Metro catenary anchor section joint key position through type continuous measurement method and system

Abstract

The present application belongs to the technical field of rail transit catenary detection, and relates to a through type continuous measurement method and system for key positions of a subway catenary anchor joint. The method comprises: in the process of pushing the track measurement device, automatically distinguishing the current positioning point and the adjacent non-positioning point in the anchor joint area, and synchronously recording the gauge value, the pull-out value, the mileage value and the relative position of the two; performing differential key position identification of rigid suspension and flexible suspension; performing fixed interval continuous sampling and key position measurement, and fusing the two types of data to form a measurement data set with the mileage coordinate as the unified index. The system comprises a track measurement device, a laser vision sensor, a mileage sensor, a track gauge sensor, an overheight sensor, a data processing terminal and a data management module. The present application can improve the measurement efficiency of the complex area of the subway catenary anchor joint, reduce the risk of missing measurement and data attribution error of key positions, and provide data support for catenary maintenance, review and maintenance.

Description

Technical Field

[0001] This invention belongs to the field of rail transit catenary detection technology, specifically relating to a continuous measurement method and system for key positions of anchor sections of subway catenary. It is particularly suitable for measuring the contact wire height, pull-out value, track gauge value, superelevation value, mileage value, and geometric parameters of key positions of rigid and flexible suspension catenary under the continuous pushing state of the track measuring device. Background Technology

[0002] The overhead contact system is a crucial facility for the current collection and power supply of rail transit vehicles, and its geometric parameters directly affect the safety of vehicle operation. Routine inspections of the overhead contact system typically involve measuring parameters such as contact wire height, pull-out value, track gauge, superelevation, and mileage. Simultaneously, it is necessary to record data on key locations such as positioners, droppers, electrical connections, hanging rings, mid-span, span, and anchor joints.

[0003] The existing methods for measuring overhead contact lines mainly suffer from the following technical problems: First, the structure of the anchor joint area is complex. This area typically has multiple contact lines or adjacent lines running parallel. The current positioning point and adjacent non-positioning points are easily close in image and spatial location, making it easy to confuse the current positioning point with adjacent non-positioning points at the anchor joint. Traditional measurement processes often require manual confirmation of the current measurement object, or reducing the speed of the track measuring device, or even stopping for confirmation, impacting measurement efficiency.

[0004] Second, the key components of rigid and flexible suspensions differ, and their structures are significantly different. In rigid suspensions, key locations are typically related to insulators, rigid suspension positioning structures, electrical connections, and hanging rings; in flexible suspensions, key locations are typically related to clamps, positioners, droppers, electrical connections, and hanging rings. Using a uniform identification rule would lead to poor adaptability and could easily result in misidentification, omission, or incorrect data assignment of key locations.

[0005] Third, fixed-interval continuous sampling and critical position measurements are independent of each other, and the data lack unified fusion. Fixed-interval continuous sampling can form a continuous change curve of the contact wire geometry parameters, but it cannot guarantee that critical positions such as positioners, droppers, electrical connections, and hanging rings are completely recorded; critical position measurements can record the key points required for maintenance, but cannot fully reflect the continuous changes of the contact wire along the track direction. Therefore, it is necessary to unify the fixed-interval continuous sampling data and critical position measurement data under the same mileage coordinate system for fusion.

[0006] Fourth, insufficient correlation between measurement results and basic data can easily lead to incorrect data attribution. Overhead catenary measurements not only require obtaining parameter values, but also identifying which line, anchor section, location area, support post, and type of critical location each parameter belongs to. If the measurement data is not sufficiently correlated with the line topology information, subsequent record generation, over-limit analysis, and maintenance location will all be affected.

[0007] Fifth, there is a risk of missing key locations from testing and delays in detecting out-of-limit results.

[0008] Therefore, it is necessary to propose a continuous measurement method and system for complex working conditions of the anchor section joint of the subway catenary, so that the track measurement device can automatically distinguish and jointly measure the current positioning point and the adjacent non-positioning point without stopping, and perform differentiated key position identification according to the different structural characteristics of rigid suspension and flexible suspension, while realizing the data fusion of fixed-interval continuous sampling and key position measurement. Summary of the Invention

[0009] The purpose of this invention is to provide a continuous measurement method and system for key positions of anchor sections in subway catenary systems, thereby solving the aforementioned technical problems in the prior art. The technical solution adopted by this invention is as follows: A continuous measurement method for key positions of anchor sections in subway catenary joints includes the following steps: Acquire the basic data and measurement parameters of the overhead contact line to be tested; Determine the suspension type of the overhead contact line to be tested; During the continuous movement of the track measurement device along the track, laser vision data, mileage value, track gauge value, superelevation value, and relative position of the contact line are collected simultaneously. According to the suspension type, the corresponding key position recognition rules are invoked to identify the contact line and key components in the laser vision data, and candidate measurement points for key positions are obtained. The judgment is made based on the current mileage location, basic line data, changes in the number of contact wires, changes in the relative position of contact wires, and the identification results of key components. If the current measurement location is in the anchor joint area, the matching cost function of the candidate measurement point is calculated based on the mileage deviation, lateral position deviation, topological relationship deviation, and identification confidence of the candidate measurement point. The matching cost function is used to distinguish the current positioning point from the adjacent non-positioning point. When the track measurement device is in continuous movement, it performs through-type joint measurement on the current positioning point and adjacent non-positioning points, collects continuous sampling data at a preset fixed interval, and triggers key position measurement to collect key position measurement data when a key position is identified. The fixed-interval continuous sampling data and key location measurement data are fused according to mileage coordinates to generate a fused measurement dataset.

[0010] Preferably, the steps for determining that the current measurement position is in the anchor joint region are as follows: No. k The mileage value corresponding to the frame is S k The theoretical mileage range of the anchor joint is [ S a , S b The mileage extension of the anchor joint area is... d s When the following conditions are met: S a - d s ≤ S k ≤ S b + d s Furthermore, the system determines that the current position is in the anchor joint region when at least one of the following conditions is met in the laser vision data: The number of contact lines changes; or, two or more contact lines exist in parallel; or, the lateral relative position of the contact lines changes beyond a preset threshold; or, key components related to the anchor joint are identified; or, the topological relationship between the current support and adjacent supports satisfies the anchor joint configuration.

