Method and device for high-precision continuous measurement of geometric parameters of overhead line system

Abstract

The invention relates to the technical field of railway catenary geometric parameter detection, and discloses a method for high-precision continuous measurement of catenary geometric parameters, which is characterized in that the method is applied to a device for high-precision continuous measurement of catenary geometric parameters. The device is provided with a laser ranging module, a laser galvanometer module, a control module and a data processing module, the method comprises the step of emitting a ranging laser beam to a laser reflector, and according to the method and device for high-precision continuous measurement of the geometric parameters of the overhead line system, a deflection motor is controlled to drive the laser reflector to perform high-speed high-precision quantitative deflection; a distance measuring laser beam is emitted through a laser measuring module and irradiates a laser reflecting mirror to form a fan-shaped scanning area, laser distance values between a carrier cable, a dropper and a contact line and the laser distance measuring module are obtained at the same time in the area, and a guide height value and a pull-out value of the contact line are obtained after calculation. Therefore, the purpose of continuously measuring the geometric parameters of the contact line with high precision is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of railway contact network geometric parameter detection, and in particular to a method and a device for high-precision continuous measurement of contact network geometric parameters. Background Art

[0002] The overhead contact network is a high-voltage transmission line erected in a zigzag shape above the rails in electrified railways for the pantograph to draw current. It consists of contact suspension, supporting device, positioning device, pillars and foundation. The contact suspension includes contact wire, dropper strings, load-bearing cables, connecting parts and insulators. Ensuring that the geometric parameters of the overhead contact network (conductor height, pull-out value) are maintained within the design allowable error range is a basic prerequisite for ensuring the safety and economical operation of trains.

[0003] In the prior art, two types of equipment, a large inspection vehicle and a small inspection vehicle, are generally used. The principle of measuring the geometric parameters of the contact network by the large inspection vehicle is to continuously scan and irradiate the contact line with a laser line perpendicular to the contact line. When the laser line hits the contact line, a laser bright spot will appear. When the camera continuously shoots a specific area at a set time interval and a fixed position, by adjusting the exposure time, the rest of the photo can present a black background except for the laser bright spot. The program identifies the X and Y positions of the laser bright spot in the photo. According to the parameters calibrated by the internal and external parameters of the camera, the pixels of the bright spot in the image can be converted into the conductance value and pull-out value of the corresponding contact line, so that the geometric parameters (conductance value and pull-out value) of the contact network at various locations along the rail can be calculated;

[0004] For the inspection vehicle, since the distance between the vehicle and the contact network is much farther than that of the large inspection vehicle, the camera's viewing angle is too small, and the size of the actual height guide value and pull-out value corresponding to one pixel in the photo is too large, which exceeds the accuracy required for geometric parameter detection. The inspection vehicle cannot use the existing technical solution of shooting laser bright spots with cameras and identifying laser bright spot coordinates for geometric parameter detection;

[0005] Another solution is to use a simple laser rangefinder. By fixing the base of the laser rangefinder on the rail, manually adjusting the deflection angle of the ranging laser to measure the geometric parameters of a point on the contact line, this solution uses manual measurement. Each time a point is measured, the laser rangefinder needs to be moved and the laser deflection angle needs to be manually adjusted. Continuous measurement is not possible and manual adjustment is required, resulting in low measurement efficiency. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a method and device for high-precision continuous measurement of contact network geometric parameters, which solves the problem of insufficient camera viewing angle and inaccurate identification of the detection vehicle mentioned in the background technology.

[0007] The present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a method for high-precision continuous measurement of contact network geometric parameters: the method is applied to a device for high-precision continuous measurement of contact network geometric parameters, the device having a laser ranging module, a laser galvanometer module, a control module and a data processing module, the method comprising: according to the laser ranging module, emitting a ranging laser beam toward a laser reflector of the laser galvanometer module, according to the control module, controlling the laser reflector in the laser galvanometer module to undergo high-precision, high-speed and quantitative deflection, flipping the ranging laser beam at an angle to form a fan-shaped scanning area, contacting the contact line of the contact network according to the fan-shaped scanning area, returning the ranging laser beam to the laser ranging module through diffuse reflection of the contact line, obtaining a laser distance value between the contact line and the laser ranging module, and simultaneously obtaining a deflection angle value of the ranging laser beam when the contact line contacts the ranging laser beam;

[0009] According to the data processing module, the trigonometric function formula is used to calculate the conductance value and pull-out value of the contact line; wherein, the conductance value calculation formula is: conductance value = effective laser distance value * sin (90-α), wherein, the pull-out value calculation formula is: pull-out value = effective laser distance value * cos (90-α), wherein, α is the angle between the ranging laser beam and the plumb line of the center of the track when the ranging laser beam contacts the contact line.

