A method and device for measuring geometric parameters of vehicle-mounted contact network

Abstract

The present invention provides a vehicle-mounted contact network geometric parameter measuring device and a measuring method. The measuring device comprises an angle sensor 1 arranged in a rotating column, a distance sensor 1 arranged on a rotating column base, two distance sensors 2, a measuring host arranged on a working platform of a contact network operation vehicle, a controller and a touch screen connected to the controller. The two distance sensors 2 are symmetrically arranged on the upper end surfaces of the left and right sides of the bogie. The device can be applied to various types of contact network operation vehicles at home and abroad, and can enable operators to obtain accurate geometric parameters of the contact network without getting off the working platform. The present invention can be installed on newly produced contact network operation vehicles, and can also be installed on old contact network operation vehicles.

Description

Technical Field

[0001] The invention relates to a method and a device for measuring parameters of a contact network, in particular to a device and a method for measuring parameters of a contact network installed on various types of contact network operation vehicles. Background Art

[0002] With the rapid development of electrified railways and the popularization of contact network operations, the daily maintenance of contact networks carried out by teams increasingly uses contact network operation vehicles, a mechanized operation tool. After the contact network maintenance operation, it is necessary to measure the geometric parameters of the contact network in the maintenance section. At present, most contact network operation vehicles are not equipped with on-board contact network geometric parameter measurement devices, and do not have the function of directly measuring the geometric parameters of the contact network after the operation. It is necessary to carry a portable laser measuring instrument and walk on the line to measure. Some contact network operation vehicles are equipped with contact contact network geometric parameter measurement devices on the roof of the vehicle. Such measurement devices have factors such as lifting force that interfere with the contact network parameter measurement work, and the device is not convenient for measuring the contact network on the upper platform where the operator is located. There is also a type of professional inspection vehicle similar to the comprehensive inspection vehicle equipped with a non-contact inspection platform. This type of inspection equipment is costly and expensive, and is not suitable for large-scale assembly. It is necessary to occupy the skylight point to measure the line, and it needs to be equipped with a dedicated computer and corresponding algorithm software, which is not easy to maintain.

[0003] In summary, the operation, maintenance and inspection of the contact network of electrified railways requires an on-board measuring device that has high accuracy, low cost and can be operated by operators to quickly measure the geometric parameters of the contact network. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the above-mentioned prior art, thereby providing a vehicle-mounted contact network geometric parameter measuring device suitable for being loaded on various types of contact network working vehicles, enabling operators on the working platform to accurately measure the contact network geometric parameters at the required position.

[0005] The present invention also aims to provide a method for measuring a contact network using the above-mentioned measuring device.

[0006] The technical solution of the present invention is: a vehicle-mounted overhead contact network geometric parameter measuring device, comprising:

[0007] Angle sensor 1, arranged in the rotating column, for measuring the angle γ of the working platform rotation;

[0008] Distance sensor 1, arranged on the base of the rotating column, is used to measure the actual distance L4 between the distance sensor 1 and the lower end surface of the working platform;

[0009] Two distance sensors 2 are symmetrically arranged on the upper end surfaces of the left and right sides of the bogie, and are used to respectively measure the distances L1 and L2 between the upper end surfaces of the left and right sides of the bogie and the corresponding positions of the lower end surface of the vehicle body;

[0010] The measuring host is arranged on the working platform of the overhead contact network working vehicle, and is used to measure the distance between its installation position and the measured overhead contact network, and after compensation, obtain the distance S between the intersection of the central axis of the working platform and the central axis of the rotating column and the measured overhead contact network, and the angle β between the central normal n2 of the plane M1 on the working platform and the measuring laser beam;

[0011] The controller is used to control the measuring host to perform rotation compensation according to the angle γ measured by the angle sensor 1, so that the plane where the scanning laser emitted by the laser rangefinder of the measuring host is located, that is, the rail cross section M2 is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail; and is used to calculate the angle α between the plane M3 on the rail and the plane M1 on the working platform, and the distance H2 between the bogie and the center of the lower end of the main vehicle body 1 according to L1 and L2 measured by the two distance sensors 2;

[0012] The touch screen is connected to the controller and is used to preset the vehicle body width W, the distance L5 from the lower end face to the upper end face of the working platform, the distance L3 from the lower end face of the vehicle body to the distance sensor 1, and the distance H1 from the upper end face of the bogie to the rail, and calculates the height conductance value LH and the pull-out value LC of the measured contact network through the controller in combination with the distance and angle values ​​measured by the angle sensor 1, the distance sensor 1, the two distance sensors 2 and the measuring host.

