Method for measuring gradient of high-speed rail overhead line system positioner

Abstract

The invention belongs to the technical field of rail transit equipment, and provides a high-speed rail overhead line system locator slope measurement method which comprises the following steps: S1, determining a measurement coordinate system; s2, determining the positioning of a contact line of the overhead line system through the measuring device; s3, determining the positioning of a cross rod of the overhead line system through the measuring device; s4, judging the position of a positioner of the overhead line system relative to the contact line through the measuring device; s5, pulling back the rail cart to execute first high-precision laser surveying instrument measurement to obtain measurement information; s6, pushing the rail cart to execute second high-precision laser surveying instrument measurement to obtain measurement information; and S7, calculating the gradient of the positioner according to the measurement information in the steps S5 and S6. Compared with the prior art, the method is simpler in operation process, manual operation is reduced, errors are avoided to the maximum extent, the gradient of the positioner is calculated by directly adopting high-precision laser radar measurement data, and time and labor are saved.

Description

Technical Field

[0001] The invention belongs to the technical field of high-speed railway contact network measurement, and in particular relates to a method for measuring the slope of a high-speed railway contact network locator. Background Art

[0002] The contact network is a high-voltage transmission line that is erected in a zigzag shape above the rails in an electrified railway and is used by the pantograph to draw current. The contact network is the main structure of the railway electrification project and is a special form of transmission line erected above the railway line to supply power to electric locomotives. It consists of contact suspension, support device, positioning device, pillars and foundation. The positioning device includes a positioning tube and a positioner, which is used to fix the position of the contact line so that the contact line is within the operating track of the pantograph slide, ensure that the contact line and the pantograph are not separated, and transmit the horizontal load of the contact line to the pillar. In the high-speed railway system, the slope of the contact network positioner will be adjusted according to the different line outer rail superelevation to ensure the safety of power supply when the train is running at high speed. Therefore, the contact network parameter of the positioner slope is particularly important.

[0003] However, there are two main ways to measure the existing contact network locator: one is that a high-altitude surveyor places a spirit level on the top of the locator on a ladder car to level it, and uses a steel tape measure to measure the height difference to calculate the slope of the locator. The other is to use a contact network laser measuring instrument to measure the slope of the locator, level the contact network laser measuring instrument in the curve section, use the laser measuring instrument to measure the height of the two points below the locator to the track plane, calculate the height difference between the two points, and calculate the distance difference between the two points on the track ruler of the laser measuring instrument, so as to calculate the slope of the locator. Both methods have limitations, and there are problems such as low construction efficiency, labor-intensive and time-consuming, safety hazards, and lack of universality. They cannot meet the subsequent high-speed rail third-level repair on-site construction and construction period requirements, and a new measurement method is urgently needed. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method for measuring the slope of a high-speed railway contact network locator.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] A method for measuring the slope of a high-speed rail contact network locator comprises a measuring device, wherein the measuring device comprises a 2D plane laser radar, a roller counter, a track trolley and a high-precision laser mapper, wherein the 2D plane laser radar, the roller counter and the high-precision laser mapper are arranged on the track trolley, and the track trolley is placed on a rail;

[0007] The measuring method comprises the following steps:

[0008] S1. Determine the measurement coordinate system;

[0009] S2. determining the location of the contact wire of the overhead contact network by means of the measuring device;

[0010] S3, determining the positioning of the crossbar of the contact network by means of the measuring device;

[0011] S4, determining the relative position of the contact line locator of the contact network by the measuring device;

[0012] S5, pulling back the rail cart to perform the first high-precision laser surveying and mapping measurement to obtain measurement information;

[0013] S6, pushing the rail cart to perform a second high-precision laser surveying and mapping measurement to obtain measurement information;

[0014] S7. Calculate the locator slope based on the measurement information of steps S5 and S6.

[0015] Preferably, in step S1, the measurement coordinate system includes: the coordinate origin is at the midline of the two parallel rails, the direction of travel of the rail trolley along the rails is the X-coordinate axis, the direction in the plane where the rails are located and perpendicular to the extension of the rails is the Y-coordinate axis, and the Z-axis is upward and satisfies the left-hand rule.

[0016] Preferably, in step S2, the 2D plane frame of the current position is scanned by the 2D plane laser radar, and a given interval is set, and the coordinates are marked as: (y1, z2), (y2, z2), (y2, z1), (y1, z1), and the point with the lowest height in the given interval is found, which is the contact line. The high-precision laser surveying instrument automatically tracks and locks the contact line based on this point. After measurement, the ranging angle and ranging value can be obtained, and the coordinates of the contact line can be obtained by converting them into the coordinate system, which is recorded as (y0, z0).