[0010] Optionally, the control module has an A / D converter and a D / A converter, and the method further includes: according to the control module, controlling the laser ranging module to emit a ranging laser beam, the data output refresh rate of the laser ranging module is relatively high, matching the deflection speed of the laser galvanometer module, and according to the control module, controlling the laser galvanometer module to flip and adjust the irradiation angle of the ranging laser beam.

[0011] Optionally, the laser ranging module emits and receives ranging lasers to perform high-precision ranging of objects within 10 meters, and outputs the laser distance value in real time as an analog voltage value. The method also includes: according to the laser ranging module, the control module controls the laser ranging module to automatically and continuously emit a ranging laser beam, and when the ranging laser beam irradiates a contact line or other diffuse reflection objects, it continuously outputs a valid laser distance value to the control module, and when the ranging laser beam irradiates the air without diffuse reflection objects, it outputs an invalid laser distance value.

[0012] Optionally, the laser galvanometer module has a deflection motor, a laser reflector and a driving module, and the method further includes: according to the control module outputting a high-precision digital quantity, converting and outputting a -5V to +5V high-precision analog voltage to the driving module through a D / A module, according to the driving module, outputting a high-precision deflection voltage to control the deflection motor to perform a high-precision quantitative deflection, according to the deflection motor, driving the laser reflector in the laser galvanometer module to perform a high-precision quantitative deflection, and obtaining a laser deflection angle β, according to the control module, controlling the ranging laser beam to irradiate the surface of the laser reflector that is continuously deflected with high precision and quantitativeness, thereby continuously and highly precisely quantitatively changing the incident angle and reflection angle of the ranging laser beam.

[0013] Optionally, the data processing module has a software identification module, and the method further includes: judging through the software identification module whether it is a valid laser distance value obtained continuously in the same position, if it is a continuous valid laser distance value of the same position, judging it as the effective laser distance value of the suspension string and removing it, if not, judging it as the effective laser distance value of the catenary and the contact line; according to the software identification module, inputting the effective laser distance value of the catenary and the contact line, the reflection angle and the laser deflection angle β when the effective laser distance value is obtained, calculating α, according to the α and the guide height value calculation formula: guide height value = effective laser distance value * sin (90-α), obtaining the guide height values ​​of the catenary and the contact line, according to the software identification module, distinguishing the guide height values ​​of the contact line and the catenary, wherein: If the height threshold is greater than 1 and less than 2, it can be judged as a load-bearing cable, and if the height threshold is between 2 and 3, it can be judged as a contact line. According to the above judgment, after determining the effective laser distance value of the contact line, the pull-out value of the contact line is obtained according to the α and pull-out value calculation formula: pull-out value = effective laser distance value * cos (90-α).

[0014] Optionally, the method is applied to a device for high-precision continuous measurement of contact network geometric parameters, the device also having a body shell, and the body shell includes a flat transparent lens, the method also includes: according to the body shell, the body shell is driven and controlled by a motor, and moves in a straight line at a uniform speed on a track for measurement, and the moving speed of the body shell is adjustable in steps of 1-5km / h, according to the control module, the ranging laser beam is controlled to irradiate the laser reflector, and pass through the flat transparent mirror to form a fan-shaped scanning area above the track.

[0015] In a second aspect, a device for high-precision continuous measurement of contact network geometric parameters is characterized in that: the device comprises: a body shell driving unit, the body shell is driven by a motor to move in a straight line at a uniform speed on the track and perform measurement; a first obtaining unit, the first obtaining unit is used to obtain the effective laser distance value and β of the contact line, the suspension string and the load-bearing cable after they contact the ranging laser beam and the laser ranging module according to the ranging laser beam emitted by the laser ranging module and the adjustment and refraction of the ranging laser beam angle by the laser galvanometer module;

