Railway overhead line system deicing device and method

Abstract

The deicing device comprises a non-contact measuring device which is of a hollow box structure, a power module is arranged in the non-contact measuring device, a safety protection system comprising a protective cover plate and an air cylinder is arranged on the upper portion of the non-contact measuring device, and the protective cover plate is pushed by the air cylinder to form a top opening of the box. The laser radar and the camera are arranged above the inner bottom of the box body; antifouling optical glass is arranged above the laser radar in a covering manner; the deicing tool comprises a central rotating wheel disc, a tail end insulating throwing stick and a self-adaptive speed control wheel disc motor group for driving the central rotating wheel disc to rotate; the self-adaptive speed control wheel disc motor group is connected with the tail end of the robot platform; the robot platform is arranged on the rail engineering vehicle through the fixed base; and at least one non-contact measuring device is arranged in front of and behind the robot platform and is mounted on the rail engineering vehicle. And through one-key starting, intelligent monitoring and automatic adjustment of the deicing operation, the deicing difficulty and risk of the track contact line network are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail transit contact network maintenance, and more specifically, relates to a railway contact network deicing device. Background Art

[0002] In the rail transit system, the contact network is a key facility to ensure the normal operation of electric locomotives. However, in winter, when encountering extremely severe weather such as freezing rain, thick ice will condense on the surface of the contact line. This phenomenon brings many serious problems: first, the extra weight of the ice layer will change the verticality of the contact line, directly affecting the good contact between the pantograph of the electric locomotive and the contact line, resulting in abnormal power supply and affecting the normal operation of the train; even worse, the contact line may break due to excessive ice, causing the rail transit line to be paralyzed, bringing huge economic losses and safety hazards.

[0003] At present, the main methods for deicing the overhead wire network include chemical spray deicing, electrical heating deicing and mechanical collision deicing. Among them, mechanical deicing devices are mostly based on the modification of the pantograph platform, such as ice scraping pantographs and vibrating pantographs. However, this type of mechanical deicing device based on the modification of the pantograph platform has a series of inherent defects:

[0004] Structural and maintenance issues: Its hydraulic, electrical and mechanical systems are complex, and when many components operate in a low-temperature environment, their performance drops significantly, and reliability is difficult to guarantee. This not only increases the failure rate of the device, but also makes daily maintenance work cumbersome and the maintenance cost high, including the cost of parts replacement and system debugging.

[0005] De-icing effect is limited: it can only work on thinner ice layers (such as less than 3mm), and is powerless against thick ice formed by freezing rain. In actual applications, when faced with thick ice, this type of device cannot effectively remove the ice and cannot meet actual needs.

[0006] Safety risks: In special parts of the contact network, such as the largest zigzag, line turnout and anchor section connection, due to the limitations of its deicing method, it is very easy to cause the contact line to break during deicing operations. To avoid such accidents, additional observers are required to monitor the deicing process at all times and manually adjust parameters such as the height of the deicing device when passing through special parts. This not only increases labor costs, but also due to the uncertainty of manual operation, it is still impossible to completely eliminate the occurrence of safety accidents, which reduces the efficiency and reliability of the overall deicing operation.

[0007] In summary, the existing contact network de-icing technology has obvious deficiencies in dealing with freezing rain and thick ice, system reliability, de-icing operation safety and efficiency, etc., and it is difficult to meet the needs of safe and stable operation of rail transit in severe weather. Therefore, an innovative, efficient and reliable contact network de-icing device and method is urgently needed. Summary of the invention

[0008] In view of the above defects or improvement needs of the prior art, it is necessary to invent a reliable de-icing device to ensure high-quality removal of ice on the contact line without the need for additional observers during the de-icing operation of the entire contact line (including the connection between the contact network branch and the anchor section). The de-icing operation can be efficiently completed by automatic adjustment of the device alone.

[0009] According to a first aspect of the present invention, there is provided a railway overhead wire deicing device, comprising: a non-contact measuring device, a robot platform and a deicing tool;

[0010] The non-contact measuring device is a hollow box structure, and a safety protection system including a protective cover and a cylinder is arranged on the upper part. The protective cover is pushed by the cylinder to form an opening at the top of the box, revealing a laser radar and a camera arranged above the bottom of the box; an anti-fouling optical glass is arranged above the laser radar; a power supply module is arranged inside the non-contact measuring device;

[0011] The deicing tool comprises a central rotating disc, an insulating stick at the end, and an adaptive speed-controlled disc motor group for driving the central rotating disc to rotate; the central rotating disc is a disc structure, an adaptive speed-controlled disc motor group is arranged at the center of the disc, and no less than three insulating sticks at the end are evenly spaced at the edge of the disc; the adaptive speed-controlled disc motor group is connected to the end of the robot platform;

[0012] The robot platform is arranged on the rail engineering vehicle via a fixed base; at least one non-contact measuring device is arranged in front of and behind the robot platform and at intervals of not less than 3 meters and installed on the rail engineering vehicle.

