Scanning equipment for overhead line system in tunnel

Abstract

The invention relates to the technical field of rail transit monitoring, and provides an in-tunnel overhead line system scanning device, which comprises a main body bracket for mounting an overhead line system detection unit; the power device comprises a driving assembly and a power wheel; and the suspension walking device comprises an avoiding power mechanism, an avoiding seat, a swing frame, a correction mechanism and a suspension wheel. When the equipment travels on the contact line, the correction mechanism adapts to the space trend change of the contact line through at least two contact positions, and when the extension direction of the contact line changes, the correction mechanism drives the swing frame to rotate, so that the axis of the suspension wheel is always perpendicular to the vertical plane where the extension direction of the contact line section of the suspension position of the suspension wheel is located; the self-adaption to the space trend change of the contact line is realized, so that the suspension wheel and the contact line are kept in a stable contact state, the problem that the contact state of the suspension wheel and the contact line is unstable is solved, and the reliability of detection data and the safety of equipment operation are improved.

Description

Technical Field

[0001] This invention relates to the field of rail transit monitoring technology, and in particular to a contact wire scanning device for tunnels. Background Technology

[0002] With the rapid development of electrified railways and urban rail transit, the overhead contact system, as a core component of electric traction, directly affects the safety and stability of train operation. To ensure the reliable operation of the overhead contact system, it is necessary to inspect it within tunnels.

[0003] In related technologies, some detection equipment adopts a suspended structure. This type of equipment is usually suspended on the contact line by suspension wheels, and uses a power wheel to contact the contact line to move along the line, and carries sensors to monitor the status of the contact network.

[0004] However, the contact wire inside the tunnel does not extend in a straight line, but rather varies in spatial orientation according to the track design. Existing suspended inspection equipment struggles to adapt to these changes in the spatial orientation of the contact wire during its movement, especially at the intersection of two contact wire segments. Different suspension wheels exhibit poor adaptability to these segments, leading to unstable contact between the equipment and the contact wire, which can negatively impact the reliability of inspection data and the safety of equipment operation. Summary of the Invention

[0005] This invention provides a contact wire scanning device for tunnels, which solves the problem in existing suspended detection devices used for contact wire detection in tunnels where the suspension wheels are difficult to adapt to changes in the spatial orientation of the contact wire.

[0006] This invention provides a contact wire scanning device for tunnels, comprising: a main support for mounting a contact wire detection unit; a power unit including a drive assembly and a drive wheel, the drive assembly connecting the main support and the drive wheel, the drive assembly driving the drive wheel to rotate, the wheel surface of the drive wheel contacting the lower side of the contact wire; and a suspended traveling device, the suspended traveling device including an avoidance power mechanism, an avoidance seat, a swing frame, a correction mechanism, and a suspension wheel, the avoidance seat being slidably connected to the main support, the avoidance power mechanism connecting the main support and the avoidance seat, the avoidance power mechanism driving the avoidance seat to slide towards or away from the contact wire, the swing frame being rotatably connected to the avoidance seat, the correction mechanism being disposed on the swing frame and contacting one side of the contact wire in the horizontal direction to form at least two contact positions arranged along the extension direction of the contact wire, the at least two contact positions being disposed on both sides of the rotation axis of the swing frame, the suspension wheel being rotatably connected to the swing frame, the suspension wheel being used to contact the upper side of the contact wire.

[0007] According to one embodiment of the present invention, the correction mechanism includes: two or more lateral positioning wheels spaced apart and rotatably connected to the swing frame, each lateral positioning wheel engaging with the contact line to form a contact position, and the two or more lateral positioning wheels being disposed on both sides of the rotation axis of the swing frame.

[0008] According to one embodiment of the present invention, the correction mechanism further includes: a correction swing arm, the extension direction of which is parallel to the arrangement direction of the lateral positioning wheels, and the middle part of the correction swing arm is fixedly connected to the swing frame; a first elastic member, one end of which is connected to the clearance seat and the other end of which is connected to the correction swing arm, two first elastic members are spaced apart, the two first elastic members are respectively connected to the two ends of the correction swing arm, and the two first elastic members are configured to provide elastic forces in opposite directions to the correction swing arm.

[0009] According to one embodiment of the present invention, the obstacle avoidance power mechanism includes: an obstacle sensing unit mounted on the main support, used to detect whether there is an obstacle on the contact line and output an obstacle signal; an obstacle avoidance drive unit connected to the main support and the obstacle avoidance seat, the obstacle avoidance drive unit being used to drive the obstacle avoidance seat to slide back and forth; and an obstacle avoidance control unit electrically connected to the obstacle sensing unit and the obstacle avoidance drive unit respectively, the obstacle avoidance control unit being configured to control the obstacle avoidance drive unit based on the monitoring signal output by the obstacle sensing unit.

[0010] According to one embodiment of the present invention, the avoidance drive unit includes: a drive source, installed within the main support, for providing driving force; a motion conversion mechanism, connected between the drive source and the avoidance seat, for converting the rotational motion of the drive source into linear motion of the avoidance seat relative to the main support; and a flexible connector, connected between the motion conversion mechanism and the avoidance seat, for allowing relative displacement between the motion conversion mechanism and the avoidance seat when the avoidance seat is obstructed, and storing elastic potential energy.

[0011] According to one embodiment of the present invention, the drive assembly includes: a mounting base connected to the main support; a floating support, the floating support being inclined, a first end of the floating support being rotatably connected to the mounting base, the rotation axis of the floating support being parallel to the axle of the power wheel, and a second end of the floating support being connected to the axle of the power wheel; a drive motor mounted on the second end of the floating support and drivingly connected to the axle of the power wheel; and a second elastic member connecting the mounting base and the floating support, the second elastic member being configured to provide an upward elastic force to the floating support, causing the power wheel to elastically press against the contact line.