[0013] The measuring host has a built-in laser rangefinder, two sets of servo motors, and two sets of angle sensors.

[0014] One of the servo motors 1 of the measuring host is used to drive the measuring host as a whole to perform a rotational motion on the plane M1 on the working platform, and the other servo motor 2 is used to drive the laser rangefinder built into the measuring host to perform a pitch motion in a cross section perpendicular to the plane M1 on the working platform;

[0015] One of the angle sensors 2 of the measuring host is used to measure the angle of the measuring host's rotation compensation, and the other angle sensor 3 is used to measure the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam.

[0016] The calculation formula of the controller measurement program algorithm is:

[0017] Lead height LH=H1+(L1+L2) / 2+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*cosα;

[0018] Pull value LC=S*sinβ / cosα+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*sinα;

[0019] Where: H1 is the distance between the upper end surface of the bogie and the upper plane M3 of the rail;

[0020] L1 and L2 are the distances between the upper end faces of the left and right sides of the bogie and the lower end face of the car body;

[0021] L3 is the distance from the lower end surface of the vehicle body to the distance sensor 1;

[0022] L4 is the actual distance between the distance sensor 1 and the lower end surface of the working platform;

[0023] L5 is the distance from the lower end surface to the upper end surface of the working platform;

[0024] S is the distance between the intersection of the center axis of the working platform and the center axis of the rotating column and the contact network under test;

[0025] β is the angle between the center normal n2 of the plane M1 on the working platform and the measuring laser beam;

[0026] α is the angle between the upper plane M3 of the rail and the upper plane M1 of the working platform, α=arctan(L1-L2) / W, W is the width of the vehicle body.

[0027] A method for measuring a contact network using the measuring device of the technical solution of claim 1, comprising the following steps:

[0028] Step S1, preset parameters

[0029] The distance L5 from the lower end surface to the upper end surface of the working platform, the distance L3 from the lower end surface of the vehicle body to the distance sensor 1, the distance H1 from the upper end surface of the bogie to the rail, and the vehicle body width W are preset through the touch screen;

[0030] Step S2, measuring the automatic rotation control of the host

[0031] The controller obtains the rotation angle γ of the working platform in real time through the angle sensor 1, and automatically controls the measuring host to rotate in the opposite direction of the rotation angle of the working platform, and obtains the angle feedback value of the rotating action of the measuring host in real time through the angle sensor 2, so that it can accurately rotate the same angle γ, so that the plane where the scanning laser emitted by the laser rangefinder of the measuring host is located, that is, the rail cross section M2 is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail;

[0032] Step S3.1, measure S and β values

[0033] The controller measures the distance between the installation position and the measured contact network by the built-in laser distance meter of the measuring host, and then obtains the distance S between the intersection of the central axis of the working platform and the central axis of the rotating column and the measured contact network. At the same time, the built-in angle sensor measures the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam.

[0034] Step S3.2, measure L4 value

[0035] The controller obtains the actual distance L4 between the sensor installation location and the lower end surface of the working platform through the distance sensor 1;

[0036] Step S3.3, measure L1 and L2 values, calculate α and H2 values

[0037] The controller obtains the distance between the sensor installation point and the left and right sides of the lower end surface of the car body through two distance sensors 2, thereby deducing the corresponding position distances L1 and L2 between the upper end surfaces of the left and right sides of the bogie and the lower end surface of the car body, and calculates the angle α between the upper plane M3 of the rail and the upper plane M1 of the working platform, and the distance H2 between the bogie and the center of the lower end of the car body;

[0038] Step S4, calculate the guide height and pull-out value

[0039] The controller calculates the conductor height LH and the pull-out value LC of the contact network under test according to the parameters obtained from steps S1, S3.1, S3.2 and S3.3;

[0040] Steps S3.1, S3.2 and S3.3 are performed in no particular order.

[0041] In step S3.1, the automatic measurement mode or the manual measurement mode can be selected through the touch screen.