[0016] A data processing unit, wherein the data processing unit determines, according to the software recognition module, whether the effective laser distance values ​​of the contact line, the suspension string and the catenary cable after contacting the ranging laser beam are in the same position and continuous with the effective laser distance values ​​of the laser ranging module; if so, it is determined to be the effective laser distance value of the suspension string; if not, it is determined to be the effective laser distance value of the catenary cable and the contact line; according to the software recognition module, the effective laser distance values ​​of the catenary cable and the contact line, the reflection angle and the laser deflection angle β when the effective laser distance value is obtained are input to calculate α;

[0017] According to the software identification module, the effective laser distance value and α of the load-bearing cable and the contact line are input, and according to the formula; the height conduction value calculation formula: contact line height conduction value = effective laser distance value * sin (90-α), according to the software identification module, the threshold of the height conduction value is judged, if the height conduction value threshold is greater than 1 and less than 2, it can be judged as a load-bearing cable, and the height conduction value threshold is between 2 and 3, it can be judged as a contact line. According to the above judgment, after determining the effective laser distance value of the contact line, according to the software identification module, input the α and the effective laser distance value of the contact line, and according to the pull-out value calculation formula: pull-out value = effective laser distance value * cos (90-α), the pull-out value of the contact line is obtained.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The method and device for high-precision continuous measurement of contact network geometric parameters, through a control module, controls a deflection motor to drive a laser reflector to perform high-speed and high-precision quantitative deflection, emits a distance measuring laser beam through a laser measurement module and irradiates the laser reflector to form a fan-shaped scanning area, obtains laser distance values ​​of a catenary, a suspension string and a contact line with the laser distance measuring module in the area at the same time, selects the distance values ​​of the contact line and the catenary and the laser distance measuring module through a data processing module, inputs the distance values ​​into the data processing module, obtains the guide height value and the pull-out value of the contact line after calculation, thereby achieving the purpose of high-precision and continuous measurement of the geometric parameters of the contact line. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the basic principle of the present invention;

[0021] Figure 2 This is a schematic diagram of the working state of the present invention when the ranging laser beam does not contact the contact line;

[0022] Figure 3 It is a working schematic diagram of the distance measuring laser beam of the present invention when it contacts the contact line.

[0023] In the figure: 1. Laser ranging module; 2. Laser reflector; 3. Laser reflector rotation axis; 4. Deflection motor; 5. Ranging laser beam; 6. Contact line; 7. Track; 8. Fan-shaped scanning area; 9. Laser reflector normal; 10. Track center plumb line; 11. Laser ranging value; 12. Contact line pull-out value; 13. Contact line height conductance value; 14. Track plane; 15. α; 16. Plane transparent lens; 17. The angle between the ranging laser beam and the plane transparent lens when they are in contact. DETAILED DESCRIPTION

[0024] 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Embodiment 1:

[0026] See also Figure 1 The present invention provides a method for high-precision continuous measurement of contact network geometric parameters: the method is applied to a device for high-precision continuous measurement of contact network geometric parameters, the device having a laser ranging module, a laser galvanometer module, a control module and a data processing module, the method comprising: according to the laser ranging module, emitting a ranging laser beam toward a laser reflecting mirror of the laser galvanometer module; according to the control module, controlling the laser reflecting mirror in the laser galvanometer module to undergo high-precision and high-speed quantitative deflection, and flipping the ranging laser beam at an angle to form a fan-shaped scanning area;

[0027] According to the sector scanning area, the contact line of the contact network is contacted, and the ranging laser beam is returned to the laser ranging module through diffuse reflection of the contact line to obtain the laser distance value between the contact line and the laser ranging module, and at the same time, the irradiation deflection angle value of the ranging laser beam when the contact line contacts the ranging laser beam is obtained;

[0028] According to the data processing module, the trigonometric function formula is used to calculate the height guide value and the pull-out value of the contact line; wherein, the height guide value calculation formula is: height guide value = effective laser distance value * sin (90-α), wherein, the pull-out value calculation formula is: pull-out value = effective laser distance value * cos (90-α), wherein, α is the angle between the ranging laser beam and the plumb line of the track center when the ranging laser beam contacts the contact line;

[0029] The control module has an A / D converter and a D / A converter. The method further includes: according to the control module, controlling the laser ranging module to emit a ranging laser beam, the data output refresh rate of the laser ranging module is relatively high and matches the deflection speed of the laser galvanometer module, and according to the control module, controlling the laser galvanometer module to flip and adjust the irradiation angle of the ranging laser beam;