[0012] According to one embodiment of the present invention, the mounting base is rotatably connected to the main support, and the rotation axis of the mounting base is perpendicular to the rotation axis of the floating support; the wheel surface of the power wheel is provided with a groove, the groove matching the lower surface contour of the contact line, and the power wheel engages with the contact line through the groove.

[0013] According to one embodiment of the present invention, the drive assembly further includes a third elastic element, the third elastic element connecting the mounting base and the main support, the third elastic element being configured to generate elastic deformation when the mounting base and the main support rotate relative to each other.

[0014] According to one embodiment of the present invention, the driving assembly further includes: a limiting structure disposed between the mounting base and the main support, the limiting structure including a first limiting part disposed on the mounting base and a second limiting part disposed on the main support, the first limiting part and the second limiting part being disposed opposite to each other on the rotation path of the mounting base, for limiting the rotation angle range of the mounting base relative to the main support.

[0015] According to one embodiment of the present invention, the contact wire detection unit includes: a robotic arm mounted on the main support; a vision-guided camera mounted on the movable end of the robotic arm for acquiring images of the component under test to identify feature points of the component under test; a contact sensor mounted on the movable end of the robotic arm for contacting the contact wire or contact wire component and acquiring contact force signals; a laser rangefinder mounted on the movable end of the robotic arm for measuring the distance between the contact sensor and the component under test; and a control module electrically connected to the contact sensor, the vision-guided camera, the laser rangefinder, and the robotic arm, respectively.

[0016] The contact wire scanning device in the tunnel provided by this invention allows the correction mechanism to adapt to changes in the spatial orientation of the contact wire through at least two contact positions when the device moves along the contact wire. When the extension direction of the contact wire changes, the correction mechanism drives the swing frame to rotate, so that the axis of the suspension wheel is always perpendicular to the vertical plane where the extension direction of the contact wire segment corresponding to the suspension position of the suspension wheel is located. This achieves self-adaptation to changes in the spatial orientation of the contact wire, thereby maintaining a stable contact state between the suspension wheel and the contact wire. This solves the problem of unstable contact state between the suspension wheel and the contact wire, and is beneficial to improving the reliability of detection data and the safety of equipment operation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of a contact wire scanning device in a tunnel according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the power unit structure in a contact wire scanning device inside a tunnel, according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of a suspended walking device in a contact wire scanning device inside a tunnel, according to an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the avoidance power mechanism in a contact wire scanning device inside a tunnel, according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the structure of a contact wire detection unit in a contact wire scanning device in a tunnel, according to an embodiment of the present invention.

[0023] Figure label:

[0024] 100. Main support frame; 110. Contact wire inspection unit; 111. Robotic arm; 112. Visual guidance camera; 113. Laser rangefinder; 114. Contact sensor; 115. Control module;

[0025] 200. Power unit; 210. Drive assembly; 211. Mounting base; 212. Floating bracket; 213. Drive motor; 214. Second elastic element; 215. First limiting part; 216. Second limiting part; 220. Drive wheel;

[0026] 300. Suspended walking device; 310. Avoidance power mechanism; 311. Obstacle sensing unit; 312. Avoidance drive unit; 313. Avoidance control unit; 320. Avoidance seat; 330. Swing frame; 340. Correction mechanism; 341. Lateral positioning wheel; 342. Correction swing arm; 343. First elastic element; 350. Suspension wheel;

[0027] 400. Contact wire;

[0028] 500. Obstacles. Detailed Implementation

[0029] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0030] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0032] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0034] The following is combined with Figures 1-3 This invention describes a contact wire scanning device for tunnels according to an embodiment of the present invention.

[0035] In some embodiments, the overhead contact line scanning device in the tunnel includes a main support 100, a power unit 200, and a suspended traveling device 300. The main support 100 is used to mount the overhead contact line detection unit 110. The power unit 200 includes a drive assembly 210 and a drive wheel 220. The drive assembly 210 connects the main support 100 and the drive wheel 220, and drives the drive wheel 220 to rotate. The wheel surface of the drive wheel 220 contacts and engages with the lower side of the contact wire 400 of the overhead contact line. The suspended traveling device 300 includes a clearance power mechanism 310, a clearance seat 320, a swing frame 330, a correction mechanism 340, and a suspension wheel 350. The clearance seat 320 is slidably connected to the main support 100. The clearance power mechanism 310 connects the main support 100 and the clearance seat 320, and drives the clearance seat 320 to slide towards or away from the contact wire 400. The swing frame 330 is rotatably connected to the clearance seat 320. The correction mechanism 340 is disposed on the swing frame 330 and contacts one side of the contact line 400 in the horizontal direction and forms at least two contact positions arranged along the extension direction of the contact line 400. The at least two contact positions are respectively placed on both sides of the rotation axis of the swing frame 330. The suspension wheel 350 is rotatably connected to the swing frame 330 and is used to contact the upper side of the contact line 400.

[0036] For example, the main support 100 is used to support the contact wire detection unit 110 and other functional components. The main support 100 can be a support formed by combining plates or poles, and no specific limitation is made here.

[0037] The drive assembly 210 is mounted on the main support 100, and its output rotational power is transmitted through the drive wheel 220. The wheel surface of the drive wheel 220 contacts the lower side of the contact line 400, providing traction for the equipment to travel along the line.