[0042] In the automatic measurement mode, the controller controls the built-in servo motor 2 of the measuring host to make the laser beam emitted by the laser rangefinder scan and measure in a fan-shaped frequency scanning manner. At this time, the controller collects the measurement data of the laser rangefinder and the angle sensor 3 at a certain frequency, and filters out invalid measurement values ​​through the preset threshold of the touch screen. Finally, the distance S between the intersection of the central axis of the working platform and the central axis of the rotating column and the measured contact network and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam are calculated;

[0043] In the manual measurement mode, the operator sends instructions to the controller by operating the touch screen to control the servo motor to drive the laser measuring instrument to perform manual pitch action. After the operator confirms on-site that the measuring laser beam is aimed at the contact network to be measured, the controller obtains the measurement data of the laser rangefinder and the angle sensor 3 at this time to obtain the distance S between the intersection of the long axis and the short axis of the working platform on the plane M1 on the working platform and the contact network to be measured, and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam.

[0044] In step S3.3, the distances L1 and L2 measured by the two distance sensors 2 and the vehicle width W are substituted into the following calculation formula:

[0045] α=arctan(L1-L2) / W;

[0046] H2=(L1+L2) / 2;

[0047] Wherein α is the angle between the upper plane M3 of the rail and the upper plane M1 of the working platform, and H2 is the distance between the bogie and the center of the lower end of the car body.

[0048] In step 4, the parameters obtained from steps S1, S3.1, S3.2, and S3.3 are used in the following calculation formula:

[0049] LH=H1+(L1+L2) / 2+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*cosα;

[0050] LC=S*sinβ / cosα+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*sinα;

[0051] Where LH is the height of the contact network under test, and LC is the pull-out value of the contact network under test.

[0052] The beneficial effects of the present invention are that the equipment involved has a simple structure and high stability and measurement accuracy, which can be summarized as follows:

[0053] 1. Compared with special inspection vehicles such as comprehensive inspection vehicles, the device involved in the present invention mainly includes relatively low-cost parts such as laser rangefinder, distance sensor, angle sensor, servo motor, PLC and touch screen. Compared with the complete set of special contact network imaging detection equipment and data analysis computer configured by the comprehensive inspection vehicle, the cost of the device involved is only about 1% to 3% of the cost of the inspection equipment of the comprehensive inspection vehicle (considering that the comprehensive inspection vehicle has detection capabilities such as high-definition imaging that the device of the present invention does not have, if only the same contact network geometric parameter measurement function is compared, the cost of the device involved in the present invention is about 35% of the cost of the equipment with the same detection capability used by the comprehensive inspection vehicle); considering that the ordinary contact network operation vehicle distributed to each contact network maintenance team in the early stage can also be upgraded and modified to add detection functions, the cost of users to purchase equipment can also be greatly reduced; the equipment involved in the present invention is simple to operate and is easy to be widely promoted to various contact network maintenance teams on the front line; the contact network operation vehicle using the detection equipment involved in the present invention has the characteristics that maintenance and detection work can be carried out simultaneously, and can make full use of the maintenance skylight points, without the need to apply for special detection skylight points separately, which can effectively save skylight resources.

[0054] 2. Compared with handheld manual measuring tools, the equipment involved in the present invention can directly perform measurement operations after the operating personnel have inspected the contact network equipment above the platform, without having to send people to perform measurement operations after the operating vehicle withdraws from the operating area. It can check the maintenance quality of the operating personnel in real time and effectively combine the maintenance operation with the inspection operation, thereby saving skylight operation time; since the equipment involved in the present invention has the characteristic of not requiring the assignment of special personnel to perform online inspection operations, and the maintenance and inspection work can be performed by the same operating personnel, the use of the equipment described in the present invention can effectively avoid locomotive and vehicle injury accidents caused by online operations of operating personnel and can greatly save labor costs.

[0055] 3. Compared with some contact or non-contact detection equipment installed on the roof of the work vehicle, since the equipment involved in the present invention adopts a non-contact measurement method, compared with the contact detection equipment, the equipment involved in the present invention will not produce measurement errors affected by the contact lifting force of the detection device during measurement, and the detection accuracy is relatively high; and compared with the installation of non-contact detection equipment on the roof of the work vehicle, the equipment involved in the present invention has the characteristic of being installed on the work platform. After the contact network maintenance work in the platform area is completed, the equipment can be operated immediately to measure the geometric parameters of the contact network at that location when the work vehicle is parked, without moving the work vehicle or only needing to fine-tune the positioning of the work vehicle in a small range, which can effectively reduce the start and stop times and moving distance of the work vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a structural schematic diagram of the present invention;

[0057] Figure 2 A top view of a plane M1 on the working platform of the present invention;

