-out value of the simulated contact line are calculated by using the distance value from the contact line to the laser rangefinder and the rotation angle value.

[0016] Furthermore, the calibration compensation equation is as follows:

[0017] The compensation value of the conductor height δH=δD·cos(θ),

[0018] Pull-out compensation value

[0019] Among them, the compensation value of laser ranging θ is the angle value returned by the angle measuring element, and the distance between the rotation center O1 of the rotary contact network detection equipment and the target point P

[0020] Furthermore, the rail platform includes two simulated rails, which are engraved with three marking points in total, two marking points are set on one rail, and one marking point is set on the other rail; the marking points are engraved on the center line of the rail along the longitudinal direction of the rail on the rail plane.

[0021] Furthermore, the distance between the inner sides of the two rails 16 mm below the tread of the rail platform is 1435 mm ± 0.1 mm; and the parallelism of the rail plane reaches 0.01°.

[0022] Furthermore, the number of intersections of black and white squares on the chessboard target plate is greater than 3 in both directions, and a simulated contact line is set on the chessboard target plate.

[0023] A rotary contact network detection equipment calibration device comprises a rotary contact network detection equipment, a rail platform, a total station and a chessboard target plate; the rail platform is installed on the ground, and a plurality of marking points are arranged on the simulated rail of the rail platform; the chessboard target plate is suspended above the rail platform, the total station is placed on the side of the rail platform, and the rotary contact network detection equipment is placed on the rail platform; the rotary contact network detection equipment comprises a laser rangefinder and an angle measuring element, and the laser rangefinder measuring point is hit on the simulated contact line by manual or automatic rotation to realize the measurement of the distance value from the contact line to the laser rangefinder; the angle measuring element is used to measure the rotation angle of the laser rangefinder; the guide height and pull-out value of the simulated contact line are calculated by using the distance value from the contact line to the laser rangefinder and the rotation angle value.

[0024] Furthermore, the rail platform includes two simulated rails, which are engraved with three marking points in total, two marking points are set on one rail, and one marking point is set on the other rail; the marking points are engraved on the center line of the rail along the longitudinal direction of the rail on the rail plane.

[0025] Furthermore, the distance between the inner sides of the two rails 16 mm below the tread of the rail platform is 1435 mm ± 0.1 mm; and the parallelism of the rail plane reaches 0.01°.

[0026] Furthermore, the number of intersections of black and white squares on the chessboard target plate is greater than 3 in both directions, and a simulated contact line is set on the chessboard target plate.

[0027] The advantages of the present invention compared with the prior art are:

[0028] (1) The present invention is used to calibrate and compensate the rotating contact network detection equipment, improve the measurement accuracy, and can be applied to the field of rail transportation. The present invention uses a high-precision target to calibrate the equipment, has high flexibility, and a simple and reliable measurement method, which solves the problem of flexible calibration of contact network inspection equipment without being limited by the calibration site space.

[0029] (2) The present invention adopts multiple coordinate system (total station coordinate system, contact network detection equipment coordinate system and guide rail coordinate system) rotation positioning technology to minimize the equipment system error and achieve high calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a schematic diagram of the working steps of the rotary contact network detection equipment calibration method.

[0031] Figure 2 It is a schematic diagram of the calibration device of the rotary contact network detection equipment of the present invention.

[0032] Figure 3 This is the coordinate transformation principle diagram. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0034] like Figure 2 As shown, a rotary contact network detection equipment calibration device includes a rotary contact network detection equipment, a rail platform, a total station type electronic distance meter (hereinafter referred to as a total station) and a standard chessboard target board. The rail platform is installed on the ground, the standard chessboard target board is suspended above the rail platform, the total station is placed on the side of the rail platform, and the rotary contact network detection equipment is placed on the rail platform.

[0035] The ground rail platform includes two simulated rails, with three marking points engraved on them, two on one rail and one on the other rail; the marking points are engraved on the center line of the rail plane along the longitudinal direction of the rail; the distance between the inner sides of the two rails 16mm below the tread of the rail platform is strictly guaranteed to be 1435mm±0.1mm; the parallelism of the rail plane reaches 0.01°.

[0036] The standard chessboard target board is placed above the rail plane. The distance between the black and white grid intersections of the standard chessboard target board is known, and the number of intersections in both directions is greater than 3.

[0037] The rotary contact network detection equipment includes a laser rangefinder and an angle measuring element. The laser rangefinder measurement point is manually or automatically rotated to hit the simulated contact line (set on a chessboard target board) to measure the distance value from the contact line to the laser rangefinder. The rotary contact network detection equipment includes a high-precision angle measuring element (arc second level), which is used to measure the rotation angle of the laser rangefinder. The contact line conductance and pull-out value are calculated by using the distance value and the angle value.