[0017] Preferably, in step S3, the rail cart is driven to pass through the cross bar at a speed less than 0.3 m / s, the starting position is recorded as x1, the ending position is recorded as x2, and during the pushing process from x1 to x2, the x-coordinate information is recorded in sequence, and the X-coordinate of the identified cross bar position is recorded as x0.

[0018] Preferably, the position of the crossbar is determined based on whether the number of point clouds at the crossbar is greater than the number of point clouds in n*normal sections.

[0019] Preferably, in step S4, a single frame of point cloud data at the position x0 is taken out. At this time, the coordinates of the contact line are marked as (y0, z0), and the ranging angle of the contact line is recorded as a0. Two nearest points are taken at y0+15cm and y0-15cm and are recorded as (y3, z3) and (y4, z4). The height differences between the two points and the contact line are (z3-z0) and (z4-z0), which are recorded as d1 and d2 respectively. It is known that the height difference where the locator is located is smaller than that where the locator is not located. Therefore, based on this, the smaller value of d1 and d2 is taken to determine the position of the locator relative to the contact line.

[0020] Preferably, in step S5, the rail cart recognizes the cross bar at the x0 position and is pushed to x0+0.5m. The high-precision laser mapper will deflect a0+5° to the left or right in the direction of the locator and start continuous distance measurement. After observing the deflection of the high-precision laser mapper, the rail cart is slowly pulled back to x0-0.5m. The high-precision laser mapper measures a continuous set of points, and the lowest measurement point is recorded as (y5,z5). The first measurement is completed.

[0021] Preferably, in step S6, after the first measurement is completed, the high-precision laser surveying instrument will deflect a0+8° to the left or right in the direction identified in step S4. After observing the deflection again, the rail cart is pushed from x0-0.5m to x0+0.5m. The high-precision laser surveying instrument measures a continuous set of points, and the lowest measurement point is recorded as (y6,z6), and the second measurement is completed.

[0022] Preferably, in step S7, two coordinate points are measured in steps S5 and S6, and the slope k is calculated according to the coordinate points, thereby obtaining the angle value a of the locator:

[0023] Where: k = (z6-z5) / (y6-y5); a = arctan(k).

[0024] Preferably, the scanning frequency of the 2D planar laser radar is 10 Hz, the scanning angle interval is 0.1°, the high-precision laser mapper is installed behind the 2D planar laser radar, the minimum control accuracy of the high-precision laser mapper is 0.04°, and the measurement accuracy is 0.1 mm.

[0025] Compared with the prior art, the beneficial effects of the present invention include:

[0026] (1) The method of the present invention is based on the measurement of a high-precision laser surveying instrument. Compared with the existing contact network laser measuring instrument, the high-precision laser surveying instrument used in the method of the present invention has a higher accuracy, reaching 0.1 mm. At the same time, the method of the present invention is simpler in operation process than the existing one, reduces manual operation, and avoids errors to the greatest extent. Therefore, the measurement accuracy of the method of the present invention is higher.

[0027] (2) The method of the present invention realizes the automatic measurement of the slope of the locator, which can avoid unnecessary high-altitude operations of ladder trucks and greatly improve construction safety and work efficiency.

[0028] (3) The method of the present invention has a wider scope of application. Conventional laser measuring instruments can only measure the slope of the locator by deflecting different angles when the locator and the laser measuring instrument are in the same plane, but cannot measure when the locator and the laser measuring instrument are not in the same plane. However, the present measurement method can measure the locator that is not in the same plane as the high-precision laser surveying instrument through two measuring lines with the help of a track cart, and has a wider scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0030] Figure 1 is a flow chart of the measurement method of the present invention.

[0031] Figure 2 It is a schematic diagram of the measurement coordinate system of the present invention.

[0032] Figure 3 The 2D cloud diagram of the crossbar position of the present invention is compared with that of the normal section.

[0033] Figure 4 This is a cloud diagram of the positioner of the present invention being located on the right side of the contact line.

[0034] Figure 5 This is a cloud diagram of the positioner of the present invention being located on the right side of the contact line.

[0035] Figure 6 It is a structural diagram of the measuring device of the present invention.