[0058] Figure 3 It is a plane diagram of the rail cross section M2, which is the plane where the scanning laser emitted by the laser rangefinder built into the measuring host of the present invention is located;

[0059] Figure 4 This is a schematic diagram of the measurement principle of an embodiment of the present invention;

[0060] Figure 5 This is a control principle block diagram of the present invention;

[0061] Figure 6 Flow chart for implementing the present invention;

[0062] Figure 7 This is a flow chart of automatic rotation control of the measuring host of the present invention;

[0063] Figure 8 This is a flowchart of the automatic measurement mode program of the present invention;

[0064] In the figure: 1. car body, 2. rails, 3. working platform, 4. contact network to be measured, 5. bogie, 6. distance sensor 2, 7. touch screen, 8. measuring host, 9. distance sensor 1, 10. rotating column, 11. center axis of car body, 12. center axis of working platform, 13. measuring laser beam. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0066] The definitions of the conduction height value LH and the pull-out value LC in electrified railways are:

[0067] The contact network has a Z-shaped direction and is pulled outward relative to the center of the rail 2 at each fixed point. The distance of the pull-out is called the pull-out value, and the height from the plane of the rail is called the conductor height.

[0068] Figure 1 The contact network parameter measuring device of the present invention comprises: obtaining the distance between the installation position and the contact network 4 to be measured by the measuring host 8 arranged at the center of the rotating shaft of the working platform 3 on the contact network working vehicle 1, and then obtaining the distance S between the intersection of the central axis of the working platform and the central axis of the rotating column and the contact network 4 to be measured, and the angle β between the central normal n2 of the plane M1 on the working platform and the measuring laser beam 13. The specific implementation method is to measure the rotation angle of the measuring host 8 relative to the working platform 3 in real time through the angle sensor 2 built in the measuring host 8, and the angle β between the central normal n2 of the plane M1 on the working platform and the measuring laser beam 13 emitted by the angle sensor 3. , the servo motor 1 and the servo motor 2 built in the measuring host 8 adjust the posture of the measuring host 3 and the pitch angle of the laser beam emitted by the laser rangefinder under the control of the controller, and obtain the distance S to the measured contact network 4 through the laser rangefinder built in the measuring host 3; preferably, in one embodiment of the present invention, the measuring host 8 adjusts the posture of the measuring host 3 under the control of the display control module 7, so that the platform can rotate at any angle and still ensure that the laser scanning surface M2 emitted by the laser rangefinder built in the measuring host 3 is always perpendicular to the rail plane M3 and the working platform plane M1, that is, the M2 surface is actually the cross section of the rail, and can be switched to two modes of manual adjustment of the laser beam distance measurement and automatic distance measurement;

[0069] The real-time distance L4 from the lower end surface of the working platform 3 is obtained by a distance sensor 9 arranged on the base of the rotating column 10. The distance sensor 9 can be a distance sensor in various forms such as laser, wire, ultrasonic, etc.;

[0070] The angle γ of the working platform 3 rotation is measured in real time by an angle sensor 1 disposed in the platform rotating column 10. The angle sensor 1 can be an angle sensor such as a grating encoder or a swing angle sensor;

[0071] The two distance sensors 26 arranged on the upper end surfaces of the left and right sides of the bogie 5 are used to obtain the distances L1 and L2 of the corresponding positions of the two sides of the bogie 5 from the lower end surface of the vehicle body 1. The distance sensors 26 can be laser, wire, ultrasonic and other distance sensors to obtain the real-time distances of the lower ends of the main frames corresponding to the two sides of the bogie;

[0072] The controller is used to control the measuring host 8 to perform rotation compensation according to the angle γ measured by the angle sensor 1, so that the plane M2 where the scanning laser emitted by the laser rangefinder of the measuring host 8 is located is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail; and is used to calculate the angle α between the plane M3 on the rail and the plane M1 on the working platform, and the distance H2 between the bogie 5 and the center of the lower end of the main vehicle body 1 according to L1 and L2 measured by the two distance sensors 2 6;

[0073] The touch screen 7 is connected to the controller and is used to preset the vehicle body width W, the distance L5 from the lower end face to the upper end face of the working platform 3, the distance L3 from the lower end face of the vehicle body 1 to the distance sensor 1 9, and the distance H1 from the upper end face of the bogie 5 to the rail 3, and calculates the height conduction value LH and the pull-out value LC of the measured contact network 4 through the controller in combination with the distance and angle values ​​measured by the angle sensor 1, the distance sensor 1 9, the two distance sensors 2 6 and the measuring host 8.