[0011] Preferably, within the joint region of the anchor segment, for the first j Candidate measurement points a j Establish the matching cost function: ; in, Q j Indicates the first j The matching cost of each candidate test point s j Indicates the first j The mileage values ​​corresponding to each candidate measuring point. s t This represents the theoretical mileage value of the current location point. x j Indicates the first j The lateral position of each candidate measuring point x t This indicates the theoretical lateral position of the current location point. E j Indicates the first j The deviation term between the candidate measuring points and the line topology. C j Indicates the first j The identification confidence levels of each candidate measurement point, α, β, Earth Represents the weighting coefficient; The candidate measurement point with the lowest matching cost is selected as the current positioning point. aj star = argmin j ( Q j ).

[0012] Preferably, the current location point simultaneously satisfies: Qj star ≤ Q th ; Cj star ≥ theta p ; in, Q th Match a cost threshold to the current location point. theta p Identify a confidence threshold for the current location point.

[0013] Preferably, if the current location point aj star Other candidate measurement points that simultaneously meet the following conditions are determined as adjacent non-location points: | s j - sj star |≤ δs a ; | x j - xj star |≥ δx a ; Topo( a j , aj star )=1; Q j ≤ Q nth ; in, δs a This indicates the allowable mileage difference between adjacent measuring points of the anchor joint. δx a Topo represents the threshold for distinguishing adjacent lines laterally. a j , aj star ) as candidate measurement points a j With current location aj star Topological adjacency relationship, Topo( a j , aj star )=1 indicates that the two satisfy the adjacent relationship of the anchor joint. Q nth This represents the threshold for matching adjacent non-local points.

[0014] Preferably, measurement data are recorded for the current location point and adjacent non-location points respectively; The current positioning point measurement data is as follows: D p ={ S p , H p , L p , G p , U p , X p , T p}; The measurement data of adjacent non-location points are: D n ={ S n , H n , L n , G n , U n , X n , T n}; in, D p Measurement data for the current location point. D n For measurement data of adjacent non-location points, S p , S n H represents the mileage value between the current location point and adjacent non-location points. p , H n This represents the guide height value between the current location point and adjacent non-location points. L p , L n This represents the pull-out value between the current location point and adjacent non-location points. Gp , G n This represents the track gauge value corresponding to the current location point and its adjacent non-location points. U p , U n This represents the superelevation value corresponding to the current location point and its adjacent non-location points. X p , X n This indicates the relative position information between the current location point and adjacent non-location points. T p , T n Indicates the measurement time between the current location point and adjacent non-location points; Establish the association between the current location point and its adjacent non-location points: R pn ={ D p , D n , δs pn , δx pn}; in, δs pn =| S p - S n |, δx pn =| X p - X n |

[0015] Preferably, for key location measurement data D e If there is continuous sampling data at a fixed interval D f Satisfy | S e - S f |≤ epsilon Then, establish a mileage correlation between the two: A ef ={ D e - D f}; in, S e Mileage for measuring data at key locations, S fMileage for continuous sampling data at fixed intervals. epsilon This indicates that mileage matching error is allowed; If there is no fixed-interval continuous sampling data that meets the conditions D f Then the key location measurement data D e The data is written into the fused dataset as independent keypoint data.

[0016] Preferably, the suspension type includes rigid suspension and flexible suspension. When the suspension type is rigid suspension, the key position identification rules for rigid suspension are called to identify the contact wire position, insulator, rigid positioning point, electrical connection, hanging ring and anchor joint related structures to obtain rigid suspension characteristics. When the suspension type is flexible suspension, the key position identification rules for flexible suspension are called to identify the contact wire position, wire clamp, locator, dropper, electrical connection, hanging ring and double line position relationship to obtain flexible suspension characteristics.

[0017] Preferably, the measurement log includes at least: line name, anchor section name, positioning area, support number, critical location category, mileage value, guide height value, pull-out value, track gauge value, superelevation value, measurement time, whether it exceeds the limit, whether there is a missed measurement alarm, and the association information between the current positioning point and adjacent non-positioning points.

[0018] The continuous measurement system for key locations of the anchor section of the subway catenary includes a track measurement device, a laser vision sensor, a mileage sensor, a track gauge sensor, an ultra-high sensor, a data processing terminal, and a data management module. The data processing terminal is used to execute the aforementioned continuous measurement method for key positions of the subway catenary anchor section joint, including a contact wire extraction module, a guide height / pull-out value calculation module, an anchor section joint area confirmation module, a rigid suspension / flexible suspension candidate measurement point generation module, a current positioning point and adjacent non-positioning point discrimination module, and a fixed-interval continuous sampling data and key position measurement data module. The laser vision sensor is used to collect laser vision data of the contact line and key components; The mileage sensor is used to collect the current mileage of the track measurement device; The track gauge sensor is used to collect track gauge values; The ultra-high altitude sensor is used to collect the ultra-high altitude value of the track. The data management module is used to store basic data, fixed-interval continuous sampling data, key position measurement data, anchor joint joint measurement data, over-limit judgment results, missed measurement alarm data, and measurement ledger data.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention can complete the joint measurement of the current positioning point and adjacent non-positioning points in the joint area of ​​the anchor section without stopping, reducing manual confirmation and stopping measurement, and improving measurement efficiency under complex working conditions; 2. Based on the structural differences between rigid and flexible suspensions, this invention calls different key position identification rules to improve the adaptability and accuracy of key component identification under different suspension types; 3. This invention can distinguish between the current positioning point and adjacent non-positioning points, reducing the risk of confusion in measurement points in the anchor joint area; 4. This invention integrates fixed-interval continuous sampling data and key position measurement data, so that the measurement data can form a continuous curve and ensure the complete recording of key positions such as positioner, dropper, electrical connection, hanging ring, mid-span, and span. 5. This invention uses mileage coordinates as a unified index to associate fixed-interval continuous sampling data and key location measurement data with basic data, thereby improving the accuracy of data attribution; 6. This invention can set different missed detection alarm thresholds according to the suspension type, and make judgments on the over-limit values ​​of guide height, pull-out value, track gauge and superelevation, thereby improving the ability to detect anomalies in the on-site measurement process; 7. This invention can generate structured measurement ledgers, providing data support for subsequent overhead contact line inspection, verification, and maintenance management. Attached Figure Description

[0020] Figure 1 This is a flowchart of the measurement method according to Embodiment 1 of the present invention; Figure 2 This is a flowchart of the key position identification and candidate measurement point generation for rigid / flexible suspension according to Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the joint measurement of the current positioning point and adjacent non-positioning points through a method according to Embodiment 1 of the present invention; Figure 4 This is a flowchart of candidate measurement point matching and attribution determination in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram illustrating the fusion of fixed-interval continuous sampling and key position measurement in Embodiment 1 of the present invention; Figure 6 This is a flowchart illustrating the measurement data association, missed detection alarm, and over-limit judgment process of Embodiment 1 of the present invention. Figure 7 This is an architecture diagram of the measurement system according to Embodiment 2 of the present invention. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] Example 1

[0023] like Figure 1-6 As shown, Embodiment 1 of the present invention provides a continuous measurement method for key positions of anchor sections of subway catenary using a pass-through method, comprising the following steps: S1. Obtain the basic data of the overhead contact line to be tested and the measurement task parameters.