[0030] The laser ranging module emits and receives ranging laser to perform high-precision ranging of objects within 10 meters, and outputs the laser distance value in real time as an analog voltage value. The method also includes: according to the laser ranging module, the control module controls the laser ranging module to automatically and continuously emit the ranging laser beam, and continuously outputs the effective laser distance value to the control module when the ranging laser beam irradiates the contact line or other diffuse reflection objects, and outputs the invalid laser distance value when the ranging laser beam irradiates the air without diffuse reflection objects;

[0031] The laser galvanometer module has a deflection motor, a laser reflector and a driving module. The method further comprises: outputting a high-precision digital quantity according to the control module, converting and outputting a -5V to +5V high-precision analog voltage to the driving module through a D / A module, outputting a high-precision deflection voltage according to the driving module to control the deflection motor to perform a high-precision quantitative deflection, driving the laser reflector in the laser galvanometer module to perform a high-precision quantitative deflection according to the deflection motor, and obtaining a laser deflection angle β, and controlling the ranging laser beam to irradiate the surface of the laser reflector that is continuously deflected with high precision and quantitative according to the control module, thereby continuously and quantitatively changing the incident angle and reflection angle of the ranging laser beam with high precision and quantitative;

[0032] The data processing module has a software recognition module. The method further includes: judging whether it is a valid laser distance value obtained continuously in the same position through the software recognition module, if it is a continuous valid laser distance value of the same position, judging it as the effective laser distance value of the suspension string and removing it, if not, judging it as the effective laser distance value of the catenary and the contact line, according to the software recognition module, inputting the effective laser distance value of the catenary and the contact line, the reflection angle and the laser deflection angle β when the effective laser distance value is obtained, calculating α, and obtaining the catenary and the contact line according to α and the guide height value calculation formula: guide height value = effective laser distance value * sin (90-α);

[0033] According to the software recognition module, the height conduction values ​​of the contact line and the load-bearing cable are distinguished, wherein: if the height conduction value threshold is greater than 1 and less than 2, it can be judged as a load-bearing cable; if the height conduction value threshold is between 2 and 3, it can be judged as a contact line. According to the above judgment, after determining the effective laser distance value of the contact line, the pull-out value of the contact line is obtained according to the calculation formula of α and the pull-out value: pull-out value = effective laser distance value * cos (90-α);

[0034] Furthermore, the software recognition module uses a custom algorithm to identify the effective laser distance value between the suspension string, the catenary and the contact wire. According to the prior art, the height of the contact wire is about 6.5 meters, and the height of the catenary is about 7.5 meters. The two are one above and one below. In a scanning cycle of the ranging laser beam, assuming that the scanning is irradiated 200 times, there are actually only a few consecutive opportunities for the laser to irradiate the contact wire and the catenary. The laser ranging range is between 5-7 meters. Most of the rest of the time, it is missed, and the received laser ranging value is 0. Therefore, from the waveform diagram, it is a very obvious single pulse wave.

[0035] The distance between the contact line and the catenary is about 1 meter different. After calculation, any value of the height conduction higher than threshold 1 can be identified as the catenary; any value of the height conduction between threshold 2 and threshold 3 can be identified as the contact line.

[0036] The suspension string is generally perpendicular to the contact line, and there is a suspension string with a length of more than 600 mm every few meters. When the present application moves unidirectionally at a uniform speed on the track, the laser cannot detect the suspension string in most scanning cycles; but when the laser detects the suspension string, since the suspension string can monitor an effective laser distance value far greater than that of the contact line within a distance range of 6.5-7.5 meters in a single scanning cycle, and the measured distance value changes continuously, it is also easy for the software to identify it. Therefore, the algorithm in the present application can first identify the effective laser distance value of the suspension string, and after eliminating the data of the suspension string, calculate and identify the effective laser distance values ​​of the load-bearing cable and the contact line;

[0037] The method is applied to a device for high-precision continuous measurement of contact network geometric parameters, the device also has a body shell, and the body shell includes a plane transparent lens, the method also includes: according to the body shell, the body shell is driven and controlled by a motor, and moves linearly and uniformly on a track for measurement, and the moving speed of the body shell is adjustable in steps of 1-5 km / h, according to a control module, the ranging laser beam is controlled to irradiate the laser reflector, and pass through the plane transparent mirror to form a fan-shaped scanning area above the track;

[0038] Specifically, the motor of the vehicle body shell is used to drive the vehicle body shell to move at a constant speed along a straight line on the track. During the movement of the vehicle body shell, the laser ranging module is controlled by the control module to emit a ranging laser beam, so that the ranging laser beam is irradiated on the surface of the laser reflector in the laser galvanometer module. Then, the control module is used to control the start of the deflection motor in the laser galvanometer module.