[0074] Figure 2 , Figure 3In this embodiment, the angle sensor 1 in the rotating column 10 is used to measure in real time the angle γ between the central axis 12 of the working platform and the central axis 11 of the vehicle body after the working platform 3 rotates. Under the control of the controller, the servo motor drives the measuring host 8 to accurately rotate in the opposite direction at the same angle γ to ensure that the plane M2 of the scanning laser emitted by the measuring laser beam emitted by the measuring host 8 is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail. For the control of the scanning action of the measuring laser beam in the plane M2 where the scanning laser is located, two modes of manual control and automatic control are adopted in this embodiment: the manual control mode means that the laser beam emitted by the measuring host 8 performs a pitch action under the manual control of the operator, and is aimed at the contact network to be measured for distance measurement. At this time, the measuring host 8 will send back to the controller the distance S between the intersection of the central axis 12 of the working platform and the central axis of the rotating column and the contact network 4 to be measured, and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam 13; the automatic control mode means that the measuring host controls the laser beam to perform scanning measurement in a fan-shaped frequency scanning manner, filters out invalid measurement values ​​by setting a threshold, and sends the required parameters S and angle β back to the display control module. Considering the on-site installation and layout environment of the contact network, a threshold range can be set for the distance S between the intersection of the central axis of the working platform and the central axis of the rotating column and the measured contact network 4, and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam 13. If any of β and S of the measurement data group exceeds the threshold range, it is determined to be invalid data and filtered out, and the number of remaining data groups will be greatly reduced. By setting the threshold to filter out invalid measurement values, the operator selects one of the data groups as the final measurement result according to the actual situation on site; the contact network is not an ideal straight line without diameter, it is a cable with a relatively thick diameter. When the laser beam measures it, it will inevitably produce a group of data that is very close. These data are generally very close to the real measurement value, and it is difficult to filter them out by the preset threshold. At this time, the on-site personnel can select one of the groups as the measurement value, which does not affect the measurement result. In addition, considering that there are other interference factors on site, it will be better to hand over these measurable values ​​to the operator for on-site confirmation.

[0075] Figure 4 In the plane M2 where the scanning laser emitted by the laser rangefinder is located, the angle α between the normal line n1 of the plane M3 on the rail and the normal line n2 of the plane M1 on the working platform can be calculated by the following formula:

[0076] tanα=(L1-L2) / W (1)

[0077] Since the angle β between the measuring laser beam emitted by the built-in laser rangefinder of the measuring host 8 and the normal n2 can be directly obtained by the angle sensor 3, the distance S between the measuring host 8 and the measured contact network 4 is directly obtained by the laser rangefinder in the measuring host 8, the values ​​of F1 and F2+F3 in the figure can be calculated by the following formula:

[0078] F1=S*sinβ (2)

[0079] F2+F3=S*cosβ (3)

[0080] Then, C1, F2 and F3 can be calculated respectively, the formula is as follows:

[0081] C1=F1 / cosα=S*sinβ / cosα (4)

[0082] F2=F1*tanα=S*sinβ*tanα (5)

[0083] F3=S*cosβ-S*sinβ*tanα=S*(cosβ-sinβ*tanα) (6)

[0084] According to the trigonometric formula, H3 and C2 can be calculated as follows:

[0085] H3=(L3+L4+L5+F3)*cosα=[L3+L4+L5+S*(cosβ-sinβ*tanα)]*cosα (7)

[0086] C2=(L3+L4+L5+F3)*sinα=[L3+L4+L5+S*(cosβ-sinβ*tanα)]*sinα (8)

[0087] The distance H2 between the bogie 5 and the center of the lower end of the main vehicle body 1 can be calculated by the following formula:

[0088] H2=(L1+L2) / 2 (9)

[0089] Based on this, the contact network 4 conductor height (LH) and pull-out value (LC) at the measuring point can be calculated respectively.

[0090] According to formulas (7) and (9), we can know that:

[0091] LH=H1+H2+H3

[0092] =H1+(L1+L2) / 2+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*cosα

[0093] According to formula (4) and (8), we can know

[0094] LC=C1+C2=S*sinβ / cosα+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*sinα

[0095] Figure 5 This is a control system block diagram of the present invention. In this embodiment, the controller is mainly used to receive measurement parameters of each sensor, perform calculations in combination with the parameters previously entered by the touch screen 7, output control signals to the servo motor to drive the rotary motion of the measurement host 8 and the pitch motion of the laser beam, and perform human-computer interaction with the operator through the touch screen.