[0038] In the suspended walking device 300, the avoidance seat 320 is slidably connected to the main support 100. The avoidance power mechanism 310 can drive the avoidance seat 320 to slide away from the contact line 400, so that when the suspended walking device 300 encounters obstacles 500 such as the locator clamp, it can temporarily detach from the contact line 400 and form a certain distance from the contact line 400 in the horizontal direction, thereby realizing the obstacle avoidance function. Furthermore, the avoidance power mechanism 310 can drive the avoidance seat to slide closer to the contact line 400, so that the suspended walking device 300 can return to contact with the contact line 400 after passing the obstacle 500.

[0039] Optionally, the upper surface of the main support 100 is a plane, and the avoidance power mechanism 310 is used to drive the avoidance seat 320 to slide along the upper surface of the main support 100.

[0040] It is understandable that, in actual use, the extension path of each contact wire 400 may have vertical inclination or curvature. Since the contact wire scanning equipment in the tunnel is suspended from the contact wire 400 via multi-point suspension, and the distance from each suspension point to the main support 100 remains constant, the vertical inclination or curvature of the contact wire 400's extension path has negligible impact on the measurement results of the contact wire scanning equipment in the tunnel, and will not affect the stability of the suspension. However, because each pair of adjacent contact wire segments 400 is subject to the influence of fixing structures such as locator clamps, an angle will form. When the contact wire scanning equipment crosses the junction of two contact wire segments 400, if the suspension travel device 300 cannot adapt to the change in the direction of the contact wire 400, it is prone to detachment, affecting stability, safety, and the accuracy of monitoring results. This implementation aims to solve this problem.

[0041] For ease of description, each contact line 400 is equivalent to a straight line, and the contact lines 400 of adjacent segments are formed at an angle due to the traction effect of structures such as the positioner clamp.

[0042] In this embodiment, the swing frame 330 and the clearance seat 320 are rotatably connected. The rotation axis of the swing frame 330 is perpendicular to the front-rear direction of the main support 100 and the sliding direction of the clearance seat 320. The front-rear direction of the main support 100 is the direction from the front end to the rear end in the moving direction of the main support 100, which is usually the length direction of the main support 100. The sliding direction of the clearance seat 320 is perpendicular to the length direction of the main support 100, that is, the width direction of the main support 100. For example, when the contact wire scanning equipment in the tunnel is suspended on a straight contact wire 400, the front-rear direction of the main support 100 is parallel to the extension direction of the contact wire 400, the sliding direction of the clearance seat 320 is perpendicular to the extension direction of the contact wire 400, and the rotation axis of the swing frame 330 is parallel to the vertical plane where the contact wire 400 is located.

[0043] A correction mechanism 340 is mounted on the swing frame 330. This correction mechanism 340 contacts one side of the contact line 400. "Contacting one side of the contact line 400 in the horizontal direction" means that the contact position of the correction mechanism 340 with the contact line 400 is located on either side of the contact line 400 in the horizontal direction perpendicular to its extension direction. In other words, the contact position of the correction mechanism 340 with the contact line 400 is located on the left or right side of the contact line 400's extension direction. At least two contact points are formed between the correction mechanism 340 and the contact line 400. These contact points are arranged along the extension direction of the contact line 400 and distributed on both sides of the swing frame 330's rotation axis. A portion of the contact points are located in front of the swing frame 330's rotation axis, and the other portion are located behind the swing frame 330's rotation axis.

[0044] When the equipment moves along the contact line 400, the calibration mechanism 340 senses the change in the direction of the contact line 400 through at least two contact positions at the front and rear. If the contact line 400 changes angle in the horizontal direction, the contact positions at different positions at the front and rear will adapt to the change in angle, causing the calibration mechanism 340 to drive the swing frame 330 to swing accordingly, thereby adjusting the angle of the suspension wheel 350.

[0045] The suspension wheel 350 is rotatably connected to the swing frame 330 and contacts the upper side of the contact line 400 to form a suspension point. During the swinging process following the swing frame 330, the suspension wheel 350 always maintains the optimal contact state with the contact line 400, which can effectively prevent the suspension wheel 350 from disengaging from the contact line 400 due to the deviation of the mating angle.

[0046] The overhead contact line scanning equipment in the tunnel includes two or more suspended traveling devices 300. These devices are arranged along the front-rear direction of the main support 100. When cooperating with the contact wire 400, each of the two or more suspended traveling devices 300 forms two or more contact points with the contact wire 400. In other words, the suspension wheels 350 of each of the two or more suspended traveling devices 300 are in contact with the contact wire 400 except during avoidance maneuvers. When the overhead contact line scanning equipment passes between two adjacent sections of the contact wire 400, the front suspension wheel 350 engages with one section of the contact wire 400, and the rear suspension wheel 350 engages with the other section of the contact wire 400. Both the front and rear suspension wheels 350 can adapt to the angle of their corresponding contact wire 400.

[0047] As can be seen, the contact wire scanning device in the tunnel of this embodiment can adapt to the spatial orientation changes of the contact wire 400 during the movement process, ensuring that the contact state between the suspension wheel 350 and the contact wire 400 is stable and reliable, thereby providing a stable detection platform for the contact wire detection unit 110, which is conducive to improving the accuracy of detection data and the safety of equipment operation.

[0048] Optionally, some of the two or more suspended traveling devices 300 are located on one side of the contact line 400, while others are located on the other side. For example, there may be three or more suspended traveling devices 300, with some located on the left side of the contact line 400 and others on the right side. The suspended traveling devices on the left and right sides of the contact line 400 are arranged alternately along the front-rear direction of the main support 100. This prevents the contact wire scanning equipment inside the tunnel from detaching from the contact line 400 due to tilting or other reasons.