[0039] Then, the control module outputs high-precision digital quantity, and the D / A module converts and outputs -5V to +5V high-precision analog voltage to the drive module. The drive module outputs high-precision deflection voltage to control the deflection motor to produce high-precision quantitative deflection, thereby driving the laser reflector to produce high-precision quantitative deflection;

[0040] Under the control of the deflection motor, the laser reflector on the laser galvanometer module performs high-precision quantitative deflection back and forth within a certain angle range, continuously and highly precisely changing the incident angle and reflection angle of the ranging laser beam, and then the ranging laser beam forms a fan-shaped scanning area above the track;

[0041] This ensures that the present application can achieve high-speed and high-precision deflection of the ranging laser by performing high-speed and precisely controllable reciprocating movement of the laser reflector, replacing the traditional measurement method of directly using the laser ranging module for high-speed scanning, thereby avoiding the adverse effects of the traditional method, such as large deflection load, large volume, limited connection and high-frequency vibration, which affect the accuracy of the laser ranging module;

[0042] Specifically, in practical applications, the installation angle of the plane transparent mirror in the vehicle body shell can be determined by the upper and lower limits of the actual deflection of the deflection motor, that is, the edge of the fan-shaped scanning area, to ensure that the angle between the distance measuring laser beam in the fan-shaped scanning area and the plane transparent mirror is greater than or less than ninety degrees, so as to avoid the plane transparent mirror and the distance measuring laser beam in the fan-shaped scanning area being perpendicular to each other, causing reflection interference;

[0043] Furthermore, as the vehicle body shell moves at a uniform speed, in the fan-shaped scanning area, as the ranging laser beam continuously scans, the ranging laser beam contacts the catenary cables, droppers and contact wires above the track, and returns the ranging laser beam to the laser ranging module through the diffuse reflection of the catenary cables, droppers and contact wires. The laser ranging module thus obtains the distance values ​​between the catenary cables, droppers and contact wires and the laser ranging module respectively.

[0044] Next, the effective laser distance values ​​of the catenary, suspension string and contact line are input into the data processing module. First, the effective laser distance values ​​at the same position and continuously are judged as the effective laser distance values ​​of the suspension string through the software recognition module and then eliminated. Then, the effective laser distance values ​​of the catenary and contact line are input into the software recognition module. The trigonometric function formula, i.e., the height guide value calculation formula: height guide value = effective laser distance value * sin (90-α), is used to calculate the height guide value. Then, through the software recognition module, it is judged that the catenary is when the height guide value threshold is greater than 1 and less than 2; the catenary is when the height guide value threshold is between 2 and 3; the contact line is when the data of the catenary is eliminated and the data of the contact line is retained. The effective laser distance value of the contact line is input into the software recognition module again, and the pull-out value is calculated through the pull-out value calculation formula: pull-out value = effective laser distance value * cos (90-α).

[0045] Embodiment 2:

[0046] See also Figure 2 and Figure 3 ,Based on the same inventive concept as the method for high-precision continuous measurement of contact network geometric parameters in the above-mentioned embodiment 1, the present invention also provides a device for high-precision continuous measurement of contact network geometric parameters, the device comprising: a body shell driving unit, the body shell, driven by a motor, moves in a straight line at a uniform speed on the track and performs measurement, a first obtaining unit, the first obtaining unit is used to obtain the effective laser distance value and β of the contact line, the suspension string and the bearing cable after contacting the ranging laser beam and the laser ranging module according to the ranging laser beam emitted by the laser ranging module and the adjustment and refraction of the ranging laser beam angle by the laser galvanometer module;

[0047] The data processing unit determines, according to the software recognition module, whether the obtained contact line, suspension string and catenary cable are in the same position and continuous with the effective laser distance value of the laser ranging module after contacting the ranging laser beam. If so, it is determined to be the effective laser distance value of the suspension string. If not, it is determined to be the effective laser distance value of the catenary cable and the contact line. According to the software recognition module, the effective laser distance value, reflection angle and laser deflection angle β when the effective laser distance value is obtained of the catenary cable and the contact line are input to calculate α. According to the software recognition module, the effective laser distance value and α of the catenary cable and the contact line are input. According to the formula, the height guide value calculation formula is: contact line height guide value = effective laser distance value * sin (90-α). According to the software recognition module, the threshold value of the height guide value is determined.