[0013] Furthermore, a self-cleaning system and a self-heating constant temperature system may be provided in the non-contact measuring device; the self-cleaning system comprises: a brush, a guide rail module and an air pipe; the lower end of the brush is bonded to the anti-fouling optical glass, and one end is connected to the guide rail module and can be controlled by the guide rail module to complete movement on the anti-fouling optical glass.

[0014] Furthermore, at least two bronchial tubes are arranged inside the non-contact measuring device; one end of the bronchial tube is connected to the self-heating constant temperature system, and the other end passes through the outer wall of the non-contact measuring device to contact the external environment.

[0015] Furthermore, the central rotating wheel disc can be a special-shaped structure: its central body is a disc structure, and the circumferential area of ​​the disc can extend the same number of square fixed plates evenly spaced on the circumference according to the number of end insulating rods set, and the end insulating rods are connected to the fixed plates.

[0016] Furthermore, the end insulating whip is freely connected to the central rotating wheel disc, and when a collision occurs, the end insulating whip rotates in a direction away from the rotation direction of the central rotating wheel disc.

[0017] Furthermore, the rated speed of the central rotating wheel is:

[0018] V s =V n *n≥V p

[0019] Where V s Indicates the rated speed of the central rotating wheel, V p It indicates the speed of contact line ice coating by artificial deicing, n indicates the number of end insulation sticks, V n Indicates the initial rotation speed of the center wheel.

[0020] Furthermore, the robot platform includes: a waist joint and a shoulder joint; the waist joint is the basic support and horizontal rotation hub for the movement of the robot platform, which is arranged above the fixed base, and its rotation axis is perpendicular to the plane of the rail engineering vehicle; the shoulder joint is horizontally connected to the waist joint through a small support rod, and its rotation axis is perpendicular to the rotation axis of the waist joint, and the shoulder joint can drive the first connecting rod and the joint to perform lifting and lowering actions in a vertical plane.

[0021] Furthermore, the robot platform also includes an elbow joint and a wrist joint; the elbow joint is connected to the shoulder joint through a first connecting rod in the extension direction of the shoulder joint, and its rotation axis is parallel to the rotation axis of the shoulder joint, and the extension and contraction of the mechanical platform connecting rod is achieved through its own rotation; the wrist joint is located at the end of the robot platform, connected to the elbow joint through a second connecting rod, and has multiple rotational degrees of freedom, and the rotation axes are perpendicular to each other or at a specific angle.

[0022] Furthermore, an auxiliary heating system may be provided inside the robot platform.

[0023] As a second aspect of the present invention, it also relates to a railway contact network deicing method, comprising:

[0024] S1. Module installation: Install the submodules of the contact wire deicing module at fixed positions on the working platform of the rail engineering vehicle, including at least two non-contact measuring devices, one each in the forward and backward directions of the train, a robot platform and deicing tools, a main control box and a distribution box, a searchlight and a warning light;

[0025] S2. Power supply system connection: Use a three-phase power cable with a waterproof aviation plug to connect the power supply on the rail engineering vehicle to the distribution box socket in the contact line deicing module;

[0026] S3. Communication system connection: Use an industrial network cable with a waterproof aviation plug to connect the network port of the main control box to the network port of the driver's room operation monitoring console;

[0027] S4. Operation preparation: Close the power switch of the distribution box and press the start button of the main control box to start the contact wire deicing module system; the operator in the cab opens the contact intelligent deicing software, opens the camera images of the two non-contact measuring devices, and adjusts the brightness of the searchlight to ensure clear imaging in the operation area;

[0028] S5. Software initialization: After the first installation, the camera and lidar need to be calibrated together. After the relevant equipment is calibrated using the joint calibration function of the contact network intelligent deicing software and the reprojection error meets the index, the non-contact measurement device can measure the three-dimensional spatial position of the contact line and other parameters. After that, the software automatically enters the deicing operation process interface;

[0029] S6. Deicing parameter setting: After entering the deicing operation process, first set the deicing operation related parameters;

[0030] S7. De-icing module startup preparation, the specific steps are as follows:

[0031] a. The operator operates the non-contact measuring device on the operation monitoring table, pushes up the protective cover, turns on the self-cleaning system and preheats the self-heating constant temperature system to ensure its normal use;

[0032] b. Press the preheating system on button on the robot platform to preheat it and the heating protective clothing system on the built-in controller to ensure normal use in a low-temperature environment;