[0049] In some embodiments, the correction mechanism 340 includes lateral positioning wheels 341. Two or more lateral positioning wheels 341 are spaced apart and are rotatably connected to the swing frame 330. Each lateral positioning wheel 341 contacts and engages with the contact line 400 to form a contact position. The two or more lateral positioning wheels 341 are respectively placed on both sides of the rotation axis of the swing frame 330.

[0050] For example, the correction mechanism 340 uses lateral positioning wheels 341 as the actuating components that contact the contact line 400. There are two or more lateral positioning wheels 341, spaced apart. For instance, the upper surface of the main support 100 is flat, the avoidance power mechanism 310 drives the avoidance seat 320 to slide along the upper surface of the main support 100, the rotation axis of the swing frame 330 is perpendicular to the upper surface of the main support 100, and the lateral positioning wheels 341 are spaced apart along a straight line parallel to the upper surface of the main support 100. Each lateral positioning wheel 341 is rotatably connected to the swing frame 330. The axis of each lateral positioning wheel 341 is parallel to the rotation axis of the swing frame 330, and the wheel surface of each lateral positioning wheel 341 can contact the side of the contact line 400. When the contact line 400 bends horizontally, the lateral positioning wheel 341 is subjected to a lateral thrust, thereby causing the swing frame 330 to swing around its axis accordingly. Two or more lateral positioning wheels 341 are placed on both sides of the rotating shaft of the swing frame 330, that is, some lateral positioning wheels 341 are located in front of the rotating shaft and some are located behind the rotating shaft.

[0051] This front-to-back arrangement allows the lateral positioning wheels 341 to simultaneously or sequentially sense changes in the direction of the contact line 400, regardless of whether the equipment is on a straight or curved section, thus generating a stable guiding torque. When the contact line 400 is arranged in a zigzag pattern or on a curved section, the torque generated by the contact between the front and rear lateral positioning wheels 341 and the contact line 400 drives the swing frame 330 to rotate, causing the suspension wheel 350 and the drive wheel 220 to adjust their posture accordingly, always maintaining good contact with the contact line 400.

[0052] Therefore, the lateral positioning wheel 341 transforms the spatial orientation change of the contact wire 400 into a change in the swing angle of the swing frame 330, enabling the equipment to adaptively follow the orientation of the contact wire 400. This avoids problems such as poor contact between the suspension wheel 350 and the contact wire 400 or slippage of the drive wheel 220 due to the bending of the contact wire 400, thus improving the equipment's throughput and detection stability under complex track conditions. Furthermore, the rolling contact between the lateral positioning wheel 341 and the contact wire 400 effectively reduces the moving resistance of the contact wire scanning equipment in the tunnel, extends the service life of the contact wire scanning equipment in the tunnel, and prevents damage to the contact wire 400.

[0053] In some embodiments, the correction mechanism 340 further includes a correction swing arm 342 and a first elastic member 343. The extension direction of the correction swing arm 342 is parallel to the arrangement direction of the lateral positioning wheels 341, and the middle part of the correction swing arm 342 is fixedly connected to the swing frame 330. One end of the first elastic member 343 is connected to the relief seat 320, and the other end is connected to the correction swing arm 342. Two first elastic members 343 are spaced apart, and the two first elastic members 343 are respectively connected to the two ends of the correction swing arm 342, and the two first elastic members 343 are configured to provide elastic forces in opposite directions to the correction swing arm 342.

[0054] In this embodiment, a correction arm 342 and a first elastic element 343 are further added to the lateral positioning wheel 341 to enhance the stability and reset capability of the correction mechanism 340. Specifically, the correction arm 342 extends along a direction perpendicular to the rotation axis of the swing frame 330, and its extension direction is parallel to the arrangement direction of the lateral positioning wheel 341. The middle part of the correction arm 342 is fixedly connected to the swing frame 330, so the correction arm 342 and the swing frame 330 maintain synchronous movement. Two first elastic elements 343 are respectively disposed at both ends of the correction arm 342. One end of each first elastic element 343 is connected to the relief seat 320, and the other end is connected to the corresponding end of the correction arm 342. Two first elastic elements 343 are configured to provide opposite elastic forces to the correction swing arm 342. For example, both first elastic elements 343 are compression springs or both are tension springs. When the correction swing arm 342 is in the centered position, the two first elastic elements 343 are in a balanced state, and their elastic forces cancel each other out. When the contact line 400 bends, the lateral positioning wheel 341 drives the swing frame 330 to deflect, and the correction swing arm 342 deflects accordingly. At this time, one first elastic element 343 is stretched, and the other is compressed. The difference in elastic force between the two forms a restoring torque that restores the correction swing arm 342 to the centered position. This restoring torque balances the lateral force of the contact line 400 on the lateral positioning wheel 341, allowing the swing frame 330 to reach a stable state at the new angular position and preventing the swing frame 330 from swinging violently due to external force fluctuations. When the contact line 400 returns to a straight line, the difference in elastic force between the two first elastic elements 343 drives the correction swing arm 342 to automatically return to the center position, allowing the equipment to return to a straight-line travel state.

[0055] By setting the correction swing arm 342 and the first elastic element 343, the correction mechanism 340 has a flexible self-resetting function. It can swing flexibly with the change of the contact line 400 to maintain the contact state between the lateral positioning wheel 341 and the contact line 400, and can automatically restore the center after the external force disappears. This significantly improves the walking stability and posture stability of the equipment under continuously changing line conditions.