[0024] The basic data for the overhead contact line to be tested includes line information, line section attributes, anchor section information, anchor section joint configuration, positioning area information, support post information, adjacent support post relationships, measurement direction information, key location configuration parameters, and ledger format parameters. Measurement task parameters include suspension type, fixed sampling interval, key location identification type, over-limit threshold, missed measurement alarm threshold, and measurement start position information.

[0025] S2. Determine the suspension type of the overhead contact line to be tested.

[0026] The suspension type includes rigid suspension and flexible suspension. The suspension type is preferably determined by the measurement task parameters or the basic data of the overhead contact line to be measured. That is, when establishing the measurement task, the operator selects rigid or flexible suspension based on the actual overhead contact line structure of the section to be measured. If the basic data of the overhead contact line to be measured already contains anchor section information, positioning area information, or the overhead contact line structure type recorded in the line section attributes, the system can read the suspension type of the corresponding section from the aforementioned basic data. If the basic data of the line does not record overhead contact line structure information, the suspension type selected in the measurement task parameters will be used as the basis for subsequent key location identification rule calls.

[0027] The suspension type can be selected manually from the measurement task parameters, or it can be determined by the system based on the contact network structure type recorded in the contact network basic data to be measured.

[0028] As an optional auxiliary implementation, the system can also utilize the contact line morphology, key component types, and spatial distribution characteristics in the laser vision data to perform consistency verification of the current suspension type. Specifically, the system matches the key component features mentioned in the laser vision data with the key position identification rules for rigid suspension and flexible suspension, respectively. When there is a significant inconsistency between the features in the laser vision data and the measurement task parameters, the system marks the measurement segment as pending verification, rather than directly forcibly replacing the measurement task parameters with the visual verification result.

[0029] To avoid ambiguity, let the suspension type be... M , M=rigid Indicates rigid suspension. M=flexible This indicates a flexible suspension.

[0030] S3. Continuously acquire multi-source measurement data.

[0031] As the track measuring device moves continuously along the track, the system simultaneously collects data such as laser vision data, mileage value, track gauge value, superelevation value, relative position of the contact line, and cumulative travel distance.

[0032] Each frame of data can be represented as: F k ={ I k ,S k ,G k ,U k ,T k}; in, F k Indicates the first k Frame measurement data; I k Indicates the first k Frame laser vision data; S k Indicates the first k The mileage value corresponding to the frame; G k Indicates the first k The track gauge value corresponding to the frame; U k Indicates the first k The ultra-high value corresponding to the frame; T k Indicates the first k The sampling time corresponding to the frame.

[0033] S4. Calculate the contact wire height and pull-out value.

[0034] The system calculates the contact wire height and pull-out value based on the contact wire measurement point data collected by the laser vision sensor, the track center reference, and the sensor calibration parameters.

[0035] Let the coordinates of the contact wire measuring point in the track coordinate system be: P k =( x k , z k ); in, x k Indicates the first k The transverse coordinates of each contact wire measuring point; z k Indicates the first k The height coordinates of each contact wire measuring point.

[0036] Let the reference height of the rail surface be z 0 The horizontal coordinate of the track centerline is x 0 Then the first k Conductivity of each contact wire measuring point H k and pull value Pull k They are respectively: H k = z k - z 0 ; Pull k = x k - x 0 ; in, z 0 It represents the reference height of the rail surface in the orbital coordinate system, which is usually determined by the reference position of the rail surface. x 0 It represents the lateral coordinates of the track centerline in the track coordinate system, and is usually determined by the track center reference. z 0 and x 0 These are the reference values ​​determined after establishing the track coordinate system and completing sensor calibration. After the system completes the calibration between the laser vision sensor and the track coordinate system, it transforms the contact wire measurement points to the track coordinate system, and then calculates the guide height and pull-out value based on the above two values.

[0037] S5. Invoke differentiated key position identification rules based on suspension type.

[0038] The currently invoked differentiated key location identification rules R M for: when M=rigid At that time, R M = R rigid ; when M=flexible At that time, R M = R flexible .

[0039] in, R rigid This refers to the rules for identifying key positions in rigid suspension systems; Rflexible This refers to the rules for identifying key positions in flexible suspension systems.

[0040] The system processes laser vision data to identify the suspension type. When the suspension type is rigid, it calls the key position identification rules for rigid suspension to identify the contact wire position, insulator, rigid positioning point, electrical connection, hanging ring, and anchor joint related structures to obtain the characteristics of rigid suspension. When the suspension type is flexible, it calls the key position identification rules for flexible suspension to identify the contact wire position, clamp, locator, dropper, electrical connection, hanging ring, and the positional relationship of the two lines to obtain the characteristics of flexible suspension.

[0041] The aforementioned rigid and flexible suspension features serve as inputs for subsequent generation of candidate measurement points for key locations, calculation of confidence levels for key locations, and determination of anchor joint regions. Specifically, contact wire position features are used to determine the contact wire measurement points and their spatial distribution; key component image features are used to determine the key location category to which the candidate measurement points belong; changes in the number of contact wires and the positional relationship between the two wires are used to determine whether there are anchor joints or adjacent non-positioning points; and features of components such as electrical connections, hanging rings, insulators, clamps, locators, and droppers are used to generate candidate measurement points for key locations of the corresponding categories.

[0042] The aforementioned features are used in S6 to identify candidate measurement points and identification confidence levels at key locations, in S7 to assist in determining whether the current location is in the anchor joint region, and in S8 to calculate the identification confidence level and topological matching relationship of candidate measurement points.

[0043] S6. Identify candidate measurement points at key locations.

[0044] The system extracts contact line position features, key component image features, contact line quantity variation features, and relative position variation features from laser vision data, and generates candidate measurement points for key positions.