[0033] c Press the start button of the end deicing tool, the deicing tool starts to rotate, and the state of the end insulation stick changes;

[0034] S8. De-icing stage: After confirming that the relevant data output and the rotation of the de-icing tool are normal, press the robot platform's adaptive de-icing follow-up start button, and the robot platform drives the de-icing tool to approach the contact line for de-icing. During de-icing, the end insulating stick rotates to hit the ice. The de-icing range is adjustable. The robot platform can automatically follow the change of the contact line to adjust the posture of the de-icing tool, and the rotation speed of the end insulating stick can be manually or automatically adjusted according to the thickness of the ice. The crushed ice generated during the de-icing process is thrown to the left and right sides below through the guide rail of the gable roof structure of the de-icing tool head;

[0035] S9. De-icing completed: After the operation is completed, set the speed of the central rotating wheel to zero, press the stop button of the de-icing device on the operation monitoring console, the de-icing tool stops rotating, and the robot platform retracts the de-icing tool to the initial state; turn off the power switch of the distribution box, and press the stop button of the main control box to shut down the contact line de-icing module system.

[0036] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0037] 1. The railway contact network deicing device of the present invention effectively identifies the contact line and obstacles by setting up laser radar and cameras in the non-measurement system, and combines the deicing tool with the mechanical platform device, so that the deicing tool can autonomously adjust the deicing posture to avoid obstacles on the railway contact network and strike the ice on the contact line. No additional observers are required during the deicing process, which not only reduces labor costs, but also greatly reduces the risk of contact line breakage.

[0038] 2. The railway contact network deicing device of the present invention achieves the effect that the operator can conveniently and comprehensively control and set parameters of the deicing device in the driver's cab by designing the deicing tool as an insulating stick at the end that is freely connected to the central rotating wheel and the rotation speed is adjustable, and integrating the main control box and the distribution box on the rail engineering vehicle and connecting the intelligent deicing software, thereby realizing one-key start, intelligent monitoring and automatic adjustment of the deicing operation, greatly simplifying the operation process, reducing the labor intensity and technical threshold of the operator, and improving the intelligence level and operation efficiency of the deicing operation.

[0039] 3. The high-efficiency railway contact network de-icing device of the present invention achieves the effect that all components of the entire de-icing device can operate stably and adapt to each other under extremely harsh environmental conditions such as extreme cold, freezing rain, and dust, by arranging an auxiliary heating system on the robot platform and equipping the non-contact measuring device with a self-cleaning, self-heating constant temperature and safety protection system. It effectively reduces system failures and downtime caused by environmental factors, significantly enhances the overall stability and environmental adaptability of the de-icing device, and reduces the degree of dependence on external environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a diagram of a contact wire deicing device installed on a rail engineering vehicle platform according to a preferred embodiment of the present invention;

[0041] Figure 2 A front view of a deicing tool according to a preferred embodiment of the present invention;

[0042] Figure 3 A three-dimensional side view of a deicing tool for the head of a mechanical deicing device according to a preferred embodiment of the present invention;

[0043] Figure 4 A three-dimensional rear view of a deicing tool for the head of a mechanical deicing device according to a preferred embodiment of the present invention;

[0044] Figure 5 A three-dimensional diagram of a mechanical deicing device robot platform according to a preferred embodiment of the present invention;

[0045] Figure 6 Schematic diagram of a non-contact measuring device according to a preferred embodiment of the present invention

[0046] Figure 7 A three-dimensional diagram of the external structure of a non-contact measuring device (300) according to a preferred embodiment of the present invention;

[0047] Figure 8 A top view of the internal structure of a non-contact measuring device (300) according to a preferred embodiment of the present invention;

[0048] Fig. 9 A method flow chart of a preferred embodiment of the present invention;

[0049] In all the drawings, the same reference numerals represent the same technical features, specifically: 100-deicing tool, 101-central rotating wheel, 102-end insulating stick, 104-adaptive speed control wheel motor group; 300-non-contact measuring device, 301-laser radar, 302-camera, 303-power module, 304-self-heating constant temperature system, 306-brush, 307-guide rail module, 308-trachea, 309-antifouling optical glass, 31 0-safety protection system, 311-protection cover, 312-cylinder; 400-robot platform, 401-fixed base, 402-waist joint, 403-shoulder joint, 404-elbow joint, 405-wrist joint, 406-first connecting rod, 407-second connecting rod; 200-contact line, 201-rail engineering vehicle, 203-searchlight, 204-warning light, 205-main control box, 206-distribution box, 207-driver's cab operation monitoring console. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0051] Example 1

[0052] Please refer to Figure 1 In order to achieve the above-mentioned purpose, this embodiment provides a railway contact network deicing device, including:

[0053] (1) Rail Engineering Vehicle 201

[0054] Rail Engineering Vehicle 201 is a railway engineering vehicle platform that provides the mounting and use of a complete set of mechanical deicing equipment.