[0056] Combination Figure 4 In some embodiments, the obstacle avoidance mechanism 310 includes an obstacle sensing unit 311, an obstacle avoidance drive unit 312, and an obstacle avoidance control unit 313. The obstacle sensing unit 311 is mounted on the main support 100 and is used to detect the presence of an obstacle 500 on the contact line 400 and output an obstacle 500 signal. The obstacle avoidance drive unit 312 is connected to the main support 100 and the obstacle avoidance seat 320, and is used to drive the obstacle avoidance seat 320 to slide back and forth. The obstacle avoidance control unit 313 is electrically connected to both the obstacle sensing unit 311 and the obstacle avoidance drive unit 312, and is configured to control the obstacle avoidance drive unit 312 based on the monitoring signal output by the obstacle sensing unit 311.

[0057] For example, the obstacle sensing unit 311 is mounted on the main support 100, and its sensing range covers the contact line 400 area in front of and behind each suspended walking device 300. For instance, multiple obstacle sensing units 311 are provided, with one obstacle sensing unit 311 on the front and one on the rear of each suspended walking device 300. The obstacle sensing unit 311 can be a through-beam laser or a vision sensor, etc., and the obstacle avoidance control unit 313 can be a PLC or a microcontroller, etc., without specific limitations here.

[0058] As the equipment moves along the line, the obstacle sensing unit 311 continuously monitors the contact line 400 for obstacles 500, such as locator clamps and dropper clamps. Once an obstacle 500 is detected, an obstacle 500 signal is output. Upon receiving this signal, the avoidance control unit 313 sends an avoidance command to the avoidance drive unit 312 according to preset control logic. The avoidance drive unit 312 is connected to the avoidance seat 320. Upon receiving the avoidance command, it drives the avoidance seat 320 to slide horizontally relative to the main support 100, temporarily moving the suspension wheel 350 and drive wheel away from the contact line 400, thus creating space for the obstacle 500 to pass. Once the equipment has passed the obstacle 500, the obstacle 500 signal output by the obstacle sensing unit 311 disappears, and the avoidance control unit 313 controls the avoidance drive unit 312 to reverse the drive, resetting the avoidance seat 320 to its initial position, and the equipment resumes normal operation.

[0059] Through the coordinated operation of the obstacle sensing unit 311, the avoidance control unit 313, and the avoidance drive unit 312, the equipment can automatically identify and avoid obstacles 500 on the contact line 400. It can achieve continuous movement along the entire line without manual intervention, effectively improving the automation level and passability of the detection operation and avoiding damage caused by collisions between the equipment and obstacles 500.

[0060] In some embodiments, the avoidance drive unit 312 includes a drive source, a motion conversion mechanism, and a flexible connector. The drive source is mounted within the main support 100 and provides driving force. The motion conversion mechanism connects the drive source and the avoidance seat 320, converting the rotational motion of the drive source into linear motion of the avoidance seat 320 relative to the main support 100. The flexible connector connects the motion conversion mechanism and the avoidance seat 320, allowing relative displacement between the motion conversion mechanism and the avoidance seat 320 when the avoidance seat 320 is obstructed, and storing elastic potential energy.

[0061] For example, the avoidance drive unit 312 adopts a flexible drive structure, which provides buffer protection while achieving active avoidance. The drive source can be a servo motor, which is installed inside the main support 100 to provide rotational power. The motion conversion mechanism converts the rotational motion of the drive source into linear motion and transmits it to the avoidance seat 320, realizing the linear reciprocating sliding of the avoidance seat 320. The motion conversion mechanism can be a lead screw and nut mechanism, a gear and rack mechanism, or a synchronous belt mechanism, etc. A flexible connector is connected between the motion conversion mechanism and the avoidance seat 320. When the avoidance seat 320 encounters unexpected resistance during sliding, the flexible connector allows relative displacement between the motion conversion mechanism and the avoidance seat 320 and stores elastic potential energy, avoiding damage to the transmission components from rigid impacts.

[0062] Specifically, when the obstacle avoidance seat 320 is obstructed and cannot continue sliding, the drive source continues to drive the motion conversion mechanism. The flexible connector is compressed or stretched to store energy. At this time, a relative displacement occurs between the motion conversion mechanism and the obstacle avoidance seat 320, and the drive source will not be damaged due to overload. When the resistance is eliminated, the flexible connector releases the stored elastic potential energy, pushing the obstacle avoidance seat 320 to continue sliding or reset. By setting the flexible connector, the obstacle avoidance drive unit 312 has overload protection capability. Even if it encounters accidental jamming during the obstacle avoidance process, it will not cause damage to the equipment, improving the reliability and safety of the system. At the same time, the energy storage characteristics of the flexible connector can also assist the obstacle avoidance seat 320 to quickly reset after passing the obstacle, shortening the response time of the obstacle avoidance action.

[0063] Of course, in some other embodiments, the avoidance drive unit 312 may also include a linear motor or a telescopic motor, and the avoidance drive unit 312 and the avoidance seat 320 may also be rigidly connected.

[0064] In some embodiments, the drive assembly 210 includes a mounting base 211, a floating bracket 212, a drive motor 213, and a second elastic member 214. The mounting base 211 is connected to the main support 100. The floating bracket 212 is inclined, with its first end rotatably connected to the mounting base 211, and its axis of rotation parallel to the axle of the drive wheel 220. The second end of the floating bracket 212 is connected to the axle of the drive wheel 220. The drive motor 213 is mounted on the second end of the floating bracket 212 and is drively connected to the axle of the drive wheel 220. The second elastic member 214 connects the mounting base 211 and the floating bracket 212, and is configured to provide an upward elastic force to the floating bracket 212, causing the drive wheel 220 to elastically press against the contact line 400.