[0036] in:

[0037] 1-2D planar lidar, 2-roller counter, 3-track cart, 4-high-precision laser mapper, 5-railway. DETAILED DESCRIPTION

[0038] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present invention.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0040] Example:

[0041] like Figure 1-6 As shown, in this embodiment, a method for measuring the slope of a high-speed rail contact network locator is provided, including a measuring device, the measuring device including a 2D plane laser radar 1, a roller counter 2, a track trolley 3 and a high-precision laser mapper 4, the 2D plane laser radar 1, the roller counter 2 and the high-precision laser mapper 4 are arranged on the track trolley 3, and the track trolley 3 is placed on the rail 5;

[0042] The measurement method includes the following steps:

[0043] S1. Determine the measurement coordinate system;

[0044] S2. Determine the location of the contact wire of the overhead contact network by means of a measuring device;

[0045] S3. Determine the positioning of the crossbar of the contact network by means of a measuring device;

[0046] S4. Determine the relative position of the contact line locator of the contact network by measuring device;

[0047] S5, pull back the rail cart 3 to perform the first measurement with the high-precision laser surveying instrument 4 to obtain measurement information;

[0048] S6, pushing the track cart 3 to perform a second measurement with the high-precision laser surveying instrument 4 to obtain measurement information;

[0049] S7. Calculate the locator slope based on the measurement information of steps S5 and S6.

[0050] Specifically, in step S1, see Figure 2The measurement coordinate system includes: the coordinate origin is at the midline of the two parallel rails 5, the moving direction of the rail trolley 3 along the rail 5 is the X-coordinate axis, the direction in the plane where the rail 5 is located and perpendicular to the extension of the rail 5 is the Y-coordinate axis, and the Z-axis is upward and satisfies the left-hand rule.

[0051] Specifically, in step S2, the 2D plane frame of the current position is scanned by the 2D plane laser radar 1, and a given interval is set, and the coordinates are marked as: (y1, z2), (y2, z2), (y2, z1), (y1, z1), and the point with the lowest height in the given interval is found, which is the contact line. The high-precision laser surveying instrument 4 automatically tracks and locks the contact line according to this point. After measurement, the ranging angle and ranging value can be obtained, and the coordinates of the contact line can be obtained by converting them into the coordinate system, which is recorded as (y0, z0).

[0052] Specifically, in step S3, the rail trolley 3 passes through the crossbar at a speed of less than 0.3 m / s, and the starting position is recorded as x1, and the ending position is recorded as x2. At the same time, during the process from x1 to x2, the x coordinate information is recorded in sequence, and the X coordinate of the crossbar position is identified and recorded as x0. For details, please refer to Figure 3 The position of the crossbar is determined based on the number of point clouds at the crossbar being greater than n*the number of point clouds in the ordinary section. For example, if the number of point clouds at the crossbar is greater than 40, n is 4, and the number of cable point clouds in the ordinary section (i.e., normal section) is 10.

[0053] Specifically, in step S4, the single-frame point cloud data at the position x0 is taken out. At this time, the coordinates of the contact line are marked as (y0, z0), and the ranging angle of the contact line is recorded as a0. The two nearest points are taken at y0+15cm and y0-15cm and are recorded as (y3, z3) and (y4, z4). The height differences between the two points and the contact line are (z3-z0) and (z4-z0), which are recorded as d1 and d2 respectively. It is known that the height difference at the place with a locator is smaller than that at the place without a locator. Therefore, based on this, the smaller value of d1 and d2 is taken to determine the position of the locator relative to the contact line.

[0054] Specifically, in step S5, the rail cart 3 recognizes the crossbar at the x0 position and is pushed to x0+0.5m. The high-precision laser mapper 4 will deflect a0+5° to the left or right in the direction of the locator and start continuous distance measurement. After observing the deflection of the high-precision laser mapper 4, the rail cart 3 is slowly pulled back to x0-0.5m. The high-precision laser mapper 4 measures a continuous set of points, and the lowest measurement point is recorded as (y5,z5). The first measurement is completed.

[0055] Specifically, in step S6, after the first measurement is completed, the high-precision laser surveying instrument 4 will deflect a0+8° to the left or right in the direction identified in step S4. After observing the deflection again, the rail cart 3 is pushed from x0–0.5m to x0+0.5m. The high-precision laser surveying instrument 4 measures a continuous set of points, and the lowest measurement point is recorded as (y6, z6). The second measurement is completed.

[0056] Specifically, in step S7, two coordinate points are measured in steps S5 and S6, and the slope k is calculated according to the coordinate points, thereby obtaining the angle value a of the locator:

[0057] Where: k = (z6-z5) / (y6-y5); a = arctan(k).

