A method for continuous running obstacle avoidance and wear measurement of power supply lines

Abstract

The present invention discloses a method for continuous running obstacle avoidance and wear measurement of power lines, which involves the detection and avoidance of obstacles on the power lines and the detection and feedback of the wear degree of the power lines; during the inspection process, when the diffuse reflection laser sensor detects the presence of an obstacle on the power lines, the running obstacle avoidance method is used to realize the retractable running wheels to open outward to a preset angle to complete the obstacle avoidance function; the online running obstacle avoidance device is equipped with a line laser sensor to form a power line wear inspection device, which performs the power line wear detection task, and adopts the wear state internal calculation algorithm to calculate the wear state value of the power line, and compares the wear state value obtained by the detection calculation with the standard safe wear range value of the power line to judge whether the wear degree of the power line exceeds the safety threshold and needs maintenance and repair; the method of the present invention has important research significance and practical value in the actual maintenance and repair operations of railway power line wear detection equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of power line running obstacle avoidance and power line wear detection, and in particular to a method for continuous power line running obstacle avoidance and wear measurement. The current on which the train operation depends is transmitted through the power line at the upper end of the train, and the wear state of the power line determines whether the current can be safely transmitted, which affects the power supply of the train. Therefore, it is very necessary to realize the continuous running of the detection device on the railway power line and detect the wear state of the power line. Background Art

[0002] In recent years, with the increasing pressure of railway traffic, electric locomotives have developed rapidly due to their advantages such as low cost, low noise and less environmental pollution. The power supply line is an important component of the electric locomotive. It undertakes two important functions: continuously supplying power to the train and transmitting electrical energy. Timely monitoring of the wear of the power supply line is of great significance to ensuring the safe and stable operation of the train and protecting people's lives and property.

[0003] At present, the common method for detecting power line wear still relies mainly on manual inspection. Railway maintenance personnel use measuring tools such as handheld vernier calipers to obtain the power line dimensions to determine the degree of power line wear. This detection method requires contact with the power line, which poses a safety risk. In addition, the detection time for each measuring point is too long and the detection efficiency is low. Although the wear of the power line can be calculated, the detection results are greatly affected by human subjective factors. The power line wear detection accuracy is low, and only sampling inspections can be performed on the power line, which cannot fully cover the entire line and is prone to missed detections.

[0004] Therefore, the present invention discloses a method for continuous running obstacle avoidance and wear measurement of power supply lines. The specific implementation method has important research significance and practical value in the actual maintenance and repair of railway power supply line wear detection equipment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method for continuous running, obstacle avoidance and wear measurement of power supply lines. The method can realize the continuous running of the entire device on the power supply line and avoid obstacles, and at the same time detect whether the power supply line has abnormal wear and needs maintenance; the method for continuous running, obstacle avoidance and wear measurement of power supply lines is provided to help existing power supply line wear detection methods overcome the problems of inability to perform continuous running detection on the power supply line and low detection efficiency.

[0006] The present invention provides a method for continuously running a power line, avoiding obstacles, and measuring wear, comprising the following steps:

[0007] Steps for running the power line;

[0008] Steps for obstacle avoidance;

[0009] Steps for power line wear detection;

[0010] The walking steps are divided into the following steps:

[0011] Step A: installing multiple pairs of retractable running wheels on the entire device so that the entire device is suspended on the power supply line;

[0012] Step B: The device is also provided with a travel motor that drives the retractable travel wheel to rotate, providing travel power to the retractable travel wheel, thereby realizing the travel function of the entire device on the power supply line;

[0013] The obstacle avoidance steps are divided into the following steps:

[0014] Step a: Using a diffuse reflection laser sensor to emit a laser signal at a set frequency to the power line, detect in real time whether there are obstacles on the power line, and generate a control instruction based on the detection result and send it to the controller;

[0015] Step b: When the diffuse reflection laser sensor detects an obstacle on the power supply line, it sends an obstacle avoidance instruction to the controller; through the running obstacle avoidance method disclosed in the present invention, the retractable running wheels are opened outward to a preset angle θ to avoid the obstacle, thereby realizing the obstacle avoidance function of the entire device on the power supply line and achieving the continuous running effect of the entire device;