[0038] According to the total station, the calculated height can be measured in the total station coordinate system and pull out value The guide height and pull-out values ​​measured by the rotating contact network detection equipment are compensated as true values. The detailed derivation process is as follows:

[0039] Given the conductor height H' and pull-out value S' obtained by the rotating contact network detection equipment, the distance value D returned by the laser distance sensor and the angle value θ returned by the angle measuring element can be obtained and expressed as:

[0040]

[0041]

[0042] like Figure 3 As shown, O-XZ is a spatial rectangular coordinate system with the center of the track gauge as the origin, the y-axis along the simulated rail direction, the x-axis perpendicular to the rail direction, and the z-axis perpendicular to the ground. O1-X1Z1 is the measurement coordinate system of the rotating contact network detection equipment, and O1 is the rotation center. Combined with the structural characteristics of the rotating contact network detection equipment, it can be seen that the rotation center of the rotating contact network detection equipment and the emission center of the laser rangefinder do not necessarily coincide. The rotation center of the rotating contact network detection equipment is taken as the origin, and the height value is calculated based on the total station measurement. The distance between the rotation center O1 of the rotating contact network detection equipment and the target point P can be obtained and expressed as:

[0043]

[0044] Where δD is the distance between the emission center of the laser rangefinder and the rotation center point (including the distance between the rotation center and the rail surface). According to equations (1) and (3), the compensation value δD of laser ranging can be obtained, which is expressed as:

[0045]

[0046] Converting equation (4) into the compensation value of the conductance height can be expressed as:

[0047] δH=δD·cos(θ) (5)

[0048] In the actual placement of the rotating contact network detection equipment, the measurement coordinates of the rotating contact network detection equipment do not coincide with the center of the track gauge, resulting in inaccurate measurement of the pull-out value. It is known that the pull-out value of the target point measured by the total station is combined with equations (2) and (3) to obtain the compensation value δS when calculating the pull-out value, which can be expressed as:

[0049]

[0050] like Figure 1 As shown, the method comprises the following steps:

[0051] 1. The total station obtains the spatial position information of the ground rail platform mark point in the total station coordinate system;

[0052] 2. The total station obtains the spatial position information of the simulated contact line measurement points of the checkerboard target in the total station coordinate system;

[0053] 3. Establish a spatial rectangular coordinate system, i.e., a measurement coordinate system, based on the position information of the three marking points on the rail platform;

[0054] 4. Through the principle of coordinate transformation, the spatial position information of the simulated contact line measurement point in the measurement coordinate system is solved, and the guide height and pull-out value of the simulated contact line measurement point are calculated;

[0055] 5. Place the rotary contact network detection equipment at the marked point of the ground rail platform and measure the conduction height and pull-out value of the simulated contact line measurement point;

[0056] 6. Substitute the two sets of measurement data into the calibration compensation equation δH = δD·cos(θ), In the process, the conduction height compensation value and the pull-out compensation value are calculated to compensate the rotating contact network detection equipment.

[0057] Example:

[0058] The checkerboard target used during calibration has an accuracy of <0.1mm.

[0059] Use a total station (Leica TS60) to measure the spatial position information of the three marked points on the rail surface in the total station coordinate system. Measure them 5 times respectively and take the average coordinates, as shown in the following table:

[0060]

[0061]

[0062] Use a total station to measure the spatial position information of the standard chessboard points in the total station coordinate system, measure 5 times respectively, and take the average coordinates, as shown in the following table:

[0063]

[0064] The height and pull-out data of the chessboard points in the rail surface coordinate system are calculated by coordinate transformation as follows:

[0065] Number of measurements Conductive height (mm) Pull-out value (mm) 1 2887.2392 20.1678 2 2887.1388 20.5852 3 2887.2358 20.9989 4 2887.1388 20.8323 5 2887.0893 21.0030 average value 2887.1684 20.7174 Very bad 0.1499 0.8352 Standard Deviation 0.0663 0.3512

[0066] Place the rotary contact network detection equipment at the marked point on the ground rail platform, measure the height and pull-out value of the chessboard points, and record the laser distance measurement value and angle value, as shown in the following table:

[0067]

[0068] Known height calculated by total station and pull out value As well as the guide height H'=2545.0mm and the pull-out value S'=-7.55mm obtained by the rotary contact network detection equipment, the compensation value calculation result of the laser ranging according to the formula (4) in the content of the invention is as follows:

[0069]

[0070] Therefore, according to formulas (5)-(6), the compensation value calculation process of the guide height and pull-out value is:

[0071] δH=δD·cos(θ)=342.24·cos(-0.17)=342.240mm,

[0072]

[0073] The calculated compensation lead height and pull-out values ​​are:

[0074] H=H′+δH=2545.0+342.240=2887.240mm,

[0075] S=S′-δS=-7.55-(-29.284)=21.734mm;

[0076] The field test results are compared with those of the existing product DJJ-8, as shown in the following table:

[0077]

[0078] The above embodiments can verify that the calculation method of the present invention is correct.