[0096] Figure 6 The implementation process of this embodiment is as follows:

[0097] Step S1, preset parameters

[0098] The distance L5 from the lower end face to the upper end face of the working platform 3, the distance L3 from the lower end face of the vehicle body 1 to the distance sensor 9, the distance H1 from the upper end face of the bogie 5 to the rail 3, and the vehicle body width W are preset through the touch screen 7;

[0099] Step S2, measuring the automatic rotation control of the host

[0100] The controller obtains the rotation angle γ of the working platform 3 in real time through the angle sensor 1, and automatically controls the measuring host 8 to rotate in the opposite direction of the rotation angle of the working platform 3, and obtains the angle feedback value of the rotation action of the measuring host 8 in real time through the angle sensor 2, so that it can accurately rotate the same angle γ, so that the plane M2 of the scanning laser emitted by the laser rangefinder of the measuring host 8 is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail;

[0101] Step S3.1, measure S and β values

[0102] The controller measures the distance between the installation position and the measured contact network 4 by the built-in laser rangefinder of the measuring host 8, and then obtains the distance S between the intersection of the central axis of the working platform and the central axis of the rotating column and the measured contact network 4 after compensation. At the same time, the built-in angle sensor 3 measures the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam 13;

[0103] Step S3.2, measure L4 value

[0104] The controller obtains the actual distance L4 between the sensor installation location and the lower end surface of the working platform 3 through the distance sensor 9;

[0105] Step S3.3, measure L1 and L2 values, calculate α and H2 values

[0106] The controller obtains the distance between the sensor installation point and the left and right sides of the lower end surface of the car body 1 through two distance sensors 6, thereby deducing the corresponding position distances L1 and L2 between the upper end surfaces of the left and right sides of the bogie 5 and the lower end surface of the car body 1, and calculates the angle α between the upper plane M3 of the rail 2 and the upper plane M1 of the working platform 3, and the distance H2 between the bogie 5 and the center of the lower end of the car body 1;

[0107] Step S4, calculate the guide height and pull-out value

[0108] The controller calculates the conductor height LH and the pull-out value LC of the contact network 4 under test according to the parameters obtained from steps S1, S3.1, S3.2 and S3.3;

[0109] Steps S3.1, S3.2 and S3.3 are performed in no particular order.

[0110] The automatic measurement mode or the manual measurement mode can be selected through the touch screen 7; in the automatic measurement mode, the controller controls the built-in servo motor 2 of the measuring host 8 to make the laser beam emitted by the laser rangefinder scan and measure in a fan-shaped frequency scanning manner. At this time, the controller collects the measurement data of the laser rangefinder and the angle sensor 3 at a certain frequency, and filters out invalid measurement values ​​through the preset threshold of the touch screen, and finally measures the distance S between the intersection of the long axis and the short axis of the working platform on the plane M1 on the working platform and the measured contact network 4, and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam 13;

[0111] In the manual measurement mode, the operator sends instructions to the controller by operating the touch screen 7 to control the servo motor to drive the laser measuring instrument to perform manual pitch action. After the operator confirms on-site that the measuring laser beam 13 is aimed at the contact network 4 to be measured, the controller obtains the measurement data of the laser rangefinder and the angle sensor 3 at this time to obtain the distance S between the intersection of the central axis 12 of the working platform and the central axis of the rotating column and the contact network 4 to be measured, and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam 13.

[0112] Figure 7 This is a flow chart of automatic rotation control of the measuring host of the present invention. The controller controls the rotation angle of the measuring host according to the rotation angle of the working platform, and monitors the rotation angle of the measuring host at all times until the rotation angles of the two are the same and the directions are opposite.

[0113] Figure 8 In the automatic measurement mode of the present invention, the following steps are included when measuring S and β values:

[0114] The first step is to set the threshold range for β and S values ​​in the touch screen 7;

[0115] In the second step, the controller controls the servo motor 2 built into the measuring host 8 to drive the laser measuring instrument built into the measuring host 8 to pitch in the rail cross section M2;

[0116] In the third step, the laser measuring instrument emits a laser measuring beam at a certain frequency in the rail cross section M2 for scanning measurement;

[0117] Step 4: The angle sensor 3 and the laser rangefinder respectively obtain the measurement values ​​β and S at each scan and send them to the controller, which stores these measurement values ​​in the form of (β, S) data groups;

[0118] In the fifth step, the controller determines and discards unqualified data sets, and outputs qualified (β, S) to the touch screen 7 for operators to select.