[0016] Among them, the wear detection steps are divided into the following steps:

[0017] Step 1): Mount the line laser sensor on the installed online obstacle avoidance device to form a power line wear inspection device, ready to perform power line wear detection tasks;

[0018] Step 2): Before performing the power line wear detection task, the line laser sensor should be calibrated to its initial state to ensure that the emitted line laser can cover the wear detection area of ​​the power line, that is, the irradiation width of the line laser on the projection plane perpendicular to the length direction of the power line L 测 Larger than the diameter of the power line D , expressed as L 测 > D ;

[0019] Step 3): The line laser sensor emits a line laser at a certain frequency toward the bottom of the power line, thereby forming a structured light perpendicular to the length direction of the power line at the bottom of the power line. The wear state value of the power line is calculated by the internal wear state calculation algorithm;

[0020] Step 4): Compare the wear status value calculated by the test with the standard safe wear range value of the power line to determine whether the wear degree of the power line exceeds the safety threshold and requires maintenance and repair;

[0021] Step 5): Upload the power line wear test results to the computer terminal for storage.

[0022] The present invention is further characterized in that the preset angle θ is the distance that the grating baffle is lifted upward by the electric push rod. L 顶升 Inspection, lifting distance L 顶升可由距离 The setting sensor is used to determine whether the retractable travel wheel has been opened to the preset angle. The lifting distance can be calculated by formula (1):

[0023] L 顶升 = L 避 - L 行 (1)

[0024] in, L 避 The height distance from the grating baffle to the distance setting sensor when the retractable running wheels are opened outward to a preset angle θ to achieve the obstacle avoidance function; L 行 The height distance from the grating baffle to the distance setting sensor when the retractable walking wheel is in the closed state and the entire device is running normally.

[0025] A further feature of the present invention is that the device is equipped with multiple pairs of retractable running wheels, all of which adopt the obstacle avoidance method to achieve the obstacle avoidance function; when a pair of retractable running wheels are in obstacle avoidance work, the remaining retractable running wheels are always in the walking working state; by controlling the retractable running wheels in sequence to perform obstacle avoidance work, the working stability of the entire device is guaranteed during the walking and obstacle avoidance process, and the entire device is prevented from falling off the power supply line, thereby realizing continuous walking detection of the entire device on the power supply line.

[0026] The present invention is further characterized in that the wear state internal calculation algorithm used in the power line wear detection step is: a line laser sensor emits a line laser at a certain frequency to the bottom of the power line, thereby forming a structured light perpendicular to the length direction of the power line at the bottom of the power line; after the power line is detected to be worn, the distance between the laser emitter on the line laser sensor and the lowest point of the structured light is L ; and measure the distance between the laser emitter on the outgoing laser sensor and the highest point of the structured light, that is, the maximum distance measured is L maxThe wear amount of the power supply line can be calculated by the internal calculation algorithm formula (2) of the wear state. L :

[0027] △ L=LL min (2)

[0028] in, L min It is the initial minimum distance between the laser emitter on the line laser sensor and the lowest point of the structured light, measured when there is no wear on the power line.

[0029] A further feature of the present invention is that, in the step of detecting power line wear, a big data analysis can be performed on the power line wear detection results uploaded to the computer terminal for storage in step 5). Based on the analysis results, the degree of wear of the power line in the next stage and the remaining service life of the power line can be predicted, which helps to more accurately repair the worn power line.

