Rail transit catenary trackless measurement device and strategy method

Abstract

The application discloses a rail transit contact network trackless measuring device and a strategy method, and belongs to the technical field of rail transit detection, and comprises a mobile support, a walking wheel set is arranged at the bottom of the mobile support, and the walking wheel set rolls along a rail running surface; a first laser ranging module is installed at the front end of the mobile support, a laser emission direction of the first laser ranging module is towards the advancing direction of the mobile support, the first laser ranging module is used for acquiring first distance data of the mobile support and the rail running surface, the mobile support only rolls on the steel rail running surface through the walking wheel set, an encoder provides a mileage reference, an inertial measurement unit provides attitude compensation, the first laser ranging module corrects the front end bounce, and the three are combined so that the device can independently complete measurement under the trackless condition.

Description

Technical Field

[0001] This invention relates to the field of rail transit inspection technology, and more specifically, to a trackless measurement device and strategy method for rail transit overhead contact lines. Background Technology

[0002] The overhead contact system of rail transit is an overhead line that provides power to electric locomotives. Its conductor height, or conductor elevation, directly affects the current collection quality of the pantograph and operational safety. A conductor elevation deviation from the design range will lead to accelerated pantograph wear, and in severe cases, cause derailment accidents. Traditional methods for measuring overhead contact system conductor elevation mainly rely on overhead contact system inspection vehicles or track measuring trolleys.

[0003] Patent CN121783026A discloses a trackless measurement device for rail transit catenary. The device includes a support frame with multiple rollers symmetrically and detachably mounted on both sides. A detection device for inspecting the rail transit catenary is detachably mounted on the top of the support frame. Inside the support frame is a drive mechanism for rotating the rollers. The rollers are detachably connected to the drive mechanism, enabling synchronous rotation of the rollers. In this invention, the drive mechanism provides stable power to the rollers, allowing the support frame to move continuously along the rails. During this movement, a laser depth sounder and a laser rangefinder can detect the tunnel height, rail spacing, and the pull-out value of the high-voltage lines erected on top of the rails in real time. The data from the laser depth sounder and laser rangefinder is transmitted in real time to a terminal device and recorded, facilitating inspection personnel to repair problematic rails, tunnel walls, and high-voltage lines.

[0004] Existing technologies have also explored some trackless measuring devices. Some solutions install tilt sensors and laser ranging modules on a mobile support, using tilt data to correct the laser ranging value. The problem with these devices is that the tilt sensor only compensates for the support's own tilt, but cannot compensate for the instantaneous movement of the wheels at rail joints or turnout areas, resulting in significant fluctuations in the corrected guide height value. Furthermore, most devices do not solve the problem of quickly calibrating the initial height of the laser ranging module; the installation height needs to be remeasured after each change in measurement height, making the operation cumbersome. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a trackless measurement device and strategy method for rail transit overhead contact lines, thus solving the aforementioned problems.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a trackless measurement device and strategy method for rail transit catenary, comprising: A movable support frame, wherein a set of wheels is provided at the bottom of the movable support frame, and the set of wheels rolls along the track surface; A first laser ranging module is installed at the front end of the mobile support. The laser emission direction of the first laser ranging module is towards the forward direction of the mobile support. The first laser ranging module is used to obtain the first distance data between the mobile support and the track surface. The second laser ranging module is installed in the middle of the mobile support. The laser emission direction of the second laser ranging module is vertically upward. The second laser ranging module is used to obtain the second distance data from the second laser ranging module to the contact wire. An inertial measurement unit is fixed inside the movable support, and the inertial measurement unit is used to collect the attitude angle data of the movable support; An encoder is coaxially connected to the walking wheels in the walking wheel set. The encoder is used to record the number of rotations of the walking wheels to generate mileage data. The data acquisition card is electrically connected to the first laser ranging module, the second laser ranging module, the inertial measurement unit, and the encoder, respectively. An embedded processor is electrically connected to the data acquisition card. The embedded processor receives first distance data, second distance data, attitude angle data, and mileage data. The embedded processor corrects the second distance data based on the attitude angle data. A display terminal is installed on the upper part of the movable bracket. The display terminal is electrically connected to the embedded processor and displays the conductor height value of the contact wire corresponding to the corrected second distance data.