[0055] (2) De-icing tools 100

[0056] Please refer to Figure 2-Figure 4 The deicing tool 100 is invented by simulating the manual deicing method. Its advantages are that the speed and strength are adjustable, and it is especially suitable for contact line 200 thick ice. According to the actual situation of manual deicing, the manual deicing force and the position of the force point are relatively stable. The speed of manual deicing on the contact line is V p According to this situation, the invention designs a deicing mode with n end insulating batons 102, and the central rotating wheel 101 rotates at an initial speed V n Rotation, considering that the weight m of the end insulating baton 102 remains unchanged, plus the first speed V 1 and striking force F n Mainly due to the rapid increase in the speed of the central rotating wheel 101, the rated speed of the wheel designed in this embodiment is V s :

[0057] V s =V n *n≥V p

[0058] The deicing tool 100 includes a central rotating disc 101, an adaptive speed-controlled disc motor group 104 (such a motor group can be a rotating motor, a pneumatic motor or an electric spindle, etc.) for driving the central rotating disc 101 to rotate, and a plurality of end insulating sticks 102. The deicing method is to drive the end insulating stick 102 to inertially knock the ice on the contact line 200 to achieve the deicing effect by rotating the knocking actuator. The rotation direction can be selected independently according to the different forward or backward directions of the rail engineering vehicle 201, and the knocking speed can be rotated independently according to the deicing effect, wherein the end insulating stick 102 can be a multi-section combination.

[0059] When the rail engineering vehicle 201 is moving with the contact line deicing module, the end insulating baton 102 may collide with the suspension string, positioner, etc. on the contact line 200 from the side, thereby causing damage to both. Therefore, in the present invention, the end insulating baton 102 and the central rotating wheel 101 are freely connected. When a collision occurs, the end insulating baton 102 rotates in the direction away from the rotation of the central rotating wheel 101, so that the deicing tool 100 can pass smoothly under the positioner and suspension string device of the contact line 200.

[0060] (3) Robot platform 400

[0061] Reference Figure 5The robot platform 400 plays a pivotal role in the entire contact line deicing system. It can be a highly intelligent and integrated robot or a three-dimensional motion platform architecture known for its precise control. From the perspective of functional realization, the primary task is to provide a stable and adaptable carrying platform for the deicing tool 100, ensuring that the deicing tool can be safely in place under various complex working conditions and ready to perform deicing operations at any time.

[0062] In addition, the robot platform 400 has a strong driving capability, which can drive the de-icing tool 100 to flexibly adjust its spatial position and posture. Whether it is precise translation and positioning in the horizontal direction, delicate height increase and decrease in the vertical dimension, or complex tilting and twisting movements in the air, it can accurately control the operation angle and position of the de-icing tool to achieve the best state to meet the de-icing needs of different parts of the contact line.

[0063] In the face of dynamically changing operation scenes, the target object following function of the robot platform 400 is particularly critical. When the rail engineering vehicle 201 moves forward or backward along the railway track, the position of the contact line 200 will fluctuate in real time due to factors such as line conditions and interference from surrounding facilities. At this time, the robot platform 400 can rely on a sensitive sensor system and advanced algorithm programs to tightly lock the contact line 200 and the target objects around it that need to be focused on, such as locators, hanging strings and other key components, and drive the deicing tool 100 to change dynamically with it, ensuring the continuity and accuracy of the deicing operation.

[0064] Furthermore, the autonomous obstacle avoidance function is a highlight of the robot platform 400. The environment along the railway is complex and changeable, and various obstacles may appear at any time. Once an emergency occurs during the de-icing operation, the robot platform 400 can respond quickly, with the help of built-in high-precision sensors, predict and plan a safe path in advance, and cleverly control the de-icing tool 100 to bypass obstacles, avoiding collisions that cause equipment damage and interruptions to the operation, greatly improving the safety and stability of the overall operation.

[0065] Considering the complexity of the actual working environment, especially in harsh low-temperature environments, the performance of conventional mechanical components is easily affected. In order to ensure that the robot platform 400 always operates stably and reliably, an auxiliary heating system is specially equipped. Taking the heating constant temperature control system of the robot platform 400 as an example, this system uses advanced resistance wire heating technology through carefully arranged heating elements in key parts such as joint connections and inside the transmission device, which can generate heat evenly and efficiently, adjust the internal temperature of the platform in real time, and effectively prevent the grease in the joint reducer from increasing in viscosity due to low temperature, avoiding the occurrence of mechanical transmission hysteresis or even jamming, so that the robot platform 400 can operate smoothly even in extremely cold conditions of ice and snow, effectively ensuring the smooth progress of contact line deicing operations.