[0030] The advantages of the method for continuous obstacle avoidance and wear measurement of power lines provided by the present invention are: the obstacle avoidance method is to install multiple pairs of retractable running wheels on the overall device so that the overall device is suspended on the power line. When the diffuse reflection laser sensor detects an obstacle, the retractable running wheels open outward to a preset angle to avoid the obstacle and complete the obstacle avoidance work; the use of this obstacle avoidance method can make the overall device easily avoid obstacles during the power line inspection process, and realize that the overall device can continuously move along the power line; the power line wear inspection device is to carry out continuous detection of the power line by mounting a line laser sensor on the online obstacle avoidance device, quickly and conveniently realize continuous detection of the power line wear and obtain a power line wear status report; the specific implementation method adopted by the present invention has important research significance and practical value in the actual maintenance and repair work of railway power line wear detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Attachment Figure 1 :A flow chart of a method for continuous running obstacle avoidance and wear measurement of power lines;

[0032] Attachment Figure 2 : Schematic diagram of a single obstacle avoidance component;

[0033] Attachment Figure 3 : Schematic diagram of the retractable running wheels for obstacle avoidance when an obstacle is detected;

[0034] Attachment Figure 4 : Schematic diagram of the initial state calibration of the line laser sensor;

[0035] Attachment Figure 5 : Schematic diagram of line laser sensor wear detection before power line wear;

[0036] Attachment Figure 6 : Schematic diagram of line laser sensor wear detection after power line wear;

[0037] Reference numerals: electric push rod (1), travel motor (2), retractable travel wheel (3), power supply line (4), grating baffle (5), distance setting sensor (6), line laser sensor (7). DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0039] The operation of a method for continuous power line obstacle avoidance and wear measurement in an embodiment is as follows:

[0040] The flowchart of the steps mentioned in the method for continuous running obstacle avoidance and wear measurement of power supply lines provided by the present invention is shown in the attached figure. Figure 1 shown.

[0041] The walking step mentioned in the method for continuous walking obstacle avoidance and wear measurement of a power line provided by the present invention is specifically implemented in the embodiment as follows: by installing multiple pairs of retractable walking wheels (3) on the overall device, the overall device is suspended on the power line (4); the device is also provided with a walking motor (2) for driving the retractable walking wheels (3) to rotate, providing the retractable walking wheels (3) with traveling power, thereby realizing the walking function of the overall device on the power line (4); Figure 2 shown.

[0042] The obstacle avoidance step mentioned in the method for continuous obstacle avoidance and wear measurement of a power line provided by the present invention is specifically implemented in the embodiment as follows: during the inspection process of the device along the power line (4), when the diffuse reflection laser sensor detects that there is an obstacle on the power line (4), an obstacle avoidance instruction is sent to the controller, and the retractable walking wheel (3) is realized by the walking obstacle avoidance method disclosed by the present invention, and is opened outward in the radial direction of the power line (4) to a preset angle θ to avoid the obstacle, thereby completing the obstacle avoidance function of the entire device, such as Figure 3 shown.

[0043] Furthermore, the present invention provides a method for continuously avoiding obstacles and measuring wear of a power line. The specific implementation operation in the embodiment is as follows: the preset angle θ is driven by the electric push rod (1) to lift the grating baffle (5) upward by a distance of L 顶升 Inspection, lifting distance L 顶升可由距离The setting sensor (6) measures whether the retractable travel wheel (3) has been opened to a preset angle. The lifting distance can be calculated by formula (1):

[0044] L 顶升 = L 避 - L 行 (1)

[0045] in, L 避 The height distance between the grating baffle (5) and the distance setting sensor (6) when the retractable running wheel (3) is opened outward to a preset angle θ to realize the obstacle avoidance function; L 行 When the retractable running wheel (3) is in a closed state and the entire device is running normally, the height distance between the grating baffle (5) and the distance setting sensor (6) is; Figure 2 、 Figure 3 shown.

[0046] Preferably, during the power line wear inspection process of the power line inspection device, the multiple pairs of retractable running wheels (3) all adopt the above-mentioned walking obstacle avoidance method to realize the obstacle avoidance function; when one pair of retractable running wheels (3) is in the obstacle avoidance work, the other retractable running wheels (3) are always in the walking work state; by sequentially controlling the retractable running wheels (3) to perform the obstacle avoidance work, the working stability of the entire device is ensured during the walking obstacle avoidance process, and the entire device is prevented from falling off on the power line (4), thereby realizing continuous walking detection of the entire device on the power line (4).