[0048] If the threshold of the height guide value is greater than 1 and less than 2, it can be judged as a load-bearing cable. If the threshold of the height guide value is between 2 and 3, it can be judged as a contact line. According to the above judgment, after determining the effective laser distance value of the contact line, according to the software recognition module, input α and the effective laser distance value of the contact line, and calculate the pull-out value according to the pull-out value calculation formula: pull-out value = effective laser distance value * cos (90-α), to obtain the pull-out value of the contact line;

[0049] Specifically, according to the actual spatial layout of the railway contact network, the contact wire is suspended on the catenary through the suspension string, that is, in terms of the height of the track plane, the catenary is located at the top of the measurement space, which can be one side edge of the fan-shaped scanning area, and the contact wire is located at the bottom of the measurement space, which can be the other side edge of the fan-shaped scanning area. In actual application, the angle of the fan-shaped scanning area can be expanded by 5-10 degrees and used as the preset fan-shaped scanning area to ensure that the fan-shaped scanning area can fully include the catenary and the contact wire;

[0050] In the technical solution of the present invention, a method and device for high-precision continuous measurement of contact network geometric parameters are provided, which can be used for the size measurement of any contour or frame-type objects with a set ranging range. Relevant engineering and technical personnel can, based on its basic working principle, make simple changes to replace the module type or change the number of modules, increase the number of laser ranging modules, directly install the laser ranging module itself on an electric or pneumatic component for deflection or rotation, or allow the reflective lens to rotate continuously to achieve laser scanning, etc., all of which will fall within the scope of protection of this patent. At the same time, this technical solution can not only realize high-precision continuous measurement of contact network geometric parameters, but also can be used for scenarios that require high-precision continuous measurement of rail contour parameters, tunnel contour parameters, etc., and can also be applied to other scenarios other than the railway equipment industry that require measurement of the size of contour objects or frame-type objects.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for high-precision continuous measurement of contact network geometric parameters, characterized in that: The method is applied to a device for high-precision continuous measurement of contact network geometric parameters, the device having a laser distance measurement module, a laser galvanometer module, a control module and a data processing module, and the method comprises: According to the laser ranging module, a ranging laser beam is emitted toward the laser reflector of the laser galvanometer module; According to the control module, the laser reflector in the laser galvanometer module is controlled to perform high-precision, high-speed and quantitative deflection, and the ranging laser beam flips the angle to form a fan-shaped scanning area; According to the sector scanning area, the contact line of the contact network is contacted, and the ranging laser beam is returned to the laser ranging module through diffuse reflection of the contact line to obtain the laser distance value between the contact line and the laser ranging module, and at the same time, the irradiation deflection angle value of the ranging laser beam when the contact line contacts the ranging laser beam is obtained; According to the data processing module, the conductance value and the pull-out value of the contact line are calculated using trigonometric function formulas; Among them, the calculation formula of the height guide value is: height guide value = effective laser distance value * sin (90-α); Among them, the calculation formula of the pull-out value is: pull-out value = effective laser distance value * cos (90-α); Among them, α is the angle between the ranging laser beam and the plumb line of the track center when it contacts the contact line.

2. The method according to claim 1, characterized in that: The control module has an A / D converter and a D / A converter, and the method further includes: According to the control module, the laser ranging module is controlled to emit a ranging laser beam. The data output refresh rate of the laser ranging module is relatively high, matching the deflection speed of the laser galvanometer module. According to the control module, the laser galvanometer module is controlled to flip and adjust the irradiation angle of the ranging laser beam.

3. The method according to claim 2, characterized in that: The laser distance measurement module transmits and receives the distance measurement laser to perform high-precision distance measurement on objects within 10 meters, and outputs the laser distance value in real time as an analog voltage value. The method also includes: According to the laser ranging module, the control module controls the laser ranging module to automatically and continuously emit a ranging laser beam, and when the ranging laser beam irradiates a contact line or other diffuse reflection objects, it continuously outputs an effective laser distance value to the control module; The distance measuring laser beam outputs an invalid laser distance value when irradiating the air without diffuse reflection objects.