Claims

1. A vehicle-mounted contact network geometric parameter measuring device, characterized in that: include: Angle sensor 1, arranged in the rotating column (10), for measuring the angle γ of rotation of the working platform (3); A distance sensor 1 (9) is arranged on the base of the rotating column (10) and is used to measure the actual distance L4 between the distance sensor 1 (9) and the lower end surface of the working platform (3); Two distance sensors 2 (6) are symmetrically arranged on the upper end surfaces of the left and right sides of the bogie (5) and are used to respectively measure the distances L1 and L2 between the upper end surfaces of the left and right sides of the bogie (5) and the corresponding positions of the lower end surface of the vehicle body (1); A measuring host (8) is arranged on the working platform (3) of the overhead contact network working vehicle and is used to measure the distance between its installation position and the measured overhead contact network (4) and obtain after compensation: the distance S between the intersection of the central axis (12) of the working platform and the central axis of the rotating column and the measured overhead contact network (4) and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam (13); The controller is used to control the measuring host (8) to perform rotation compensation according to the angle γ measured by the angle sensor 1, so that the plane of the scanning laser emitted by the laser rangefinder of the measuring host (8) is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail; and is used to calculate the angle α between the plane M3 on the rail and the plane M1 on the working platform, and the distance H2 between the bogie (5) and the center of the lower end of the main vehicle body 1 according to the L1 and L2 measured by the two distance sensors 2 (6); The touch screen (7) is connected to the controller and is used to preset the width W of the vehicle body, the distance L5 from the lower end face to the upper end face of the working platform (3), the distance L3 from the lower end face of the vehicle body (1) to the distance sensor 1 (9), and the distance H1 from the upper end face of the bogie (5) to the rail (3), and calculate the height conductance value LH and the pull-out value LC of the contact network (4) to be measured by the controller in combination with the angle sensor 1, the distance sensor 1 (9), the two distance sensors 2 (6) and the measuring host (8) based on the distances H1, L1, L2, L3, L4, L5, S and the angle values ​​β and α.

2. The vehicle-mounted overhead contact network geometric parameter measuring device according to claim 1, characterized in that: The measuring host (8) has a built-in laser rangefinder, two sets of servo motors, and two sets of angle sensors.

3. The vehicle-mounted overhead contact network geometric parameter measuring device according to claim 2 is characterized in that: One of the servo motors 1 of the measuring host (8) is used to drive the measuring host (8) as a whole to perform a rotational motion on the plane M1 on the working platform, and the other servo motor 2 is used to drive the laser rangefinder built into the measuring host (8) to perform a pitch motion in a cross section perpendicular to the plane M1 on the working platform; One of the angle sensors 2 of the measuring main machine (8) is used to measure the angle of rotation compensation of the measuring main machine (8), and the other angle sensor 3 is used to measure the angle β between the center normal line n2 of the plane M1 on the working platform and the measuring laser beam (13).

4. The vehicle-mounted overhead contact network geometric parameter measuring device according to claim 1, characterized in that: The calculation formula of the controller measurement program algorithm is: Lead height LH=H1+(L1+L2) / 2+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*cosα; Pull value LC=S*sinβ / cosα+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*sinα; Where: H1 is the distance between the upper end surface of the bogie (5) and the upper plane M3 of the rail; L1 and L2 are the corresponding distances between the upper end surfaces of the left and right sides of the bogie (5) and the lower end surface of the vehicle body (1); L3 is the distance from the lower end surface of the vehicle body (1) to the distance sensor 1 (9); L4 is the actual distance between the distance sensor 1 (9) and the lower end surface of the working platform (3); L5 is the distance between the lower end surface and the upper end surface of the working platform (3); S is the distance between the intersection of the central axis of the working platform and the central axis of the rotating column and the contact network (4) to be measured; β is the angle between the center normal n2 of the plane M1 on the working platform and the measuring laser beam (13); α is the angle between the upper plane M3 of the rail (2) and the upper plane M1 of the working platform (3), α=arctan(L1-L2) / W, W is the width of the vehicle body (1).

