A method for measuring the slope of a high-speed rail overhead contact system positioner

Abstract

The present application belongs to the field of rail transit equipment technology, and provides a method for measuring the slope of a high-speed rail catenary positioner, comprising the following steps: S1, determining a measurement coordinate system; S2, determining the positioning of the contact line of the catenary through the measurement device; S3, determining the positioning of the crossbar of the catenary through the measurement device; S4, determining the position of the positioner of the catenary relative to the contact line through the measurement device; S5, pulling back the track cart to perform a first high-precision laser surveying instrument measurement, and obtaining measurement information; S6, pushing the track cart to perform a second high-precision laser surveying instrument measurement, and obtaining measurement information; and S7, calculating the slope of the positioner through the measurement information of steps S5 and S6. The method is simpler than the existing method in terms of operation process, reduces manual operation, and maximizes the avoidance of errors. The slope of the positioner is directly calculated using high-precision laser radar measurement data, which saves time and effort.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of high-speed rail catenary measurement, and particularly relates to a measurement method for the slope of a high-speed rail catenary positioner. BACKGROUND

[0002] The catenary is a high-voltage transmission line for taking current by the pantograph, which is arranged in a zigzag shape above the steel rail in the electrified railway. The catenary is the main framework of the railway electrification project and is a special form of power transmission line for supplying power to electric locomotives. The catenary is composed of a contact suspension, a support device, a positioning device, a support column and a foundation. The positioning device includes a positioning tube and a positioner, which functions to fix the position of the contact line, ensure that the contact line is within the running track of the pantograph slide plate, ensure that the contact line does not separate from the pantograph, and transmit the horizontal load of the contact line to the support column. In the high-speed railway system, the slope of the catenary positioner is adjusted according to the different super-elevations of the outer rail to ensure the safety of power supply when the train is running at high speed. Therefore, the slope of the positioner, which is a parameter of the catenary, is particularly important.

[0003] However, there are mainly two kinds of existing measurement methods for the catenary positioner. One is that one high-altitude measurement personnel adjusts the level on the positioner from the ladder truck, and at the same time, measures the height difference with a steel tape to calculate the slope of the positioner. The other is to measure the slope of the positioner with a catenary laser measuring instrument. The catenary laser measuring instrument is leveled on the curve section, and the height of the two points below the positioner is measured on the track plane with the laser measuring instrument. The height difference between the two points is calculated, and the distance difference between the two points is calculated on the track scale of the laser measuring instrument, so as to calculate the slope of the positioner. These two methods have limitations, such as low construction efficiency, time-consuming and laborious, safety hazards and lack of universality, etc. They cannot meet the subsequent requirements of high-speed railway third-level repair site construction and construction period, and a new measurement method is urgently needed. SUMMARY

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a measurement method for the slope of a high-speed rail catenary positioner.

[0005] The technical scheme adopted by the present application to solve its technical problems is:

[0006] A measurement method for the slope of a high-speed rail catenary positioner, comprising a measurement device, wherein the measurement device comprises a 2D plane laser radar, a roller counter, a track cart and a high-precision laser surveying instrument, the 2D plane laser radar, the roller counter and the high-precision laser surveying instrument are arranged on the track cart, and the track cart is placed on the rail.

[0007] The measurement method comprises the following steps:

[0008] S1, determining a measurement coordinate system;

[0009] S2, determining the position of the contact wire of the contact net through the measuring device;

[0010] S3, determining the position of the crossbar of the contact net through the measuring device;

[0011] S4, determining the position of the positioner of the contact net relative to the contact wire through the measuring device;

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

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

[0014] S7, calculating the slope of the positioner through the measurement information of steps S5 and S6.

[0015] Preferably, in step S1, the measurement coordinate system comprises: the coordinate origin is at the center line of the two parallel rails, the direction in which the track cart travels along the rail is the X coordinate axis, the direction in which the rail extends in the plane and is perpendicular to the rail is the Y coordinate axis, and the Z axis is upward and satisfies the left-hand rule.

[0016] Preferably, in step S2, a 2D plane frame of the current position is scanned by the 2D plane laser radar, a given interval is set, the coordinates are marked as (y1, z2), (y2, z2), (y2, z1), and (y1, z1), the lowest point in the given interval is found, which is the contact wire, the high-precision laser mapping instrument automatically tracks and locks the contact wire according to this point, and the ranging angle and the ranging value can be obtained after measurement, which can be converted into the coordinate system to obtain the coordinates of the contact wire, marked as (y0, z0).

[0017] Preferably, in step S3, the track cart passes through the crossbar at a speed less than 0.3 m / s, the starting position is marked as x1, and the ending position is marked as x2, and the x coordinate information is recorded in sequence from x1 to x2, and the X coordinate of the identified crossbar position is marked as x0.