[0045] Let the first i The confidence level for identifying key locations is C i , C i Based on the candidate measurement points in the current frame and the first i The result is calculated by comprehensively considering the feature matching degree, geometric position consistency, and line topology consistency among key locations in the current frame. j The candidate measurement point belongs to the first i The candidate confidence level for key positions is C i,j ,but: C i,j = oh 1 F i,j+ oh 2 G i,j + oh 3 T i,j ; in, oh 1 + oh 2 + oh 3 ; In the formula, F i,j Indicates the first j The candidate measurement point and the first i The feature matching score for key locations is mainly determined by the matching results of contact line position features, key component image features, contact line quantity variation features, and relative position variation features. G i,j The geometric position consistency score is mainly determined by the degree of similarity between the candidate measurement point and the corresponding key position's theoretical mileage, lateral position, or spatial distribution. T i,j The line topology consistency score is mainly determined by whether the topological relationship between the candidate test point and the current support, adjacent support, anchor joint position, current positioning point or adjacent non-positioning point matches. oh 1 , oh 2 , oh 3 These correspond to the weighting coefficients.

[0046] When there are multiple candidate measurement points in the same frame, the candidate with the highest confidence score is taken as the first candidate. i Final identification confidence level of key locations: C i =max C i,j ; therefore, C i The value is determined jointly by the image feature matching results of the candidate measurement points, the consistency of their geometric positions, and the consistency of the line topology, rather than being directly assumed to be set. i The trigger threshold for key positions is i i The triggering conditions for key location events are: C i ≥θ i ; When this condition is met, the system determines the first... iThe critical location is established, and critical location measurement is triggered. i Key locations include locators, droppers, electrical connections, hanging rings, mid-span, span, anchor joints, current locating point, adjacent non-locating points, or custom key locations.

[0047] S7. Determine whether the current position has entered the anchor joint area.

[0048] During the continuous advancement of the track measurement device, it determines whether the current position is within the anchor joint area based on real-time mileage, track foundation data, and laser vision data. This determination step serves to differentiate between ordinary continuous measurement procedures and measurement procedures for complex areas of anchor joints.

[0049] If the current position does not meet the criteria for determining the anchor section joint area, the system enters the normal continuous measurement process. Following the fixed-interval continuous sampling rule and the normal key position event triggering rule, it records the contact wire guide height, pull-out value, track gauge value, superelevation value, and normal key position data. At this time, it is not necessary to perform the attribution determination between the current positioning point and adjacent non-positioning points.

[0050] If the current location meets the criteria for determining the anchor joint region, the system enters the complex area measurement process for the anchor joint and generates candidate measurement points. Based on the changes in the number of contact lines, the spatial distribution of contact lines, the changes in the lateral relative positions of contact lines, the identification results of key components, and the line topology in the laser vision data, the system generates multiple candidate measurement points and proceeds to the subsequent step of distinguishing the current location point from adjacent non-location points. The advantage of this approach is that it separates the ordinary continuous measurement process from the complex area measurement process for the anchor joint, allowing the system to perform candidate measurement point generation and attribution determination only in the anchor joint region, thus improving the accuracy of subsequent object determination.

[0051] The steps for determining that the current measurement position is in the anchor joint region and generating candidate measurement points are as follows: Let the current number be... k The mileage value corresponding to the frame is S k The theoretical mileage range of the anchor joint in the basic data of the overhead contact line to be tested is [ S a , S b The mileage extension of the anchor joint area is... d s .in, S k Accuracy data is obtained in real time from the mileage sensor or mileage acquisition module; S a and S bAnchor segment information, positioning area information, or anchor segment joint configuration from the basic data of the overhead contact line under test are used to represent the theoretical starting mileage and theoretical ending mileage of the anchor segment joint. d s The preset area expansion amount can be given by measurement task parameters or system configuration parameters to compensate for mileage measurement errors, on-site installation deviations, and lag in the identification of key components.

[0052] When the following conditions are met: S a - d s ≤ S k ≤ S b + d s ; Furthermore, the system determines that the current position is in the anchor joint region when at least one of the following conditions is met in the laser vision data: the number of contact lines changes; or, there are two or more contact lines in parallel; or, the lateral relative position of the contact lines changes beyond a preset threshold; or, key components related to the anchor joint are identified; or, the topological relationship between the current support and adjacent supports satisfies the anchor joint configuration.

[0053] The main purpose of generating candidate measurement points is to address the issue of unclear object attribution when multiple contact lines run parallel or adjacent lines are close together in the anchor joint area. In ordinary sections, the system typically only needs to record a single contact line measurement point or a general key location measurement point; however, in the anchor joint area, the laser vision data may simultaneously contain the contact line corresponding to the current positioning point and the contact line corresponding to adjacent non-positioning points. If candidate measurement points are not generated in advance and their attribution is not determined, it is easy to misclassify adjacent non-positioning points as the current positioning point, or to miss data of adjacent non-positioning points.

[0054] Therefore, the generation of candidate measurement points in the anchor joint region in this step is not a routine sampling process in ordinary continuous measurement procedures, but a preliminary step for distinguishing the current location point and adjacent non-location points in the anchor joint region. The method for determining that the current measurement position is in the anchor joint region serves to provide candidate objects for subsequent matching cost function calculation, current location point determination, and adjacent non-location point discrimination, thereby realizing non-stop through-type joint measurement of the anchor joint region.

[0055] S8. Distinguish between the current location point and adjacent non-location points.

[0056] Within the joint area of ​​the anchor segment, the system generates multiple candidate measurement points, denoted as: A ={ a 1 , a 2 ,...,a n}; For the first j Candidate measurement points a j Establish the matching cost function: ; in, Q j It indicates the first j The matching cost of each candidate test point; s j It indicates the first j The mileage values ​​corresponding to each candidate measuring point; s t This indicates the theoretical mileage of the current location point; x j It indicates the first j The lateral position of each candidate measurement point; x t This indicates the theoretical horizontal position of the current location point; E j It indicates the first j The deviation term between the candidate measurement points and the line topology; C j It indicates the first j The identification confidence level of each candidate measurement point; α, β, Earth This represents the weighting coefficient. E j Can be defined in a discrete manner, when candidate measurement points a j When the current anchor joint topology is satisfied, E j =0, when candidate measurement point a j When the current anchor segment joint topology is not satisfied, E j =1.

[0057] Select the candidate measurement point with the minimum matching cost as the current positioning point: aj star = argmin j ( Q j ); The innovative improvement in this step lies in the fact that the system no longer determines the current positioning point based solely on a single mileage location or a single image location. Instead, it establishes a matching cost function by comprehensively considering the mileage deviation, lateral position deviation, topological relationship deviation, and recognition confidence of candidate measurement points. The current positioning point is then determined based on the matching cost function and a validity threshold. This improvement enhances the reliability of current positioning point identification in the anchor joint area and reduces the risk of misjudgment caused by adjacent non-positioning points being close together, parallel contact lines, or similar image features.