[0047] The wear detection step mentioned in the method for continuous running obstacle avoidance and wear measurement of a power line provided by the present invention is specifically implemented in the embodiment as follows: the first step is to mount the line laser sensor (7) on the installed line running obstacle avoidance device to form a power line wear detection device, and prepare to perform the power line wear detection task; the second step is to perform the initial state calibration of the line laser sensor (7) before performing the power line wear detection task to ensure that the emitted line laser can cover the wear detection area of ​​the power line, that is, on the projection surface perpendicular to the length direction of the power line, the irradiation width of the line laser is L 测 Larger than the diameter of the power supply wire (4) D , expressed as L 测 > D , as attached Figure 4As shown; in the third step, the line laser sensor (7) emits a line laser at a certain frequency to the bottom of the power line (4), thereby forming a structured light perpendicular to the length direction of the power line (4) at the bottom of the power line (4), and calculates the wear state value of the power line (4) through the wear state internal calculation algorithm; the wear state of the power line detected during the driving process of the device is shown in the attached Figure 6 As shown, the shaded area represents the wear of the power supply line △ L .

[0048] Furthermore, the wear state internal calculation algorithm mentioned in the method for continuous running obstacle avoidance and wear measurement of a power line provided by the present invention is specifically implemented in the embodiment as follows: a line laser sensor (7) emits a line laser at a certain frequency to the bottom of the power line (4), thereby forming a structured light perpendicular to the length direction of the power line at the bottom of the power line (4); it can be detected that after the power line (4) is worn, the distance between the laser emitter on the line laser sensor (7) and the lowest point of the structured light is L ; and measure the distance between the laser emitter on the outgoing laser sensor (7) and the highest point of the structured light, that is, the maximum distance measured is L max The wear amount of the power supply line can be calculated by the internal calculation algorithm formula (2) of the wear state. L :

[0049] △ L=LL min (2)

[0050] in, L min The initial minimum distance between the laser emitter on the line laser sensor (7) and the lowest point of the structured light is measured when the power supply line (4) is not worn. The wear state value calculated by the detection is the wear amount of the power supply line (4) obtained by formula (2) △ L Compare the power line (4) with the standard safe wear range value to determine whether the wear of the power line (4) exceeds the power line wear danger range, so as to make corresponding repairs to the power line (4), such as Figure 5 、 Figure 6 shown.

[0051] Furthermore, the wear detection step mentioned in the method for continuous running obstacle avoidance and wear measurement of a power line provided by the present invention is specifically implemented in the embodiment as follows: after completing a power line wear detection task, the line laser sensor (7) carried by the running obstacle avoidance device generates a report of the measured power line wear detection results, saves it and sends it to the computer terminal and the display screen held by the railway power line maintenance personnel; the entire device continues to move forward along the power line (4) to the next power line wear detection position, and waits for the maintenance personnel to issue the next power line wear detection task instruction.

[0052] Furthermore, it should be made clear that in order to realize the functions of wear detection, continuous running and obstacle avoidance of the power supply line as stated in this embodiment, corresponding circuits and control systems need to be set up. Since the corresponding steps, methods and working principles have been fully explained in this embodiment, the corresponding circuits and control systems are conventional technical means in this field and will not be introduced in detail in this application.