[0018] Preferably, the determination of the crossbar position is based on the number of point clouds at the crossbar being greater than n times the number of point clouds of a normal section.

[0019] Preferably, in step S4, the single-frame point cloud data at the position x0 is taken out, the coordinates of the contact line are recorded as (y0, z0) at this time, and the ranging angle of the contact line is recorded as a0, two nearest points at y0+15 cm and y0-15 cm are recorded as (y3, z3) and (y4, z4), and the height differences of the two points from the contact line are (z3-z0) and (z4-z0), which are recorded as d1 and d2, respectively. Since the height difference at the position of the locator is smaller than that without the locator, the smaller value between d1 and d2 is taken as the criterion to determine the position of the locator relative to the contact line.

[0020] Preferably, in step S5, the track cart identifies the crossbar at the position x0, moves to x0+0.5 m, and the high-precision laser mapping instrument deflects to the left or right by a0+5° in the direction of the locator, starts continuous ranging, and slowly pulls the track cart back to x0-0.5 m after observing the deflection of the high-precision laser mapping instrument. The high-precision laser mapping instrument measures a continuous set of points, and the lowest measurement point is recorded as (y5, z5), and the first measurement is completed.

[0021] Preferably, in step S6, after the first measurement is completed, the high-precision laser mapping instrument deflects to the left or right by a0+8° in the direction identified in step S4, and after observing the deflection again, the track cart is pushed from x0-0.5 m to x0+0.5 m. The high-precision laser mapping 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, the slope k is calculated according to the coordinate points, and the angle value a of the locator is obtained:

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

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

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

[0026] (1) The method is based on high-precision laser surveying instrument measurement, compared with the existing overhead line laser measuring instrument, the high-precision laser surveying instrument selected by the method has higher precision, reaches 0.1mm, and the method is simpler in operation process than the existing one, reduces manual operation, and maximally avoids errors, so that the measurement precision of the method is higher.

[0027] (2) The method realizes automatic measurement of the slope of the positioner, can avoid unnecessary aerial operation of the ladder car, and greatly improves the construction safety and work efficiency.

[0028] (3) The method has wider application range, the conventional laser measuring instrument can only measure the slope of the positioner by deflecting different angles when the positioner and the laser measuring instrument are in the same plane, but when the positioner and the laser measuring instrument are not in the same plane, the measurement cannot be performed. But the measurement method can measure the positioner not in the same plane with the high-precision laser surveying instrument by means of the track cart through two measuring lines, and has wider application range. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0030] Figure 1 The flow chart of the measurement method of the present application.

[0031] Figure 2 The schematic diagram of the measurement coordinate system of the present application.

[0032] Figure 3 The 2D cloud chart of the position of the crossbar compared with the normal section of the present application.

[0033] Figure 4 The cloud chart of the positioner located on the right side of the contact line of the present application.

[0034] Figure 5 The cloud chart of the positioner located on the right side of the contact line of the present application.

[0035] Figure 6 The structure diagram of the measurement device of the present application.

[0036] Among them:

[0037] 1-2D plane laser radar, 2-roller counter, 3-track cart, 4-high-precision laser surveying instrument, 5-rail. DETAILED DESCRIPTION

[0038] In order to enable a more clearly understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in detail below with the accompanying drawings and specific embodiments. It should be noted that the embodiments and the features in the embodiments of the present application can be combined with each other without conflict. In the following description, a lot of specific details are described in order to facilitate a full understanding of the present application, and the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0040] Embodiment:

[0041] As shown in Figures 1-6 The embodiment provides a measurement method for the slope of a high-speed rail catenary positioner, which comprises a measurement device, the measurement device comprising a 2D plane laser radar 1, a roller counter 2, a track cart 3 and a high-precision laser surveying instrument 4, the 2D plane laser radar 1, the roller counter 2 and the high-precision laser surveying instrument 4 being arranged on the track cart 3, and the track cart 3 being placed on a rail 5.

[0042] The measurement method comprises the following steps:

[0043] S1, determining a measurement coordinate system;

[0044] S2, determining the positioning of a contact wire of the catenary through the measurement device;

[0045] S3, determining the positioning of a crossbar of the catenary through the measurement device;

[0046] S4, judging the position of the positioner of the catenary relative to the contact wire through the measurement device;

[0047] S5, pulling back the track cart 3 to perform the first measurement by the high-precision laser surveying instrument 4, and obtaining measurement information;

[0048] S6, pushing the track cart 3 to perform the second measurement by the high-precision laser surveying instrument 4, and obtaining measurement information;

[0049] S7, calculating the slope of the positioner through the measurement information of steps S5 and S6.