[0058] To prevent invalid candidate measurement points from being mistakenly selected as the current positioning point, the following conditions must be met simultaneously: Qj star ≤ Q th ; Cj star ≥ theta p ; in, Q th Match a cost threshold to the current location point. theta p Identify a confidence threshold for the current location point.

[0059] When the above conditions are met, aj star The current location point is determined; if the above conditions are not met, the system marks the candidate result as a point to be verified, or does not trigger the measurement of the current location point. For aj star Other candidate measurement points, if they simultaneously meet the following conditions, will be identified as adjacent non-location points by the system: | s j - sj star |≤ δs a ; | x j - xj star |≥ δx a ; Topo( a j , aj star )=1; Q j ≤ Q nth ; in, δs aThis indicates the allowable mileage difference between adjacent measuring points at the anchor joint; δx a This indicates the threshold for distinguishing adjacent lines laterally; Topo( a j , aj star ) as candidate measurement points a j With current location aj star Topological adjacency; Topo( a j , aj star )=1 indicates that the two satisfy the adjacent relationship of the anchor joint; Q nth This represents the threshold for matching adjacent non-local points.

[0060] The innovation and improvement of this step is that after determining the current location point, the system further uses the mileage proximity relationship, lateral position difference and line topology proximity relationship to determine the adjacent non-location points, instead of just judging based on whether there is another contact line in the image.

[0061] This improvement enables the establishment of a clear spatial and topological correspondence between adjacent non-positioning points and the current positioning point, avoiding misclassification of irrelevant contact lines, interfering measuring points, or ordinary contact line measuring points as adjacent non-positioning points, thereby improving the accuracy of the attribution of measurement data in the anchor joint area.

[0062] S9. Perform a combined measurement of the current location point and adjacent non-location points.

[0063] When the track measurement device is running without stopping, the system records measurement data for the current positioning point and adjacent non-positioning points.

[0064] The current positioning point measurement data is as follows: D p ={ S p , H p , L p , G p , U p , X p , T p}; The measurement data of adjacent non-location points are: D n ={ S n ,H n , L n , G n , U n , X n , T n}; in, D p Measurement data for the current location point; D n Measurement data for adjacent non-location points; S p , S n H represents the mileage values ​​of the current location point and adjacent non-location points; p , H n This represents the guide height value between the current location point and adjacent non-location points; L p , L n This represents the pull-out value between the current location point and adjacent non-location points; G p , G n This represents the track gauge value corresponding to the current location point and the adjacent non-location point; U p , U n This represents the superelevation value corresponding to the current location point and its adjacent non-location points; X p , X n This indicates the relative position information between the current location point and adjacent non-location points; T p , T n This indicates the measurement time between the current location point and adjacent non-location points.

[0065] The system establishes a relationship between the current location point and its adjacent non-location points: R pn ={ D p , D n , δs pn , δx pn}; in: δs pn =|S p - S n |, δx pn =| X p - X n |

[0066] This relationship is used for anchor joint data querying, ledger generation, and manual review.

[0067] The innovation and improvement of this step is that: while the track measuring device is moving continuously without stopping, the system synchronously records the guide height, pull-out value, track gauge value, superelevation value, mileage value and relative position information of the current positioning point and adjacent non-positioning points, and establishes the correlation between the two.

[0068] This improvement reduces the need for manual parking confirmation in the anchor joint area, allowing the current positioning point data and adjacent non-positioning point data to be jointly assigned to the same anchor joint record, reducing the risk of data omissions and misassignment, and improving the efficiency of continuous through-feed measurement.

[0069] S10, Perform continuous sampling at fixed intervals.

[0070] To accommodate both forward and reverse measurements, fixed-interval continuous sampling does not directly use the difference in line mileage, but instead uses the cumulative walking distance for judgment.

[0071] Let the current cumulative walking distance be d k The last continuous sampling distance at fixed intervals was d f Fixed sampling interval is d s .

[0072] The trigger condition for continuous sampling at fixed intervals is: d k - d f ≥ d s ; When this condition is met, the system records one set of continuous sampling data at fixed intervals and updates it: d f = d k ; The fixed-interval continuous sampling data is: D f (k) ={ S k , Hk , L k , G k , U k , X k , T k}; in, D f (k) Indicates the first k Data from a series of continuously sampled points at fixed intervals; S k This is the current mileage value; H k This is the current high value; L k This is the current pull-out value; G k This is the current track gauge value; U k This is currently an extremely high value; X k This refers to the current relative position information; T k This is the current measurement time.

[0073] S11, Perform critical location event-triggered measurements.

[0074] When the i The confidence level for identifying key locations in the class meets the requirements. C i ≥θ i At that time, the system triggered key location measurements and recorded: D e (i,k) ={ S k , d k , H k , Pull k , Gauge k , Cant k , X k , T k , E i}; in, D e (i,k) For the first kAt the sampling location, the first i Measurement data for key locations; E i This is a key location category.

[0075] Key Location Categories E i This includes locators, droppers, electrical connections, hanging rings, mid-span, span, anchor joints, current positioning points, adjacent non-positioning points, or custom key positions.

[0076] S12, fixed-interval continuous sampling data and key location measurement data.

[0077] A continuously sampled dataset with a fixed interval is denoted as: D F ={ D f (1) , D f (2) ,..., D f (m)}; The key location measurement dataset is denoted as: D E ={ D e (1) , D e (2) ,..., D e (m)}; The fused measurement dataset is: D= D F ∪ D E ; Here, ∪ represents the merging of sets.

[0078] For key location measurement data D e If there is continuous sampling data at a fixed interval D f Satisfy | S e - S f |≤ epsilon The system then establishes a mileage association between the two: A ef ={ D e - D f}; in, Se Mileage for measuring data at key locations; S f Mileage for continuously sampled data at fixed intervals; epsilon This indicates that mileage matching error is allowed.

[0079] If there is no fixed-interval continuous sampling data that meets the conditions, the system retains the measurement data of the key location and writes it into the fused dataset as independent key point data.

[0080] The innovative improvement in this step lies in the fact that the system correlates the fixed-interval continuous sampling data and the key location measurement data according to mileage coordinates. When the key location measurement data does not fall near the fixed sampling point, the system does not discard the key location measurement data, but instead adds it to the fused dataset.