[0065] In this embodiment, the drive assembly 210 adopts an elastic floating structure to ensure that the drive wheel 220 always maintains stable pressure against the lower surface of the contact line 400. The floating bracket 212 is inclined, that is, the floating bracket 212 forms an angle of less than 90° with the horizontal plane, or in other words, the floating bracket 212 forms an angle of less than 90° with the contact line 400. The first end of the floating bracket 212 is rotatably connected to the mounting base 211, that is, the floating bracket 212 can swing up and down around the horizontal axis. For example, the upper surface of the main support 100 is a plane, the axle of the drive wheel 220 and the rotation axis of the floating bracket 212 are parallel to the upper surface of the main support 100, and the floating bracket 212 forms an angle of less than 90° with the upper surface of the main support 100. The second end of the floating bracket 212 is connected to the axle of the drive wheel 220. Simultaneously, the drive motor 213 is also mounted on the second end of the floating bracket 212. The drive motor 213 is connected to the axle of the drive wheel 220, and both the drive motor 213 and the drive wheel 220 swing synchronously with the floating bracket 212. A second elastic element 214 is connected between the mounting base 211 and the floating bracket 212. Its elastic force is upward, applying a torque to the floating bracket 212 to lift its second end, thus ensuring that the drive wheel 220 always presses against the lower surface of the contact line 400 with elastic force. The second elastic element 214 can be a compression spring or a torsion spring, etc., as needed; no specific limitation is made here. When the contact line 400 experiences a change in slope or fluctuation in height in the vertical direction, the drive wheel, under the action of the second elastic element 214, can float up and down with the position change of the contact line 400, maintaining stable contact pressure and preventing the drive wheel from detaching or experiencing excessive pressure due to changes in the height of the contact line 400.

[0066] Through the horizontal rotational freedom of the mounting base 211 and the vertical swinging freedom of the floating bracket 212, the drive assembly 210 achieves all-round self-adaptation to the three-dimensional spatial orientation of the contact line 400, ensuring that the drive wheel and the contact line 400 always maintain reliable elastic contact, providing stable and continuous driving force for the equipment to move, while avoiding the problem of uneven wear of the contact line 400 caused by fluctuations in contact pressure.

[0067] In some embodiments, the mounting base 211 is rotatably connected to the main support 100, and the rotation axis of the mounting base 211 is perpendicular to the rotation axis of the floating support 212; the wheel surface of the power wheel 220 is provided with a groove, the groove matches the lower surface contour of the contact line 400, and the power wheel 220 cooperates with the contact line 400 through the groove.

[0068] For example, the mounting base 211 is rotatably connected to the main support 100 via a shaft, bearing or other structure and the axis of rotation is perpendicular to the upper surface of the main support 100, so that the drive assembly 210 as a whole can rotate in a plane parallel to the upper surface of the main support 100, thereby adapting to the bending of the contact line 400 in the horizontal direction.

[0069] When the contact line 400 is arranged in a zigzag pattern in the horizontal direction or passes through a curved section, the drive assembly 210 rotates as a whole, so that the drive wheel 220 always rolls along the extension direction of the contact line 400, avoiding lateral friction or separation between the drive wheel 220 and the contact line 400 due to the horizontal bending of the contact line 400.

[0070] The drive wheel 220 has a groove on its surface, the shape of which matches the arc contour of the lower surface of the contact line 400. For example, the cross-section of the groove can be designed as an arc or a V-shape. When the drive wheel presses against the contact line 400, the groove fits snugly against the lower surface contour of the contact line 400, forming a stable contact fit. This groove structure increases the contact area between the drive wheel 220 and the contact line 400, improving the efficiency of friction transmission and preventing slippage. Furthermore, the groove's fit with the contact line 400's contour has a self-guiding function; when the contact line 400 deviates slightly, the geometry of the groove guides the drive wheel 220 to automatically follow the direction of the contact line 400, further improving the equipment's adaptability to changes in the contact line 400's trajectory.

[0071] In some embodiments, the drive assembly 210 further includes a third elastic element (not shown) that connects the mounting base 211 and the main support 100, and is configured to produce elastic deformation when the mounting base 211 rotates relative to the main support 100.

[0072] In this embodiment, the third elastic element provides a flexible restoring force for the rotation of the drive assembly 210. Specifically, the third elastic element includes a torsion spring or two or more compression springs or tension springs arranged opposite each other. The third elastic element is connected between the mounting base 211 and the main support 100. When the device travels in a straight line, the mounting base 211 is in the centered position, and the third elastic element is in its initial state.

[0073] When the contact line 400 bends horizontally, the mounting base 211 rotates relative to the main support 100, and the third elastic element undergoes elastic deformation, storing elastic potential energy. This elastic potential energy is converted into a restoring torque that returns the mounting base 211 to its central position, balancing the lateral force generated by the bending of the contact line 400, thus ensuring that the drive wheel 220 maintains a stable lateral force while following the direction of the contact line 400.

[0074] When the contact line 400 returns to a straight line, the third elastic element releases its stored elastic potential energy, driving the mounting base 211 to automatically return to its original position.

[0075] By incorporating a third elastic element, the rotation of the drive assembly 210 possesses elastic recovery characteristics, enabling it to flexibly adapt to the horizontal bending of the contact line 400 and automatically reset after bending. Simultaneously, the reset torque provided by the third elastic element suppresses minor swaying of the drive wheel 220 during straight-line travel, improving walking stability.