4. The method according to claim 1, characterized in that: The laser galvanometer module comprises a deflection motor, a laser reflection mirror and a driving module, and the method further comprises: According to the high-precision digital quantity output by the control module, a -5V to +5V high-precision analog voltage is converted and output to the drive module through a D / A module; According to the driving module, a high-precision deflection voltage is output to control the deflection motor to perform high-precision quantitative deflection; According to the deflection motor, the laser reflector in the laser galvanometer module is driven to perform high-precision quantitative deflection, and a laser deflection angle β is obtained; According to the control module, the ranging laser beam is controlled to irradiate the surface of the laser reflector which is deflected continuously and quantitatively with high precision, thereby continuously and quantitatively changing the incident angle and the reflection angle of the ranging laser beam with high precision.

5. The method according to claim 1, characterized in that: The data processing module has a software identification module, and the method further comprises: Through the software recognition module, it is determined whether it is a valid laser distance value obtained continuously at the same position; If it is a continuous valid laser distance value at the same position, it is determined to be the effective laser distance value of the suspension string and removed; if not, it is determined to be the effective laser distance value of the catenary and the contact line; According to the software recognition module, the effective laser distance value of the catenary and the contact line, the reflection angle and the laser deflection angle β when the effective laser distance value is obtained are input to calculate α; According to the calculation formula of α and the height conduction value: height conduction value = effective laser distance value * sin (90-α), the height conduction values ​​of the catenary and the contact line are obtained; According to the software identification module, the height conduction values ​​of the contact wire and the catenary are distinguished, wherein: if the height conduction value threshold is greater than 1 and less than 2, it can be judged as a catenary; if the height conduction value threshold is between 2 and 3, it can be judged as a contact wire; According to the above judgment, after determining the effective laser distance value of the contact line; According to the α and pull-out value calculation formula: pull-out value = effective laser distance value * cos (90-α), the pull-out value of the contact line is obtained.

6. The method according to claim 1, characterized in that: The method is applied to a device for high-precision continuous measurement of contact network geometric parameters, the device also has a body shell, and the body shell includes a flat transparent lens, and the method also includes: According to the vehicle body shell, the vehicle body shell is driven and controlled by a motor and moves linearly and uniformly on the track for measurement, and the moving speed of the vehicle body shell is adjustable in steps of 1-5 km / h; According to the control module, the ranging laser beam is controlled to irradiate the laser reflector and pass through the plane transparent mirror to form a fan-shaped scanning area above the track.

7. A device for high-precision continuous measurement of contact network geometric parameters, characterized in that: The device comprises: A vehicle body shell driving unit, wherein the vehicle body shell is driven by a motor to move in a straight line at a constant speed on the track and perform measurements; A first obtaining unit, the first obtaining unit is used to obtain the laser distance value and β of the contact line, the dropper and the load-bearing cable after they contact the ranging laser beam and the laser ranging module according to the ranging laser beam emitted by the laser ranging module and the adjustment and refraction of the ranging laser beam angle by the laser galvanometer module; A data processing unit, wherein the data processing unit determines, based on the software recognition module, whether the obtained laser distance values ​​of the contact wire, the dropper string and the load-bearing cable after contacting the ranging laser beam and the laser ranging module are in the same position and continuous; If yes, it is determined to be the laser distance value of the suspension string; if no, it is determined to be the laser distance value of the catenary and the contact line; according to the software recognition module, the effective laser distance value of the catenary and the contact line, the reflection angle and the laser deflection angle β when the effective laser distance value is obtained are input to calculate α; According to the software recognition module, input the effective laser distance value and α of the catenary and contact line, according to the formula; The calculation formula of the height conduction value is: the height conduction value of the contact line = effective laser distance value * sin (90-α); According to the software recognition module, a threshold value of the conductance height value is determined; If the threshold of the height conduction value is greater than 1 and less than 2, it can be judged as a load-bearing cable. If the threshold of the height conduction value is between 2 and 3, it can be judged as a contact line. According to the above judgment, after determining the effective laser distance value of the contact line; According to the software recognition module, the α and the effective laser distance value of the contact line are input, and the pull-out value of the contact line is obtained according to the pull-out value calculation formula: pull-out value = effective laser distance value * cos (90-α).

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