[0079] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0080] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for calibrating a rotary contact network detection device, characterized in that: include: Set several marking points on the rail platform; hang the chessboard target plate above the rail platform, and place the total station on the side of the rail platform; Use the total station to obtain the spatial position information of the marking point of the rail platform in the total station coordinate system; Use a total station to obtain the spatial position information of the measuring points on the simulated contact line on the checkerboard target in the total station coordinate system; A spatial rectangular coordinate system is established according to the position information of the marking points on the rail platform as a measurement coordinate system; Through the principle of coordinate transformation, the spatial position information of the simulated contact line measurement point in the measurement coordinate system is solved, and the guide height of the simulated contact line measurement point is calculated. and pull out value Place the rotary contact network detection equipment at the marked point of the ground rail platform, and measure the conduction height H' and pull-out value S' of the simulated contact line measurement point; The conductance H' and pull-out value S' of the simulated contact line measuring point measured by the rotating contact network detection equipment are compared with the conductance H' and pull-out value S' of the simulated contact line measuring point measured by the total station. and pull out value Substitute into the calibration compensation equation, calculate the conduction height compensation value and the pull-out compensation value, and compensate the rotating contact network detection equipment; The rotary contact network detection equipment comprises a laser rangefinder and an angle measuring element. The laser rangefinder measuring point is manually or automatically rotated to hit the simulated contact line to measure the distance value from the contact line to the laser rangefinder. The angle measuring element is used to measure the rotation angle of the laser rangefinder. The guide height and pull-out value of the simulated contact line are calculated by using the distance value from the contact line to the laser rangefinder and the rotation angle value. The calibration compensation equation is as follows: The compensation value of the conductor height δH=δD·cos(θ), Pull-out compensation value Among them, the compensation value of laser ranging θ is the angle value returned by the angle measuring element, and the distance between the rotation center O1 of the rotary contact network detection equipment and the target point P 2. A rotary contact network detection equipment calibration method according to claim 1, characterized in that: The rail platform comprises two simulated rails, which are engraved with three marking points in total, two marking points are arranged on one rail, and one marking point is arranged on the other rail; the marking points are engraved on the center line along the longitudinal direction of the rail on the rail plane.

3. A method for calibrating a rotary contact network detection device according to claim 2, characterized in that: The distance between the inner sides of the two rails 16 mm below the tread of the rail platform is 1435 mm ± 0.1 mm; the parallelism of the rail plane reaches 0.01°.

4. The method for calibrating a rotary contact network detection device according to claim 1, characterized in that: The number of intersections of black and white squares on the chessboard target plate is greater than 3 in both directions, and a simulated contact line is set on the chessboard target plate.

5. A rotary contact network detection equipment calibration device for implementing the rotary contact network detection equipment calibration method of claim 1, characterized in that: The invention comprises a rotary contact network detection device, a rail platform, a total station and a chessboard target plate; the rail platform is installed on the ground, and a plurality of marking points are arranged on the simulated rail of the rail platform; the chessboard target plate is suspended above the rail platform, the total station is placed on the side of the rail platform, and the rotary contact network detection device is placed on the rail platform; the rotary contact network detection device comprises a laser rangefinder and an angle measuring element, and the measurement point of the laser rangefinder is hit on the simulated contact line by manual or automatic rotation to realize the measurement of the distance value from the contact line to the laser rangefinder; the angle measuring element is used to measure the rotation angle of the laser rangefinder; the conductance height and the pull-out value of the simulated contact line are calculated by using the distance value from the contact line to the laser rangefinder and the rotation angle value.

6. The rotary contact network detection equipment calibration device according to claim 5, characterized in that: The rail platform comprises two simulated rails, which are engraved with three marking points in total, two marking points are arranged on one rail, and one marking point is arranged on the other rail; the marking points are engraved on the center line along the longitudinal direction of the rail on the rail plane.

7. The rotary contact network detection equipment calibration device according to claim 6, characterized in that: The distance between the inner sides of the two rails 16 mm below the tread of the rail platform is 1435 mm ± 0.1 mm; the parallelism of the rail plane reaches 0.01°.

8. The rotary contact network detection equipment calibration device according to claim 5, characterized in that: The number of intersections of black and white squares on the chessboard target plate is greater than 3 in both directions, and a simulated contact line is set on the chessboard target plate.

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