[0076] In some embodiments, the drive assembly 210 further includes a limiting structure. The limiting structure is disposed between the mounting base 211 and the main support 100. The limiting structure includes a first limiting part 215 disposed on the mounting base 211 and a second limiting part 216 disposed on the main support 100. The first limiting part 215 and the second limiting part 216 are disposed opposite to each other on the rotation path of the mounting base 211, and are used to limit the rotation angle range of the mounting base 211 relative to the main support 100.

[0077] For example, a first limiting part 215 is disposed on the mounting base 211, and a second limiting part 216 is disposed on the main support 100, with the two arranged opposite each other on the rotation path of the mounting base 211. When the rotation angle of the mounting base 211 is too large, the first limiting part 215 contacts the second limiting part 216, preventing the mounting base 211 from continuing to rotate, thereby limiting the rotation angle of the mounting base 211 relative to the main support 100 to a preset safe range. This preset range can be set according to the actual line conditions, for example, limited to within ±15 degrees, which satisfies the need for curve passage while avoiding cable entanglement, component collision, or the drive wheel 220 detaching from the contact line 400 due to excessive rotation angle.

[0078] The limiting structure can be a combination of a boss and a groove, a stop and a stop, or a shaft and a hole. By setting the limiting structure, the safety of the drive assembly 210 and related cables is effectively protected under extreme operating conditions, preventing mechanical damage caused by excessive rotation.

[0079] In some other embodiments, the drive assembly 210 includes a mounting base 211, a fixed bracket, and a drive motor 213. The mounting base 211 is fixedly connected to the main support 100. One end of the fixed bracket is fixedly connected to the mounting base 211, and the other end is rotatably connected to the drive wheel 220. The drive motor 213 is mounted on the mounting base 211, the main support 100, or the main support 100. The motor shaft of the drive motor 213 is connected to the drive wheel 220 via a transmission connection, such as a synchronous belt or a coupling. The axial width of the drive wheel 220 is greater than the width of the contact line 400, and an elastic layer is provided on the surface of the drive wheel 220. The elastic layer of the drive wheel 220 can be used to increase the contact force with the contact line 400, thereby improving drive stability. The characteristic that the axial width of the drive wheel 220 is greater than the width of the contact line 400 can be used to prevent the drive wheel 220 from detaching from the contact line 400.

[0080] Combination Figure 5 In some embodiments, the contact wire detection unit 110 includes a robotic arm 111, a vision-guided camera 112, a laser rangefinder 113, a contact sensor 114, and a control module 115. The robotic arm 111 is mounted on the main support 100; the vision-guided camera 112 is mounted on the movable end of the robotic arm 111 and is used to acquire images of the component under test to identify feature points of the component under test; the contact sensor 114 is mounted on the movable end of the robotic arm 111 and is used to contact the contact wire 400 or the contact wire component and acquire contact force signals; the laser rangefinder 113 is mounted on the movable end of the robotic arm 111 and is used to measure the distance between the contact sensor 114 and the component under test; the control module 115 is electrically connected to the contact sensor 114, the vision-guided camera 112, the laser rangefinder 113, and the robotic arm 111.

[0081] For example, the control module 115 is configured to: determine a coarse positioning position based on feature points identified by the vision guidance camera 112, and control the robotic arm 111 to move to the coarse positioning position; determine a fine positioning position based on the distance measured by the laser rangefinder 113, and control the robotic arm 111 to move to the fine positioning position; control the robotic arm 111 to make the contact sensor 114 contact the surface of the component under test, and fit the geometric features of the component under test through multi-point contact measurement based on the position coordinates when the contact force detected by the contact sensor 114 reaches a preset threshold.

[0082] For example, a robotic arm 111 is mounted on the main support 100, and its movable end is capable of flexible movement in space to deliver the detection sensor to the vicinity of the component under test. A vision-guided camera 112 is mounted on the movable end of the robotic arm 111 to acquire images of the component under test. An image recognition algorithm identifies feature points of the component under test, such as the center of a bolt end face, the edge of the locator root, or the bottom surface of the contact line 400. Based on the position of the feature points in the image, a coarse position of the component under test in space is calculated, which serves as the coarse positioning position. The control module 115 controls the robotic arm 111 to move to this coarse positioning position, bringing the contact sensor 114 and the laser rangefinder 113 close to the component under test. The laser rangefinder 113 measures the precise distance between the contact sensor 114 and the surface of the component under test, determining the fine positioning position based on this distance. The control module 115 then controls the robotic arm 111 to move to the fine positioning position, maintaining a small gap between the contact sensor 114 and the surface of the component under test. Subsequently, the control module 115 controls the robotic arm 111 to slowly bring the contact sensor 114 into contact with the surface of the component to be tested. When the contact force detected by the contact sensor 114 reaches a preset threshold, the control module 115 records the precise coordinates of the contact sensor 114 in space at this time.

[0083] By repeating the above contact measurement process at different positions, the precise coordinates of multiple points on the surface of the component under test are obtained. The control module 115 uses these coordinate data to calculate the geometric features of the component under test through a fitting algorithm, such as the screw-in depth of the adjusting bolt, the spatial position of the root of the locator, the width of the gap between the connectors, or the bottom height of the contact line 400.

[0084] In this embodiment, a three-level positioning strategy is adopted, which achieves coarse positioning through visual guidance, fine positioning through laser ranging, and final measurement through contact sensor 114. This strategy ensures measurement efficiency and achieves micron-level measurement accuracy. It can obtain key geometric parameters that cannot be accurately measured by laser scanning, providing more accurate data support for catenary condition assessment and fault diagnosis.