[0058] Specifically, the scanning frequency of the 2D planar laser radar 1 is 10 Hz, the scanning angle interval is 0.1°, the high-precision laser mapper 4 is installed behind the 2D planar laser radar 1, the minimum control accuracy of the high-precision laser mapper 4 is 0.04°, and the measurement accuracy is 0.1 mm.

[0059] According to the above measurement method, the specific implementation contents are as follows:

[0060] Example 1

[0061] The surveyor pushes the rail trolley 3 on the rail 5 from 5m (starting from the rail 5 on the rail trolley 3) to 8m. At 7.5m, the crossbar and the positioner are identified to the right of the contact line. Figure 4 , and the contact line measurement angle was recorded as 3.7°. After identifying the crossbar and pushing it for a distance, it was observed that the high-precision laser mapper 4 deflected to the right, and then the track cart 3 was slowly pulled back. The coordinates of the first point were measured at a distance measuring angle of 8.7° and a movement distance of 7.5m, which was (0.910, 5.947). After pulling back until the high-precision laser mapper 4 deflected to the right again, it was pushed forward. The track cart 3 measured the coordinates of the second point at a distance measuring angle of 10.7° and a movement distance of 7.5m (1.135, 6.011). It was observed that the high-precision laser mapper 4 deflected to the starting position. This measurement was completed. According to the coordinates of the two measured points, the slope value was calculated to be 1:0.2789, which is about 15.96°.

[0062] Example 2

[0063] The surveyor pushes the rail trolley 3 on the rail 5 from 15m (starting from the rail 5 on the rail trolley 3) to 23m. At 22.5m, the crossbar and the positioner are identified to the left of the contact line. Figure 5, and the contact line measurement angle was recorded as 6.7°. After identifying the crossbar and pushing it for a distance, the high-precision laser mapper 4 was observed to deflect to the left. The surveyor slowly pulled back at a speed of less than 0.3m / s, and the coordinates of the first point were measured at a moving distance of 22.5m and a ranging angle of 1.7° as (0.178, 6.0154). After pulling back and observing the high-precision laser mapper 4 deflecting to the right again, the surveyor pushed forward, and the track cart 3 measured the coordinates of the second point (-0.102, 6.015) at a moving distance of 22.5m and a ranging angle of -0.3°. It was observed that the high-precision laser mapper 4 deflected to the starting position, and the measurement was completed. The slope value calculated based on the coordinates of the two points was 1:0.2655, which is about 15.19°

[0064] In summary, according to the content of the above-mentioned measurement method and the measurement structure of the specific embodiment, the advantages of this application are as follows:

[0065] (1) The method of the present invention is based on the measurement of a high-precision laser surveyor. Compared with the existing contact network laser measuring instrument, the high-precision laser surveyor selected by the method of the present invention has a higher accuracy, reaching 0.1 mm. At the same time, the method of the present invention is simpler in operation process than the existing one, reduces manual operation, and avoids errors to the greatest extent. Therefore, the measurement accuracy of the method of the present invention is higher. At the same time, with the auxiliary measurement of the 2D plane laser radar, the measurement speed is fast and the accuracy is high. It can avoid complicated data processing and directly use the high-precision laser radar measurement data to calculate the locator slope, saving time and effort.

[0066] (2) The method of the present invention realizes the automatic measurement of the slope of the locator. After the 2D plane laser radar scans the locator, it automatically determines the positive and negative directions of the locator and guides the 2D plane laser radar to aim and measure. After the 2D plane laser radar automatically aims and measures, the measurement results are output on site, which can avoid unnecessary high-altitude operations of ladder trucks and greatly improve construction safety and work efficiency.

[0067] (3) The method of the present invention has a wider scope of application. Conventional laser measuring instruments can only measure the slope of the locator by deflecting different angles when the locator and the laser measuring instrument are in the same plane, but cannot measure when the locator and the laser measuring instrument are not in the same plane. However, the present measurement method can measure the locator that is not in the same plane as the high-precision laser surveying instrument through two measuring lines with the help of a track cart, and has a wider scope of application.