[0081] This improvement can solve the problem that fixed-interval continuous sampling may not accurately cover key positions such as locators, droppers, electrical connections, hanging rings, mid-span, span, and anchor joints, so that the measurement data can form a continuous curve and ensure the integrity of the key position ledger records.

[0082] S13. Associate the merged dataset with the base data.

[0083] The system assigns the fused dataset to the corresponding line, anchor segment, pillar, and key location categories based on the measurement direction, current pillar, next pillar, anchor segment, and location area information.

[0084] For the anchor joint area, the system will use the current positioning point data. D p Adjacent non-location point data D n and the relationship between the two R pn They are all written into the corresponding anchor joint record.

[0085] S14. Perform a missed detection alarm judgment.

[0086] Let the current mileage be... S k The last identified key location mileage value was S p The threshold for unmeasured distance corresponding to the suspension type is L M .

[0087] Among them, if M = G ,but L M = L G ;if M =R ,but L M = L R . L G For rigid suspension, the unmeasured distance threshold is used. L R The threshold for unmeasured distances in flexible suspension systems.

[0088] The conditions for missed detection alarm are: | S k - S p |> L R , or | S k - S p |> L G .

[0089] When this condition is met, the system generates a non-measurement alarm message.

[0090] S15. Perform an over-limit judgment.

[0091] Let the first k The guide height value of each measuring point is H k The value pulled out is L k The track gauge value is G k Extremely high value U k The system marks the measuring point as an out-of-limit judgment result when any of the following conditions are met: H k < H min or H k > H max ; L k < L min or L k > L max ; G k <G min or G k > G max ; U k < U min or U k > U max ; in, H min , H max Indicates the allowable range of guide height values; L min , L max Indicates the allowed range of values ​​to be pulled out; G min , G max Indicates the allowable range of track gauge values; U min , U max This indicates the allowable range for extremely high values.

[0092] S16. Generate measurement log.

[0093] The system generates a catenary measurement ledger based on the fused measurement dataset, key location categories, line basic data, missed measurement alarm information, and over-limit markers.

[0094] The measurement log should include at least the following: line name; anchor section name; positioning area; support number; critical location category; mileage value; guide height value; pull-out value; track gauge value; superelevation value; measurement time; whether it exceeds the limit; whether there is a missed measurement alarm; and the association information between the current positioning point and adjacent non-positioning points.

[0095] The above-mentioned S7 to S12 are the specific elaboration of the core innovation of this invention in the method flow. Among them, S7-S9 correspond to the through-type joint measurement of the current positioning point of the anchor joint and the adjacent non-positioning points, and S10-S12 correspond to the fusion of fixed-interval continuous sampling and key position measurement. Through candidate measurement point generation, matching cost discrimination, topological constraints, synchronous measurement and associated storage, this invention can reduce manual parking confirmation in the anchor joint area, reduce the risk of measurement point confusion and data attribution errors, and improve the integrity of measurement data and the convenience of subsequent ledger verification.

[0096] Example 2

[0097] like Figure 7As shown, Embodiment 2 of the present invention provides a continuous measurement system for key positions of anchor sections of subway catenary, used to execute the continuous measurement method for key positions of anchor sections of subway catenary described in Embodiment 1. The system includes a track measuring device, a data processing terminal, and a data management module. The track measuring device is used to continuously move along the track to measure the catenary. The track measuring device is equipped with a laser vision sensor, a mileage sensor, a track gauge sensor, a superelevation sensor, and a cumulative walking distance module.

[0098] The data processing terminal is equipped with: a contact wire extraction module, a guide height / pull-out value calculation module, an anchor joint area confirmation module, a rigid suspension / flexible suspension candidate measurement point generation module, a current positioning point and adjacent non-positioning point discrimination module, as well as a fixed-interval continuous sampling data and key position measurement data module; The data management module is used to store basic data, fixed-interval continuous sampling data, key position measurement data, anchor joint joint measurement data, over-limit judgment results, missed measurement alarm data, measurement ledger data, and manual review records.

[0099] The databases involved in the system's data processing include: a basic database, a measurement result database, and a verification and alarm database.

[0100] Example 3

[0101] Embodiment 3 of the present invention provides six different measurement application examples of a continuous measurement system for key positions of anchor sections of subway catenary as described in Embodiment 2, for performing catenary measurements.

[0102] Measurement Application Example 1: Overall Continuous Measurement.

[0103] Before the measurement begins, the operator creates a measurement task in the data processing terminal, selects the route, anchor section, positioning area, measurement direction and starting support information, and sets the suspension type, fixed sampling interval, key position identification type, over-limit threshold and missed measurement alarm threshold.

[0104] After the track measuring device is mounted on the track, it is continuously pushed along the track. During the pushing process, the laser vision sensor collects laser vision data of the contact wire and key components in real time; the odometer sensor outputs the current position of the track measuring device in real time; and the gauge sensor and superelevation sensor output the gauge value and superelevation value simultaneously.

[0105] The data processing terminal indexes each frame of data according to the mileage sequence, forming a data frame: F k ={ I k ,S k ,Gk , U k ,T k}; The system I k The system extracts contact line features, key component features, and contact line quantity variation features, and calls the corresponding identification rules according to the suspension type. When the fixed-interval continuous sampling trigger condition is met, the system records the fixed-interval continuous sampling data; when the key position event trigger condition is met, the system records the key position measurement data; when it is determined that the system has entered the anchor joint area, the system performs a through-type joint measurement of the current positioning point and the adjacent non-positioning point.

[0106] After the measurement is completed, the system will write the fixed-interval continuous sampling data, key position measurement data, anchor joint joint joint measurement data, over-limit judgment results and missed measurement alarm results into the measurement database, and export the catenary measurement ledger according to the ledger format.

[0107] Measurement Application Example 2: Identification of Differentiated Key Locations in Rigid Suspension.

[0108] In rigid suspension measurement mode, the system sets the suspension type to: M=rigid At this point, the rigid suspension key position identification rule is invoked. R rigid .

[0109] The system processes laser vision data to extract contact wire position, insulator features, rigid positioning structure features, electrical connection features, hanging ring features, and anchor joint-related structural features in rigid suspension.

[0110] For the i For key locations in a rigid suspension system, the system calculates the recognition confidence level: C i =R rigid ( F k , i ); when C i ≥θ i When this occurs, the system determines that the location is a critical position for rigid suspension and triggers data recording at that critical position.

[0111] In the joint region of the rigid suspension anchor section, the system further determines whether there are adjacent non-positioning points. If multiple contact lines or adjacent lines exist, the system uses a matching cost function: The current location point is determined, and candidate measurement points that meet the adjacent relationship conditions are identified as adjacent non-location points.