[0066] An in-depth study of the structural composition of the robot platform 400 shows that the waist joint 402 is like a solid hub, firmly placed on the fixed base 401, and its rotation axis is precisely perpendicular to the plane of the rail engineering vehicle 201. This unique design layout gives the waist joint a strong torsional ability, allowing the robot platform 400 to achieve a large range of horizontal rotation based on the base, laying the foundation for the subsequent linkage operation of the shoulder, elbow and wrist joints, and expanding the coverage of de-icing tools on the horizontal working surface.

[0067] The shoulder joint 403 is horizontally connected to the waist joint 402 through a carefully designed small support rod, and the rotation axes of the two are perpendicular to each other, so that the shoulder joint can open up a new vertical movement dimension while taking on the rotational potential energy of the waist joint. The de-icing tool can not only sweep left and right, but also adjust the angle up and down, greatly enriching the spatial posture diversity of the de-icing operation.

[0068] The elbow joint 404 is tightly connected to the shoulder joint 403 via the first connecting rod 406 in the extension direction of the shoulder joint 403, and its rotation axis remains parallel to the rotation axis of the shoulder joint 403. This consistent structural design ensures the high efficiency of force transmission and the continuity of action execution, making the transition from shoulder to elbow natural and smooth, further refining the ability to fine-tune the position of the de-icing tool in a specific direction, and meeting the accuracy requirements for local fine de-icing of the contact line.

[0069] The wrist joint 405 is a key part of the end of the robot platform 400, with a striking position and unique functions. It is firmly connected to the elbow joint 404 through the second connecting rod 407, and is endowed with multiple rotational degrees of freedom, the rotation axes of which are mutually perpendicular or at a specific angle. This sophisticated and complex design makes the wrist joint as flexible and changeable as a human wrist, and can drive the deicing tool 100 to achieve various complex and tricky movements, whether it is a small amplitude shake adjustment or a precise angle twist, it can be easily controlled to ensure that the end of the deicing tool, such as the end insulating baton 102 and other components, can accurately act on the ice-covered part of the contact line 200 with the most appropriate posture, achieving efficient and high-quality deicing effect.

[0070] (4) Non-contact measuring device 300

[0071] Please refer to Figures 6 to 8 The main function of the non-contact measuring device 300 is to carry a camera 302 and a laser radar 301, and to identify and measure the contact line 200, the identification and tracking of the target objects of the contact network peripheral components. It is arranged in front and behind the rail engineering vehicle 201, and its position needs to be separated from the positions of the deicing tool 100 and the robot platform 400 by a certain distance. The distance is related to the speed of the engineering vehicle and the reaction speed of the non-contact measuring system, such as 3m. According to the different directions of the engineering vehicle, the main control system will automatically choose to use the front contact network non-contact measuring system 300 or the rear contact network non-contact measuring system 400. In addition, in order to improve the reliability of the system, a self-cleaning system, a self-heating constant temperature system 304 and a safety protection system 310 are also equipped on the outside.

[0072] The safety protection system 310 used in this embodiment is to prevent external dust or foreign matter from damaging the core components inside the non-contact measurement system 300, and also to prevent the laser emitted by the internal laser radar 301 from harming human eyes. The outside is equipped with a pneumatic push rod cover that can be raised and lowered autonomously. When the non-contact measurement system is used, the cover is pneumatically pushed up. After use, the cover is automatically lowered to protect the device. Rubber gaskets are installed on the four sides of the protective cover 311 to play a sealing and buffering role. The pneumatic actuator of the present invention can also be electric.

[0073] The self-cleaning system used in this embodiment is to avoid inaccurate data caused by foreign objects blocking the field of view of the camera or radar. The main camera 302 can be used for observation through the remote driver's cab, and the cleaning tool can be manually or automatically controlled to perform self-cleaning twice. The actuator of the vacuum cleaning system can be in various ways, such as air pipe blowing or slide rail brushes. The vacuum cleaning system can be operated by a simple button in the cab, and can effectively clean optical components even during measurement.

[0074] The self-heating constant temperature system 304 used in this embodiment is due to the complex external environment of the electrified railway, such as extreme cold weather or freezing rain weather. By using resistance wires to evenly arrange the internal heating and constant temperature and humidity system, that is, the constant temperature adjustment system of the working environment of the detection device, the reliability and service life of the product are improved.