5. A method for measuring a contact network using the measuring device according to claim 3, characterized in that: The following steps are involved: Step S1, preset parameters The distance L5 between the lower end surface and the upper end surface of the working platform (3), the distance L3 between the lower end surface of the vehicle body (1) and the distance sensor 1 (9), the distance H1 between the upper end surface of the bogie (5) and the rail, and the vehicle body width W are preset through the touch screen (7); Step S2, measuring the automatic rotation control of the host The controller obtains the rotation angle γ of the working platform (3) in real time through the angle sensor 1, and automatically controls the measuring host (8) to rotate in the opposite direction of the rotation angle of the working platform (3), and obtains the angle feedback value of the rotation action of the measuring host (8) in real time through the angle sensor 2, so that it accurately rotates the same angle γ, so that the plane where the scanning laser emitted by the laser rangefinder of the measuring host (8) is located, that is, the rail cross section M2 is always perpendicular to the plane M1 on the working platform and the plane M3 on the rail; Step S3.1, measure S and β values The controller measures the distance between the installation position and the measured contact network (4) by using the built-in laser distance meter of the measuring host (8), and after compensation, obtains: the distance S between the intersection of the central axis of the working platform (12) and the central axis of the rotating column and the measured contact network (4), and at the same time measures the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam (13) by using the built-in angle sensor; Step S3.2, measure L4 value The controller obtains the actual distance L4 between the sensor installation location and the lower end surface of the working platform (3) through the distance sensor 1 (9); Step S3.3, measure L1 and L2 values, calculate α and H2 values The controller obtains the distance between the sensor installation point and the left and right sides of the lower end surface of the vehicle body (1) through two distance sensors (6), thereby deducing the corresponding position distances L1 and L2 between the upper end surfaces of the left and right sides of the bogie (5) and the lower end surface of the vehicle body (1), and calculates the angle α between the upper plane M3 of the rail (2) and the upper plane M1 of the working platform (3), and the distance H2 between the bogie (5) and the center of the lower end of the vehicle body (1); Step S4, calculate the guide height and pull-out value The controller calculates the conductor height LH and the pull-out value LC of the contact network (4) under test according to the parameters H1, L1, L2, L3, L4, L5, S, β, α obtained from steps S1, S3.1, S3.2, and S3.3; Steps S3.1, S3.2 and S3.3 are performed in no particular order.

6. The method according to claim 5, characterized in that: In step S3.1, the automatic measurement mode or the manual measurement mode can be selected through the touch screen (7).

7. The method according to claim 6, characterized in that: In the automatic measurement mode, the controller controls the built-in servo motor 2 of the measuring host (8) to make the laser beam emitted by the laser rangefinder scan and measure in a fan-shaped frequency scanning manner. At this time, the controller collects the measurement data of the laser rangefinder and the angle sensor 3 at a certain frequency, and filters out invalid measurement values ​​through the preset threshold of the touch screen, and finally obtains the distance S between the intersection of the central axis (12) of the working platform and the central axis of the rotating column and the measured contact network (4) and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam (13); In the manual measurement mode, the operator sends instructions to the controller by operating the touch screen (7) to control the servo motor to drive the laser measuring instrument to perform manual pitching action. After the operator confirms on-site that the measuring laser beam (13) is aimed at the contact network (4) to be measured, the controller obtains the measurement data of the laser rangefinder and the angle sensor 3 at this time to obtain the distance S between the intersection of the central axis (12) of the working platform and the central axis of the rotating column and the contact network (4) to be measured, and the angle β between the center normal n2 of the plane M1 on the working platform and the measuring laser beam (13).

8. The method according to claim 5, characterized in that: In step S3.3, the distances L1 and L2 measured by the two distance sensors 2 (6) and the vehicle width W are substituted into the following calculation formula: α=arctan(L1-L2) / W; H2=(L1+L2) / 2; Wherein α is the angle between the upper plane M3 of the rail (2) and the upper plane M1 of the working platform (3), and H2 is the distance between the bogie (5) and the center of the lower end of the vehicle body (1).

9. The method according to any one of claims 5 or 8, characterized in that: In step 4, the parameters obtained from steps S1, S3.1, S3.2, and S3.3 are used in the following calculation formula: LH=H1+(L1+L2) / 2+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*cosα; LC=S*sinβ / cosα+[L3+L4+L5+S*(cosβ-sinβ*tanα)]*sinα; Wherein LH is the height value of the contact network (4) under test, and LC is the pull-out value of the contact network (4) under test.

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