[0050] Specifically, in step S1, referring to Figure 2, the measurement coordinate system includes: the coordinate origin is at the center line of the two parallel rails 5, the X coordinate axis is the direction of the track cart 3 along the rails 5, the Y coordinate axis is the direction extending in the plane of the rails 5 and perpendicular to the rails 5, and the Z axis is upward and satisfies the left-hand rule.

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

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

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

[0054] Specifically, in step S5, the track cart 3 identifies the crossbar at the x0 position and drives to x0+0.5 m. The high-precision laser mapping instrument 4 is deflected left or right by a0+5° towards the direction of the locator. Continuous ranging begins. After the high-precision laser mapping instrument 4 is deflected, the track cart 3 is slowly pulled back to x0-0.5 m. The high-precision laser mapping instrument 4 measures a continuous set of points, and the lowest measurement point is marked as (y5, z5). The first measurement is complete.

[0055] Specifically, in step S6, after the first measurement is completed, the high-precision laser mapping instrument 4 will be deflected a0+8° to the left or to the right in the direction identified in step S4. After the deflection, the track cart 3 is pushed from x0-0.5m to x0+0.5m, and the high-precision laser mapping instrument 4 measures a continuous set of points, with the lowest measurement point 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 to obtain the angle value a of the positioner:

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

[0058] Specifically, the scanning frequency of the 2D plane laser radar 1 is 10HZ, the scanning angle interval is 0.1°, the high-precision laser mapping instrument 4 is installed at the rear of the 2D plane laser radar 1, and the minimum control accuracy of the high-precision laser mapping instrument 4 is 0.04°, and the measurement accuracy is 0.1mm.

[0059] According to the content of the above measurement method, the specific implementation content is as follows:

[0060] Example 1

[0061] The measurement personnel pushed the track cart 3 on the rail 5 from 5m (with the rail 5 at the track cart 3 as the starting point) to 8m, and identified that the crossbar and the positioner were located on the right side of the contact wire at 7.5m, as shown in Figure 4 At the same time, the measurement angle of the contact wire was recorded as 3.7°. After identifying the crossbar and pushing for a distance, it was observed that the high-precision laser mapping instrument 4 was deflected to the right, and the track cart 3 was slowly pulled back. The coordinates of the first point measured at a ranging angle of 8.7° and a movement distance of 7.5m were (0.910, 5.947). After pulling back and observing that the high-precision laser mapping instrument 4 was deflected to the right again, the track cart 3 was pushed forward. The coordinates of the second point measured at a ranging angle of 10.7° and a movement distance of 7.5m were (1.135, 6.011). After observing that the high-precision laser mapping instrument 4 was deflected to the starting position, the measurement was completed. According to the two measured point coordinates, the slope value was calculated as 1:0.2789, which was about 15.96°.

[0062] Example 2

[0063] The measurement personnel pushed the track cart 3 on the rail 5 from 15m (with the rail 5 at the track cart 3 as the starting point) to 23m, and identified that the crossbar and the positioner were located on the left side of the contact wire at 22.5m, as shown in Figure 5At the same time, the contact line measurement angle is recorded as 6.7°. After the crossbar is identified and pushed for a distance, it is observed that the high-precision laser mapper 4 deflects to the left, and the measurement personnel slowly pull back at a speed less than 0.3 m / s. At the motion distance 22.5 m and the ranging angle 1.7°, the coordinates of the first point are measured as (0.178, 6.0154). After pulling back to the right and pushing forward again, the track cart 3 measures the second point coordinates (-0.102, 6.015) at the motion distance 22.5 m and the ranging angle -0.3°. It is observed that the high-precision laser mapper 4 deflects to the starting position, and the measurement is completed. According to the two-point coordinates, the slope value is calculated as 1:0.2655, which is about 15.19°

[0064] In summary, according to the measurement method and the measurement structure of the specific embodiments described above, the advantages of the present application are as follows:

[0065] (1) The method of the present application is based on high-precision laser mapping, and compared with the existing contact network laser measurement instrument, the high-precision laser mapper selected by the method of the present application has higher precision, reaching 0.1 mm. At the same time, the operation process of the method of the present application is simpler than the existing one, reducing manual operation and maximizing error avoidance. Therefore, the measurement precision of the method of the present application is higher, and under the auxiliary measurement of the 2D plane laser radar, the measurement speed is fast and the precision is high, which can avoid complex data processing, directly calculate the positioner slope by using high-precision laser radar measurement data, and save time and effort.

[0066] (2) The method of the present application realizes automatic measurement of the positioner slope. After the 2D plane laser radar scans the positioner, it automatically judges the forward and reverse directions of the positioner and guides the 2D plane laser radar to aim and measure. After the 2D plane laser radar automatically aims and measures, the measurement result is output on site, which can avoid unnecessary ladder truck aerial work and greatly improve the construction safety and work efficiency.