[0112] In this way, the system can perform differentiated measurements on insulators, positioning points, electrical connections, hanging rings, and anchor joint structures in rigid suspensions, instead of using the same identification logic as flexible suspensions.

[0113] Measurement Application Example 3: Identification of Differentiated Key Positions in Flexible Suspension.

[0114] In flexible suspension measurement mode, the system sets the suspension type to: M=flexible At this point, the key position recognition rules for flexible suspension are invoked. R flexible .

[0115] The system processes laser vision data to extract contact line position, clamp features, locator features, suspension string features, electrical connection features, hanging ring features, and the positional relationship of the two lines in the flexible suspension.

[0116] For the i Key locations for flexible suspension systems are calculated by the system: C i =R flexible ( F k , i ); when C i ≥θ i At that time, the system triggers the measurement of key positions of the flexible suspension.

[0117] For areas related to flexible suspension double lines or anchor joints, the system further determines the relationship between the current positioning point and adjacent non-positioning points based on changes in the number of contact lines, changes in the lateral position of the contact lines, and track foundation data. If multiple candidate measurement points simultaneously meet the key position identification conditions, the system uses the principle of minimizing matching cost to determine the current positioning point. aj star = argmin j ( Q j ); And satisfy Qj star ≤ Q th , Cj star ≥ theta p The remaining candidate measurement points that meet the configuration conditions for adjacent non-positioning points are recorded as adjacent non-positioning points.

[0118] Measurement Application Example 4: Joint measurement of the current positioning point and adjacent non-positioning points of the anchor segment joint.

[0119] During the continuous advancement of the orbital measurement device, the system adjusts the current mileage... S k Theoretical interval of anchor joint in the basic data of the line [ S a , S b Make a preliminary judgment. When the conditions are met... S a - d s ≤ S k ≤ S b + d s At this time, the system enters the anchor joint candidate judgment state.

[0120] Subsequently, the system continues to determine whether there are changes in the number of contact lines, multiple parallel lines, changes in the lateral offset of contact lines, or key component features of the anchor joint in the laser vision data. If at least one of these conditions is met, the current measurement position is confirmed to be in the anchor joint region.

[0121] In the anchor joint region, the system generates multiple candidate measurement points: A ={ a 1 , a 2 ,..., a n}; And calculate the matching cost function for each candidate test point: The system selects aj star = argmin j ( Q j The corresponding candidate measurement point is used as the current positioning point.

[0122] For other candidate measurement points a j If | s j - sj star |≤ δs a And| x j - xj star |≥ δx a If the line topology shows that the candidate measurement point belongs to an adjacent non-locating point, the system records it as an adjacent non-locating point.

[0123] The system then synchronously records the current location point data and adjacent non-location point data without stopping: D p ={ S p , H p , L p , G p , U p , X p , T p}; D n ={ S n , H n , L n , G n , U n , X n , T n}; And establish a relationship: R pn ={ D p , D n , δs pn , δx pn}

[0124] Through this process, the system can complete the joint measurement of the current positioning point and adjacent non-positioning points while continuously passing through the joint area of ​​the anchor segment, without the need for stopping for confirmation or manual point-by-point selection.

[0125] Measurement Application Example 5: Fusion of Fixed-Interval Continuous Sampling and Key Location Event Triggering.

[0126] During continuous measurement, the system simultaneously performs fixed-interval continuous sampling and key location event-triggered measurement.

[0127] Fixed-interval continuous sampling is triggered by the following conditions: d k - d f ≥ d s ; When this condition is met, the system records continuous sampling data at fixed intervals: D f (k) ={ S k , H k , L k , G k , U k , X k , T k}

[0128] The following conditions are used to trigger events at critical locations: C i ≥θ i ; When the confidence level for identifying a certain type of key location reaches the trigger threshold, the system records the measurement data of the key location: D e (i,k) ={ S k , d k , H k , Pull k , Gauge k , Cant k , X k , T k , E i}; The fixed-interval continuous sampling dataset is: D F ={ D f (1) , D f (2) ,..., D f (m)}; The key location measurement dataset is as follows: D E ={ D e (1) , D e (2) ,...,D e (m)}; The merged dataset is: D= D F ∪ D E ; The system uses mileage coordinates as a unified index. If measurement data at a certain key location... D e Continuous sampling data at fixed intervals D f Satisfy: | S e - S f |≤ epsilon The system then establishes a mileage association between the two: A ef ={ D e - D f}; If not satisfied, then D e This data is retained as independent key location data. Therefore, the system can both generate continuously changing curves and ensure that key location data is not missed due to continuous sampling intervals at fixed intervals.

[0129] Measurement Application Example 6: Missed Measurement Alarm and Over-Limit Judgment.

[0130] The system sets different unmeasured distance thresholds based on the suspension type: when M=rigid At that time, L M = L rigid ; when M=flexible At that time, L M = L flexible ; in, L rigid For rigid suspension, the distance threshold was not measured. L flexible The threshold for unmeasured distances in flexible suspension systems.

[0131] When the current mileage and the mileage of the last identified key location satisfy | S k - S p |> L M When this happens, the system generates a non-measurement alarm message, indicating that there may be missed measurements at critical locations.

[0132] The determination of exceeding limits is based on the guide height value, pull-out value, track gauge, and superelevation range. The following conditions must be met: H k < H min or H k > H max ; L k < L min or L k > L max ; G k <G min or G k > G max ; U k < U min or U k > U max ; The system marks the measuring point as an out-of-limit judgment result.

[0133] The results of exceeding the limit judgment and the alarm information of missed measurement are written into the measurement database together, and the corresponding mark is retained when the ledger is generated.