[0075] Example 2

[0076] Please refer to Fig. 9 This embodiment provides a railway contact network deicing method, comprising:

[0077] S1. Module installation: Install the submodules of the contact line deicing module at fixed positions on the working platform of the rail engineering vehicle 201, including a set of non-contact measuring devices 300, a robot platform 400 and a deicing tool 100, a main control box 205 and a distribution box 206, a searchlight 203 and a warning light 204 in both the forward and rear directions;

[0078] S2 power supply system connection: Use a three-phase power cord with a waterproof aviation plug to connect the power supply on the rail engineering vehicle 201 to the contact wire de-icing module distribution box 206 socket, ie, the power supply system is connected;

[0079] S3 communication system connection: Use an industrial network cable with a waterproof aviation plug to connect the network port of the main control box 205 to the network port of the cab operation monitoring station 207, ie, the communication system is connected;

[0080] S4. Operation preparation: Close the power switch in the distribution box 206, press the start button on the main control box 205, and turn on the contact line deicing module system;

[0081] The operator in the cab uses the cab operation console monitoring console 207 to open the contact intelligent deicing software, first opens the images of the cameras 302 in the two non-contact measuring devices 300, and adjusts the brightness of the searchlight 203 to ensure that the corresponding contact line deicing operation area has a clear image;

[0082] S5. Software initialization: After the contact line deicing module is installed for the first time, it is necessary to perform a joint calibration of the camera 302 and the laser radar 301. After the joint calibration function in the contact network intelligent deicing software is used to complete the joint calibration of the camera 302 and the laser radar 301 in the two non-contact measuring devices 300 and the re-projection error meets the index, the non-contact measuring device 300 can reliably measure the three-dimensional spatial position of the contact line, including the contact line geometric parameters such as the guide height, pull-out value and contact line ice thickness, and then the software automatically enters the deicing operation process interface;

[0083] The non-contact measuring device 300 needs to perform obstacle detection and contact line parameter measurement in advance, so the non-contact measuring device 300 in the present invention needs to be configured with one set in front and behind the robot platform 400, and the device needs to be separated from the robot platform 400 by a certain distance; when the rail engineering vehicle 201 moves forward, the main control system automatically selects to use the camera 302 and the laser radar 301 in the non-contact measuring device 300 in the forward direction; when the rail engineering vehicle 201 moves backward, the main control system automatically selects to use the camera 302 and the laser radar 301 in the non-contact measuring device 300 in the backward direction.

[0084] The camera 302 is used to identify obstacles near the contact line 200, such as the suspension string and the locator, in addition to providing the operator with an opportunity to observe the working area. The obstacles are identified by using deep learning, and the robot platform 400 is guided to drive the de-icing tool 100 to move away.

[0085] The laser radar 301 can provide the three-dimensional spatial coordinates of obstacles, and cooperate with the camera 302 to generate a guidance coordinate map, accurately guiding the robot platform 400 to drive the de-icing tool 100 to avoid obstacles.

[0086] S6. Deicing parameter setting: After entering the deicing operation process, first set the deicing operation related parameters, such as the contact line offset calibration parameter value, the ice thickness of the contact line 200, the follow-up deicing compensation time, the rotation speed of the adaptive speed control wheel motor group 104, the reference height value, operating range and movement speed of the robot platform 400, the travel direction and speed of the rail engineering vehicle 201, the brightness level of the searchlight 203, the deep learning obstacle recognition algorithm model selection, the image data and radar data storage path, etc.;

[0087] S7. De-icing module start-up preparation:

[0088] The operator in the cab presses the opening button of the non-contact measuring device 300 on the cab operation monitoring console 207, and pushes up the protective cover 311 of the non-contact measuring device 300 through the cylinder 312. Then the operator continues to press the self-cleaning button of the non-contact measuring device 300. The brush 306 of the non-contact measuring device 300 cleans back and forth several times through the micro slide rail module 307 to ensure that the anti-fouling optical glass 309 is clean. Finally, the operator presses the button for the heating and cooling system of the non-contact measuring device 300. After preheating for 5 minutes, the non-contact measuring system can be used normally.

[0089] The operator in the cab presses the preheating system on button of the robot platform 400 on the cab operation monitoring station 207, and the heating protective clothing system on the robot platform 400 and its built-in controller starts to preheat, preheating the grease viscosity of the joint reducer inside it to ensure the normal use of the contact line deicing device in a low temperature environment.