Claims

1. A method for continuous running obstacle avoidance and wear measurement of power lines, characterized in that: The following steps are involved: Steps for running the power line; Steps for obstacle avoidance; Steps for power line wear detection; The walking steps are divided into the following steps: Step A: installing multiple pairs of retractable running wheels on the entire device so that the entire device is suspended on the power supply line; Step B: The device is also provided with a travel motor that drives the retractable travel wheel to rotate, providing travel power to the retractable travel wheel, thereby realizing the travel function of the entire device on the power supply line; The obstacle avoidance steps are divided into the following steps: Step a: Using a diffuse reflection laser sensor to emit a laser signal at a set frequency to the power line, detect in real time whether there are obstacles on the power line, and generate a control instruction based on the detection result and send it to the controller; Step b: When the diffuse reflection laser sensor detects an obstacle on the power supply line, it sends an obstacle avoidance command to the controller; the retractable running wheels are opened outward to a preset angle θ to avoid the obstacle, thereby realizing the obstacle avoidance function of the entire device on the power supply line and achieving the continuous running effect of the entire device; the preset angle θ is driven by the electric push rod to lift the grating baffle upward by a distance L 顶升 Inspection, lifting distance L 顶升 It can be measured by the distance setting sensor and used to determine whether the retractable running wheel has been opened to the preset angle. The lifting distance can be calculated by formula (1): L 顶升 =L 避 -L 行 (1) Among them, L 避 When the retractable running wheel opens outward to the preset angle θ to realize the obstacle avoidance function, the height distance from the grating baffle to the distance setting sensor is L. 行 When the retractable running wheel is in the closed state and the whole device is running normally, the height distance from the grating baffle to the distance setting sensor; Among them, the wear detection steps are divided into the following steps: Step 1): Mount the line laser sensor on the installed online obstacle avoidance device to form a power line wear inspection device, ready to perform power line wear detection tasks; Step 2): Before performing the power line wear detection task, the line laser sensor should be calibrated to its initial state to ensure that the emitted line laser can cover the wear detection area of ​​the power line, that is, on the projection plane perpendicular to the length direction of the power line, the irradiation width L of the line laser is 测 It must be larger than the diameter D of the power supply line, expressed as L 测 >D; Step 3): The line laser sensor emits a line laser at a certain frequency toward the bottom of the power line, thereby forming a structured light perpendicular to the length direction of the power line at the bottom of the power line. The wear state value of the power line is calculated by the internal wear state calculation algorithm; Step 4): Compare the wear status value calculated by the detection with the standard safe wear range value of the power line to determine whether the wear degree of the power line exceeds the safety threshold and requires maintenance and repair; Step 5): Upload the power line wear test results to the computer terminal for storage.

2. The method for continuous running obstacle avoidance and wear measurement of power supply lines according to claim 1, characterized in that: The device is equipped with multiple pairs of retractable running wheels, all of which adopt the obstacle avoidance method to achieve the obstacle avoidance function; when one pair of retractable running wheels is in the obstacle avoidance work, the other retractable running wheels are always in the walking working state; by controlling the retractable running wheels in sequence to perform the obstacle avoidance work, the working stability of the entire device is guaranteed during the walking and obstacle avoidance process, and the entire device is prevented from falling off the power supply line, thereby realizing continuous walking detection of the entire device on the power supply line.

3. The method for continuous running obstacle avoidance and wear measurement of power supply lines according to claim 1, characterized in that: The wear state internal calculation algorithm used in the power line wear detection step is as follows: a line laser sensor emits a line laser at a certain frequency to the bottom of the power line, thereby forming a structured light perpendicular to the length direction of the power line at the bottom of the power line; after the power line is worn, it can be detected that the distance between the laser emitter on the line laser sensor and the lowest point of the structured light is L; and the distance between the laser emitter on the line laser sensor and the highest point of the structured light is measured, that is, the maximum measured distance is L max The wear loss of the power supply line △L can be calculated by the internal calculation algorithm formula (2): ΔL=L-L min (2) Among them, L min It is the initial minimum distance between the laser emitter on the line laser sensor and the lowest point of the structured light, measured when there is no wear on the power line.

4. The method for continuous running obstacle avoidance and wear measurement of power supply lines according to claim 1, characterized in that: By adopting the running obstacle avoidance method and the wear detection method, continuous wear detection of the entire device on the power supply line can be achieved.

5. The method for continuous running obstacle avoidance and wear measurement of power supply lines according to claim 1, characterized in that: The power line wear detection results uploaded to the computer terminal for storage in step 5) can be subjected to big data analysis. Based on the analysis results, the wear degree of the power line in the next stage and the remaining service life of the power line can be predicted, which helps to more accurately repair the worn power line.

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