Claims

1. A continuous measurement method for key positions of anchor sections in subway catenary joints, characterized in that, Includes the following steps: Acquire the basic data and measurement parameters of the overhead contact line to be tested; Determine the suspension type of the overhead contact line to be tested; During the continuous movement of the track measurement device along the track, laser vision data, mileage value, track gauge value, superelevation value, and relative position of the contact line are collected simultaneously. According to the suspension type, the corresponding key position recognition rules are invoked to identify the contact line and key components in the laser vision data, and candidate measurement points for key positions are obtained. The judgment is made based on the current mileage location, basic line data, changes in the number of contact wires, changes in the relative position of contact wires, and the identification results of key components. If the current measurement location is in the anchor joint area, the matching cost function of the candidate measurement point is calculated based on the mileage deviation, lateral position deviation, topological relationship deviation, and identification confidence of the candidate measurement point. The matching cost function is used to distinguish the current positioning point from the adjacent non-positioning point. When the track measurement device is in continuous movement, it performs through-type joint measurement on the current positioning point and adjacent non-positioning points, collects continuous sampling data at a preset fixed interval, and triggers key position measurement to collect key position measurement data when a key position is identified. The fixed-interval continuous sampling data and key location measurement data are fused according to mileage coordinates to generate a fused measurement dataset; Within the anchor joint region, for the first j Candidate measurement points a j Establish the matching cost function: ； in, Q j Indicates the first j The matching cost of each candidate test point s j Indicates the first j The mileage values ​​corresponding to each candidate measuring point. s t This represents the theoretical mileage value of the current location point. x j Indicates the first j The lateral position of each candidate measuring point x t This indicates the theoretical lateral position of the current location point. E j Indicates the first j The deviation term between the candidate measurement points and the line topology. C j Indicates the first j The identification confidence levels of each candidate measurement point, α, β, γ, η Represents the weighting coefficient; The candidate measurement point with the lowest matching cost is selected as the current positioning point. aj star = argmin j ( Q j ); The current location point simultaneously satisfies: Qj star ≤ Q th ； Cj star ≥ theta p ； in, Q th Match a cost threshold to the current location point. theta p Identify a confidence threshold for the current location point; If the current location point aj star Other candidate measurement points that simultaneously meet the following conditions are determined as adjacent non-location points: | s j - sj star |≤ δs a ； | x j - xj star |≥ δx a ； Topo( a j , aj star )=1; Q j ≤ Q nth ； in, δs a This indicates the allowable mileage difference between adjacent measuring points of the anchor joint. δx a Topo represents the threshold for distinguishing adjacent lines laterally. a j , aj star ) as candidate measurement points a j With current location aj star Topological adjacency relationship, Topo( a j , aj star )=1 indicates that the two satisfy the adjacent relationship of the anchor joint. Q nth This represents the threshold for matching adjacent non-local points.

2. The continuous measurement method for key positions of anchor sections in subway catenary as described in claim 1, characterized in that, The steps to determine if the current measurement position is in the anchor joint region are as follows: No. k The mileage value corresponding to the frame is S k The theoretical mileage range of the anchor joint is [ S a , S b The mileage extension of the anchor joint area is... δ s When the following conditions are met: S a - δ s ≤ S k ≤ S b + δ s Furthermore, the system determines that the current position is in the anchor joint region when at least one of the following conditions is met in the laser vision data: The number of contact lines changes; or, two or more contact lines exist in parallel; or, the lateral relative position of the contact lines changes beyond a preset threshold; or, key components related to the anchor joint are identified; or, the topological relationship between the current support and adjacent supports satisfies the anchor joint configuration.

3. The continuous measurement method for key positions of anchor sections in subway catenary as described in claim 2, characterized in that, Record measurement data for the current location point and adjacent non-location points respectively; The current positioning point measurement data is as follows: D p ={ S p , H p , L p , G p , U p , X p , T p }; The measurement data of adjacent non-location points are as follows: D n ={ S n , H n , L n , G n , U n , X n , T n }; in, D p Measurement data for the current location point. D n For measurement data of adjacent non-location points, S p , S n H represents the mileage value between the current location point and adjacent non-location points. p , H n This represents the guide height value between the current location point and adjacent non-location points. L p , L n This represents the pull-out value between the current location point and adjacent non-location points. G p , G n This represents the track gauge value corresponding to the current location point and its adjacent non-location points. U p , U n This represents the superelevation value corresponding to the current location point and its adjacent non-location points. X p , X n This indicates the relative position information between the current location point and adjacent non-location points. T p , T n Indicates the measurement time between the current location point and adjacent non-location points; Establish the association between the current location point and its adjacent non-location points: R pn ={ D p , D n , δs pn , δx pn }; in, δs pn =| S p - S n |, δx pn =| X p - X n | 4. The continuous measurement method for key positions of anchor sections in subway catenary as described in claim 3, characterized in that, For key location measurement data D e If there is continuous sampling data at fixed intervals D f Satisfy | S e - S f |≤ epsilon Then, establish a mileage correlation between the two: A ef ={ D e - D f }; in, S e Mileage for measuring data at key locations, S f Mileage for continuous sampling data at fixed intervals. epsilon This indicates that mileage matching error is allowed; If there is no fixed-interval continuous sampling data that meets the conditions D f Then the key location measurement data D e The data is written into the fused dataset as independent keypoint data.

5. The continuous measurement method for key positions of anchor sections in subway catenary as described in claim 1, characterized in that, The suspension types include rigid suspension and flexible suspension. When the suspension type is rigid suspension, the rigid suspension key position identification rules are called to identify the contact wire position, insulator, rigid positioning point, electrical connection, hanging ring and anchor joint related structures to obtain rigid suspension characteristics. When the suspension type is flexible suspension, the key position identification rules of flexible suspension are invoked to identify the position of the contact wire, clamp, locator, dropper, electrical connection, hanging ring and the positional relationship of the double line to obtain the characteristics of flexible suspension.

6. The continuous measurement method for key positions of anchor sections in subway catenary as described in claim 1, characterized in that, The measurement log should include at least the following: line name, anchor section name, positioning area, support number, critical location category, mileage value, guide height value, pull-out value, track gauge value, superelevation value, measurement time, whether it exceeds the limit, whether there is a missed measurement alarm, and the association information between the current positioning point and adjacent non-positioning points.

7. A continuous measurement system for key positions of anchor sections in subway catenary joints, characterized in that, It includes a track measurement device, a laser vision sensor, a mileage sensor, a track gauge sensor, an ultra-high-speed sensor, a data processing terminal, and a data management module; The data processing terminal is used to execute the continuous measurement method for key positions of the subway catenary anchor section joint as described in claim 1, including a contact wire extraction module, a guide height / pull-out value calculation module, an anchor section joint area confirmation module, a rigid suspension / flexible suspension candidate measurement point generation module, a current positioning point and adjacent non-positioning point discrimination module, and a fixed-interval continuous sampling data and key position measurement data module. The laser vision sensor is used to collect laser vision data of the contact line and key components; The mileage sensor is used to collect the current mileage of the track measurement device; The track gauge sensor is used to collect track gauge values; The ultra-high altitude sensor is used to collect the ultra-high altitude value of the track. The data management module is used to store basic data, fixed-interval continuous sampling data, key position measurement data, anchor joint joint measurement data, over-limit judgment results, missed measurement alarm data, and measurement ledger data.

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