[0067] (3) The method of the present application has a wider application range. The conventional laser measurement instrument can only measure the positioner slope by deflecting different angles when the positioner and the laser measurement instrument are in the same plane, but it cannot measure when the positioner and the laser measurement instrument are not in the same plane. However, the measurement method can measure the positioner not in the same plane with the high-precision laser mapper by means of the track cart through two measurement lines, and has a wider application range.

[0068] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any modification, equivalent change and modification made according to the technical essence of the present application to the above embodiment, without departing from the technical solution content of the present application, still belongs to the scope of the technical solution of the present application.

Claims

1. A method for measuring the slope of a high-speed rail catenary positioner, characterized in that, The measurement device comprises a 2D plane laser radar, a roller counter, a track cart and a high-precision laser mapping instrument, the 2D plane laser radar, the roller counter and the high-precision laser mapping instrument are arranged on the track cart, and the track cart is placed on the rail; The measurement method comprises the following steps: S1, determining a measurement coordinate system; in step S1, the measurement coordinate system comprises: the coordinate origin is at the center line of the two parallel rails, the track cart is taken as the X coordinate axis in the direction of the track cart along the rail, the Y coordinate axis is taken as the direction in the plane where the rail is located and perpendicular to the rail, and the Z axis is upward and satisfies the left-hand rule; S2, determining the positioning of the contact wire of the contact net through the measurement device; in step S2, the 2D plane frame of the current position is scanned out through the 2D plane laser radar, a given interval is set, the coordinates are marked as: (y1, z2), (y2, z2), (y2, z1) and (y1, z1), the lowest point in the given interval is found, that is, the contact wire, the high-precision laser mapping instrument automatically tracks and locks the contact wire according to the point, the ranging angle and the ranging value can be obtained after measurement, and the coordinates of the contact wire can be obtained in the coordinate system, which are marked as (y0, z0); S3, determining the positioning of the crossbar of the contact net through the measurement device; in step S3, the track cart is driven through the crossbar at a speed less than 0.3 m / s, the starting position is marked as x1, the ending position is marked as x2, and the information of the x coordinate is recorded in sequence from x1 to x2, the X coordinate of the identified crossbar position is marked as x0; the determination of the crossbar position is based on the judgment that the number of point clouds at the crossbar is greater than n*the number of point clouds of a common section; S4, judging the position of the positioner of the contact net relative to the contact wire through the measurement device; in step S4, the single-frame point cloud data at the x0 position is taken out, the coordinates of the contact wire are marked as (y0, z0) at this time, the ranging angle of the contact wire is recorded as a0, two nearest points at y0+15 cm and y0-15 cm are taken and marked as (y3, z3) and (y4, z4), the height differences of the two points from the contact wire are (z3-z0) and (z4-z0), which are marked as d1 and d2 respectively, and the height difference at the positioner is known to be less than that without the positioner, so the smaller value in d1 and d2 is taken as the criterion to judge the position of the positioner relative to the contact wire; S5, pulling back the track cart to perform the first high-precision laser mapping instrument measurement to obtain measurement information; in step S5, the track cart identifies the crossbar at the x0 position, is driven to x0+0.5 m, the high-precision laser mapping instrument is deflected left or right by a0+5° in the direction where the positioner is located, continuous ranging is started, the track cart is slowly pulled back to x0-0.5 m after the high-precision laser mapping instrument is deflected, a continuous group of points are measured by the high-precision laser mapping instrument, the lowest measurement point is marked as (y5, z5), and the first measurement is completed; S6, the track cart is pushed to perform a second high-precision laser mapping instrument measurement, and measurement information is obtained; S7, the slope of the positioner is calculated through the measurement information of steps S5 and S6.

2. The method for measuring the slope of the positioner of a high-speed railway catenary according to claim 1, characterized in that, In step S6, after the first measurement is completed, the high-precision laser mapping instrument is deflected a0+8° to the left or right in the direction identified in step S4. After the deflection, the track cart is pushed from x0-0.5m to x0+0.5m, and the high-precision laser mapping instrument measures a continuous set of points, with the lowest measurement point recorded as (y6, z6). The second measurement is completed.

3. The method of measuring the slope of the positioner of the overhead line system of high-speed trains according to claim 1, characterized in that, 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 positioner: Wherein: k = (z6-z5) / (y6-y5); a = arctan(k).

4. The method of claim 1, wherein the method further comprises: The scanning frequency of the 2D plane laser radar is 10HZ, the scanning angle interval is 0.1°, the high-precision laser mapping instrument is installed at the rear of the 2D plane laser radar, and the minimum control accuracy of the high-precision laser mapping instrument is 0.04°, and the measurement accuracy is 0.1mm.

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