[0090] The operator in the cab presses the start button of the terminal deicing tool 100 on the cab operation monitoring console 207, and the deicing tool 100 starts to rotate, and the terminal insulating swing stick 102 changes from a vertical free hanging state to a radial free swinging state;

[0091] After the operator observes that the data output of the non-contact measuring device 300 is normal and the rotation of the de-icing tool 100 is normal, the operator in the cab continues to press the adaptive de-icing follow start button of the robot platform 400 on the cab operation monitoring console 207, and then the robot platform 400 drives the de-icing tool 100 to start approaching the contact line 200 to perform de-icing operations;

[0092] S8. De-icing stage: When the end insulating baton 102 in the de-icing tool 100 touches the contact line 200, the end insulating baton 102 will rotate and hit the ice on the contact line, thereby removing the ice on the contact line. The de-icing range can be adjusted according to the actual situation, including de-icing of the entire circle of the contact line and de-icing on the side and bottom of the contact line.

[0093] The robot platform 400 drives the de-icing tool 100 to automatically follow the up and down and left and right changes of the contact line 200, including the posture adjustment of the de-icing tool 100, thereby ensuring that the direction of the rotating striking force of the end insulating whip 102 is perpendicular to the contact line and the ice-covering axis, ensuring the best de-icing effect of the contact line;

[0094] The rotation speed of the end insulating baton 102 can be adjusted according to the ice thickness on the contact line 200. The adjustment process can be manually adjusted or automatically adjusted through the built-in algorithm of the main control box 205, that is, the main control system of the deicing device of the present invention has the function of measuring the ice thickness of the contact line 200.

[0095] The crushed ice generated during the deicing operation can be thrown downward to the left and right sides through the guide rails at the head of the deicing tool 100. The shape of the head of the deicing tool 100 is a gable roof structure.

[0096] S9. Deicing is completed: After the operation is completed, the operator in the cab sets the rotation speed of the central rotating wheel 101 to zero, and then presses the deicing device stop button on the cab operation monitoring console 207, the deicing tool 100 stops rotating, and the robot platform 400 retracts the deicing tool 100 to the initial state.

[0097] Turn off the power switch in the distribution box 206, press the stop button of the main control box 205, and turn off the contact line deicing module system;

[0098] During the de-icing operation, the warning light 204 lights up to warn that there is high voltage near the contact line de-icing module, and the searchlight 203 illuminates the de-icing operation area to provide visibility in low light conditions.

[0099] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A railway contact network deicing device, comprising: A non-contact measuring device (300), a robot platform (400) and a deicing tool (100); The non-contact measuring device (300) is a hollow box structure, and a safety protection system (310) including a protective cover plate (311) and a cylinder (312) is arranged on the upper part; the protective cover plate (311) is pushed by the cylinder (312) to form an opening at the top of the box, and a laser radar (301) and a camera (302) arranged above the bottom of the box are exposed; an anti-fouling optical glass (309) is arranged in a cover-like manner above the laser radar (301); and a power supply module (303) is arranged inside the non-contact measuring device (300); The deicing tool (100) comprises a central rotating disc (101), an insulating end stick (102), and an adaptive speed-controlled disc motor group (104) for driving the central rotating disc (101) to rotate; the central rotating disc (101) is a disc structure, the adaptive speed-controlled disc motor group (104) is arranged at the center of the circle, and no less than three insulating end sticks (102) are evenly spaced at the edge of the circle; the adaptive speed-controlled disc motor group (104) is connected to the end of the robot platform (400); The robot platform (400) is arranged on a rail engineering vehicle (201) via a fixed base (401); and at least one non-contact measuring device (300) is arranged in front of and behind the robot platform (400) and at intervals of not less than 3 meters and is installed on the rail engineering vehicle (201).

2. A railway contact network deicing device according to claim 1, characterized in that: A self-cleaning system and a self-heating constant temperature system (304) may also be provided in the non-contact measuring device (300); the self-cleaning system comprises: a brush (306), a guide rail module (307) and an air pipe (308); the lower end of the brush (306) is in contact with the anti-fouling optical glass (309), and one end is connected to the guide rail module (307) and can be controlled by the guide rail module to move on the anti-fouling optical glass (309).

3. A railway contact network deicing device according to any one of claim 2, characterized in that: At least two bronchial tubes (308) are arranged inside the non-contact measuring device (300); one end of the bronchial tube (308) is connected to the self-heating constant temperature system (304), and the other end passes through the outer wall of the non-contact measuring device (300) to contact the external environment.

4. A railway contact network deicing device according to claim 1, characterized in that: The central rotating wheel (101) is a special-shaped structure: its central body is a disc structure, and the circumferential area of ​​the disc can extend the same number of square fixing plates at even intervals on the circumference according to the number of terminal insulating rods (102) set, and the terminal insulating rods (102) are connected to the fixing plates.

5. A railway contact network deicing device according to claim 4, characterized in that: The end insulating baton (102) is freely connected to the central rotating wheel (101). When a collision occurs, the end insulating baton (102) rotates in a direction away from the rotation of the central rotating wheel (101).