[0068] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Therefore, any modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A method for measuring the slope of a high-speed railway contact network locator, characterized in that: The measuring device includes a 2D plane laser radar, a roller counter, a track trolley and a high-precision laser mapper, wherein the 2D plane laser radar, the roller counter and the high-precision laser mapper are arranged on the track trolley, and the track trolley is placed on the rail; The measuring method comprises the following steps: S1. Determine the measurement coordinate system; S2. determining the location of the contact wire of the overhead contact network by means of the measuring device; S3, determining the positioning of the crossbar of the contact network by means of the measuring device; S4, determining the relative position of the contact line locator of the contact network by the measuring device; S5, pulling back the rail cart to perform the first high-precision laser surveying and mapping measurement to obtain measurement information; S6, pushing the rail cart to perform a second high-precision laser surveying and mapping measurement to obtain measurement information; S7. Calculate the locator slope based on the measurement information of steps S5 and S6.

2. The method for measuring the slope of a high-speed railway contact network locator according to claim 1, characterized in that: In step S1, the measurement coordinate system includes: the coordinate origin is at the midline of the two parallel rails, the direction of movement of the rail cart along the rail is the X-coordinate axis, the direction in the plane where the rail is located and perpendicular to the extension of the rail is the Y-coordinate axis, and the Z-axis is upward and satisfies the left-hand rule.

3. The method for measuring the slope of a high-speed railway contact network locator according to claim 2, characterized in that: In step S2, the 2D plane frame of the current position is scanned by the 2D plane laser radar, and a given interval is set, and the coordinates are marked as: (y1, z2), (y2, z2), (y2, z1), (y1, z1). The point with the lowest height in the given interval is found, which is the contact line. The high-precision laser surveying instrument automatically tracks and locks the contact line according to this point. After measurement, the ranging angle and ranging value can be obtained, and the coordinates of the contact line can be obtained by converting them into the coordinate system, which is recorded as (y0, z0).

4. The method for measuring the slope of a high-speed railway contact network locator according to claim 3, characterized in that: In step S3, the rail cart is driven to pass through the cross bar at a speed less than 0.3 m / s, and the starting position is recorded as x1, and the ending position is recorded as x2. At the same time, during the pushing process from x1 to x2, the x-coordinate information is recorded in sequence, and the X-coordinate of the identified cross bar position is recorded as x0.

5. The method for measuring the slope of a high-speed railway contact network locator according to claim 4, characterized in that: The determination of the crossbar position is based on the fact that the number of point clouds at the crossbar is greater than the number of point clouds in n*normal sections.

6. The method for measuring the slope of a high-speed railway contact network locator according to claim 4, characterized in that: In step S4, the single-frame point cloud data at the position x0 is taken out. At this time, the coordinates of the contact line are marked as (y0, z0), and the ranging angle of the contact line is recorded as a0. The two nearest points are taken at y0+15cm and y0-15cm and are recorded as (y3, z3) and (y4, z4). The height differences between the two points and the contact line are (z3-z0) and (z4-z0), which are recorded as d1 and d2 respectively. It is known that the height difference where the locator is located is smaller than that where the locator is not located. Therefore, based on this, the smaller value of d1 and d2 is taken to determine the position of the locator relative to the contact line.

7. The method for measuring the slope of a high-speed railway contact network locator according to claim 5, characterized in that: In step S5, the rail cart recognizes the crossbar at the x0 position and is pushed to x0+0.5m. The high-precision laser mapper will deflect a0+5° to the left or right in the direction of the locator and start continuous distance measurement. After observing the deflection of the high-precision laser mapper, the rail cart is slowly pulled back to x0-0.5m. The high-precision laser mapper measures a continuous set of points, and the lowest measurement point is recorded as (y5,z5). The first measurement is completed.

8. The method for measuring the slope of a high-speed railway contact network locator according to claim 6, characterized in that: In step S6, after the first measurement is completed, the high-precision laser surveying instrument will deflect a0+8° to the left or right in the direction identified in step S4. After observing the deflection again, the track cart is pushed from x0–0.5m to x0+0.5m. The high-precision laser surveying instrument measures a continuous set of points, and the lowest measurement point is recorded as (y6, z6). The second measurement is completed.

9. The method for measuring the slope of a high-speed railway contact network locator according to claim 7, characterized in that: In step S7, the two coordinate points measured in steps S5 and S6 are used to calculate the slope k, thereby obtaining the angle value a of the positioner: Where: k = (z6-z5) / (y6-y5); a = arctan(k).

10. The method for measuring the slope of a high-speed railway contact network locator according to claim 1, characterized in that: The scanning frequency of the 2D planar laser radar is 10HZ, the scanning angle interval is 0.1°, the high-precision laser mapper is installed behind the 2D planar laser radar, the minimum control accuracy of the high-precision laser mapper is 0.04°, and the measurement accuracy is 0.1mm.

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