[0085] In some other embodiments, the contact wire detection unit 110 includes a laser rangefinder 113, which is disposed on the upper side of the main support 100. The laser rangefinder 113 is used to detect the lower surface of the contact wire 400, for example, by emitting a laser to detect the lower surface of the contact wire 400, and detecting wear or other defects or damage caused by other reasons on the lower surface of the contact wire 400.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A contact wire scanning device for tunnels, characterized in that, include: The main support frame is used to install the overhead contact line detection unit; The power unit includes a drive assembly and a drive wheel. The drive assembly connects the main support and the drive wheel. The drive assembly is used to drive the drive wheel to rotate. The wheel surface of the drive wheel contacts and engages with the lower side of the contact line of the contact wire. as well as A suspended traveling device includes an avoidance power mechanism, an avoidance seat, a swing frame, a correction mechanism, and a suspension wheel. The avoidance seat is slidably connected to the main support. The avoidance power mechanism connects the main support and the avoidance seat and drives the avoidance seat to slide towards or away from the contact line. The swing frame is rotatably connected to the avoidance seat. The correction mechanism is disposed on the swing frame and contacts one side of the contact line in the horizontal direction, forming at least two contact positions arranged along the extension direction of the contact line. The at least two contact positions are disposed on both sides of the rotation axis of the swing frame. The suspension wheel is rotatably connected to the swing frame and is used to contact the upper side of the contact line.

2. The contact wire scanning device in a tunnel according to claim 1, characterized in that, The calibration mechanism includes: The lateral positioning wheels are arranged in two or more at intervals and are rotatably connected to the swing frame. Each lateral positioning wheel contacts and cooperates with the contact line to form a contact position. The two or more lateral positioning wheels are placed on both sides of the rotation axis of the swing frame.

3. The contact wire scanning device in a tunnel according to claim 2, characterized in that, The calibration mechanism also includes: A correction swing arm extends in a direction parallel to the arrangement direction of the lateral positioning wheels, and the middle part of the correction swing arm is fixedly connected to the swing frame. A first elastic element, one end of which is connected to the clearance seat and the other end of which is connected to the correction swing arm, is provided at intervals of two, with the two first elastic elements respectively connected to the two ends of the correction swing arm, and the two first elastic elements configured to provide elastic forces in opposite directions to the correction swing arm.

4. The tunnel contact wire scanning device according to any one of claims 1 to 3, characterized in that, The obstacle avoidance mechanism includes: An obstacle sensing unit, installed on the main support, is used to detect whether there is an obstacle on the contact line and output an obstacle signal; An obstacle avoidance drive unit is connected to the main support and the obstacle avoidance seat. The obstacle avoidance drive unit is used to drive the obstacle avoidance seat to slide back and forth. The obstacle avoidance control unit is electrically connected to both the obstacle sensing unit and the obstacle avoidance drive unit. The obstacle avoidance control unit is configured to control the obstacle avoidance drive unit based on the monitoring signal output by the obstacle sensing unit.

5. The tunnel contact wire scanning device according to claim 4, characterized in that, The avoidance drive unit includes: A drive source, installed within the main support frame, is used to provide driving force; A motion conversion mechanism is connected between the drive source and the clearance seat, and is used to convert the rotational motion of the drive source into the linear motion of the clearance seat relative to the main support. A flexible connector is connected between the motion conversion mechanism and the clearance seat to allow relative displacement between the motion conversion mechanism and the clearance seat when the clearance seat is obstructed, and to store elastic potential energy.

6. The tunnel contact wire scanning device according to any one of claims 1 to 3, characterized in that, The driving component includes: Mounting base, connected to the main support frame; A floating bracket is provided, wherein the floating bracket is inclined, the first end of the floating bracket is rotatably connected to the mounting base, the axis of rotation of the floating bracket is parallel to the axle of the power wheel, and the second end of the floating bracket is connected to the axle of the power wheel. A drive motor is installed at the second end of the floating bracket and is connected to the axle of the power wheel via a transmission. A second elastic element connects the mounting base and the floating bracket. The second elastic element is configured to provide an upward elastic force to the floating bracket, causing the drive wheel to elastically press against the contact line.

7. The tunnel contact wire scanning device according to claim 6, characterized in that, The mounting base is rotatably connected to the main support, and the rotation axis of the mounting base is perpendicular to the rotation axis of the floating support; the wheel surface of the power wheel is provided with a groove, the groove matches the lower surface contour of the contact line, and the power wheel engages with the contact line through the groove.

8. The contact wire scanning device in a tunnel according to claim 7, characterized in that, The driving component also includes: A third elastic element connects the mounting base and the main support, and the third elastic element is configured to generate elastic deformation when the mounting base and the main support rotate relative to each other.

9. The contact wire scanning device in a tunnel according to claim 8, characterized in that, The driving component also includes: A limiting structure is disposed between the mounting base and the main support. The limiting structure includes a first limiting part disposed on the mounting base and a second limiting part disposed on the main support. The first limiting part and the second limiting part are disposed opposite to each other on the rotation path of the mounting base to limit the rotation angle range of the mounting base relative to the main support.

10. The contact wire scanning device in a tunnel according to any one of claims 1 to 3, characterized in that, The overhead contact line detection unit includes: A robotic arm is mounted on the main support frame; A vision-guided camera, mounted on the movable end of the robotic arm, is used to acquire images of the component under test in order to identify feature points of the component under test. A contact sensor is installed at the movable end of the robotic arm to contact the contact wire or contact network component and acquire contact force signals. A laser rangefinder, installed at the movable end of the robotic arm, is used to measure the distance between the contact sensor and the component to be measured; The control module is electrically connected to the contact sensor, the vision guidance camera, the laser rangefinder, and the robotic arm, respectively.

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