6. A railway contact network deicing device according to claim 5, characterized in that: The rated speed of the central rotating wheel (101) is: V s =V n *n≥10V p Where V s represents the rated speed of the central rotating wheel (101), V p represents the speed of contact line ice coating by artificial deicing, n represents the number of terminal insulating rods (102) set, V n Indicates the initial rotation speed of the center wheel.

7. The railway contact network deicing device according to claim 1, characterized in that: The robot platform (400) comprises: a waist joint (402) and a shoulder joint (403); the waist joint (402) is arranged above a fixed base (401), and its rotation axis is perpendicular to the plane of the rail engineering vehicle (201); the shoulder joint (403) is horizontally connected to the waist joint (402) through a small section of a supporting rod, and its rotation axis is perpendicular to the rotation axis of the waist joint (402).

8. A railway contact network deicing device according to claim 7, characterized in that: The robot platform (400) also includes an elbow joint (404) and a wrist joint (405); the elbow joint (404) is connected to the shoulder joint (403) in the extension direction via a first connecting rod (406), and its rotation axis is parallel to the rotation axis of the shoulder joint (403); the wrist joint (405) is located at the end of the robot platform (400), and is connected to the elbow joint (404) via a second connecting rod (407), and has multiple rotational degrees of freedom, and the rotation axes are perpendicular to each other or at a specific angle.

9. A railway overhead wire deicing device according to claim 8, characterized in that: An auxiliary heating system may also be provided inside the robot platform (400).

10. A method for deicing a railway contact network, characterized in that: include: S1. Module installation: Install the submodules of the contact wire deicing module at fixed positions on the working platform of the rail engineering vehicle (201), including at least two non-contact measuring devices (300) (one each in the forward direction and backward direction of the train), a robot platform (400) and a deicing tool (100), a main control box (205) and a distribution box (206), a searchlight (203) and a warning light (204); S2 power supply system connection: Use a three-phase power cord with a waterproof aviation plug to connect the power supply on the rail engineering vehicle (201) to the contact wire deicing module distribution box (206) socket; S3 communication system connection: Use an industrial network cable with a waterproof aviation plug to connect the network port of the main control box (205) to the cab operation monitoring station (207) network port; S4. Operation preparation: close the power switch of the distribution box (206), press the start button of the main control box (205) to start the contact wire deicing module system; the operator in the cab opens the contact intelligent deicing software, opens the camera (302) screen of the two non-contact measuring devices (300), and adjusts the brightness of the searchlight (203) to ensure clear imaging of the operating area; S5. Software initialization: After the first installation, the camera (302) and the laser radar (301) need to be calibrated together. After the relevant equipment is calibrated using the joint calibration function of the contact network intelligent deicing software and the reprojection error meets the index, the non-contact measurement device (300) can measure the parameters such as the three-dimensional spatial position of the contact line, and then the software automatically enters the deicing operation process interface; S6. Deicing parameter setting: After entering the deicing operation process, first set the deicing operation related parameters; S7. De-icing module startup preparation, the specific steps are as follows: a. The operator operates the non-contact measuring device (300) on the operating monitoring console (207) in the driver's cab, pushes up the protective cover (311), turns on the self-cleaning system and the self-heating constant temperature system (304) to preheat, and other operations to ensure its normal use; b. Press the preheating system on button of the robot platform (400) to preheat the heating protective clothing system and the built-in controller to ensure normal use in a low-temperature environment; c. Press the start button of the end deicing tool (100), the deicing tool (100) starts to rotate, and the state of the end insulating stick (102) changes; S8. Deicing stage: after confirming the output of relevant data and the normal rotation of the deicing tool (100), the adaptive deicing follow-up start button of the robot platform (400) is pressed, and the robot platform (400) drives the deicing tool (100) to approach the contact line (200) for deicing. During deicing, the end insulating stick (102) rotates to hit the ice. The deicing range is adjustable. The robot platform (400) can automatically follow the change of the contact line (200) to adjust the posture of the deicing tool (100), and the rotation speed of the end insulating stick (102) can be manually or automatically adjusted according to the thickness of the ice. The crushed ice generated during the deicing process is thrown to the left and right sides below through the guide rail of the gable roof structure of the head of the deicing tool (100); S9. Deicing is completed: After the operation is completed, the rotation speed of the central rotating wheel (101) is set to zero, and the deicing device stop button on the driver's cab operation monitoring console (207) is pressed, the deicing tool (100) stops rotating, and the robot platform (400) retracts the deicing tool (100) to the initial state; the power switch of the distribution box (206) is turned off, and the stop button of the main control box (205) is pressed to turn off the contact line deicing module system.

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