[0007] Preferably, the mobile support also includes a telescopic column, which is vertically fixed to the top platform of the mobile support. The second laser ranging module is installed on the upper end of the telescopic column, and the telescopic column is marked with scale markings. The initial height of the second laser ranging module is read through the scale markings.

[0008] Preferably, the walking wheel set includes a first walking wheel, a second walking wheel, and a third walking wheel. The first walking wheel is located on the left side of the front end of the mobile support, the second walking wheel is located on the right side of the front end of the mobile support, and the third walking wheel is located at the center of the rear end of the mobile support. The surfaces of the first and second walking wheels are provided with anti-slip patterns.

[0009] Preferably, the system further includes a track gauge measuring component, which includes a transverse slide rail, a first slider, a second slider, a first displacement sensor, and a second displacement sensor. The transverse slide rail is fixed to the bottom of the movable support. The first slider and the second slider are both mounted on the transverse slide rail and slide along the transverse slide rail. The first displacement sensor detects the transverse displacement of the first slider, and the second displacement sensor detects the transverse displacement of the second slider. The lower ends of the first slider and the second slider respectively abut against the inner sides of the two tracks.

[0010] Preferably, it also includes an ambient light sensor and a laser power adjustment module. The ambient light sensor is installed on the top of the mobile bracket and collects ambient illuminance values. The laser power adjustment module is electrically connected to the ambient light sensor and the second laser ranging module, respectively, and adjusts the emitted laser power of the second laser ranging module according to the ambient illuminance values.

[0011] Preferably, it also includes a temperature compensation module, which includes a temperature sensor and a heating film. The temperature sensor is mounted on the surface of the housing of the inertial measurement unit, and the heating film is attached to the bottom of the housing of the inertial measurement unit. The temperature sensor is electrically connected to an embedded processor, and the embedded processor controls the start and stop of the heating film according to the detection value of the temperature sensor.

[0012] Preferably, a first level and a second level are respectively provided at the front and rear ends of the movable support. Both the first level and the second level are bubble levels. The bottom of the movable support is provided with four adjustable feet. Each adjustable foot is connected to the movable support through a threaded pair. A rubber pad is provided at the lower end of each adjustable foot.

[0013] Preferably, it also includes a wireless communication module, which is electrically connected to the embedded processor. The wireless communication module sends the corrected second distance data and the corresponding mileage data to a remote server. The wireless communication module receives a line parameter file sent by the remote server. The embedded processor verifies the corrected second distance data according to the line parameter file.

[0014] Preferably, the display terminal is a touch screen, which is equipped with a data storage button and a measurement start button. The touch screen is equipped with a non-volatile memory, which stores the measurement time, mileage data, corrected second distance data, and vibration frequency data of the moving support. The vibration frequency data is extracted by the triaxial accelerometer of the inertial measurement unit.

[0015] A strategy and method for trackless measurement equipment of rail transit catenary, characterized by the following steps: Step 1: Place the mobile support on the track surface, with the wheels in contact with the track surface. Observe the horizontal status of the mobile support using the first and second levels, and rotate and adjust the support legs to make the mobile support horizontal. Step 2: Start the embedded processor and data acquisition card. The first laser ranging module continuously acquires the first distance data between the front end of the mobile support and the track running surface. The inertial measurement unit continuously acquires the attitude angle data. The encoder continuously records the number of rotations of the walking wheels. Step 3: The data acquisition card synchronously acquires the first distance data, attitude angle data, and number of rotations. The embedded processor calculates the mileage data based on the number of rotations and the circumference of the traveling wheels. The embedded processor also calculates the pitch angle and roll angle of the moving support based on the attitude angle data. Step 4: The second laser ranging module emits a laser beam to the contact wire and receives the reflected light signal to obtain the second distance data. The embedded processor performs spatial coordinate transformation on the second distance data according to the pitch angle and roll angle to obtain the corrected vertical distance. Step 5: The embedded processor subtracts the initial height of the second laser ranging module from the corrected vertical distance to obtain the actual conductor height of the contact wire. Step six: The embedded processor binds the actual elevation value with the mileage data to generate a measurement record. The measurement record is displayed on the display terminal and simultaneously stored in non-volatile memory. Step 7: Repeat steps 2 to 7, and move the support continuously along the track running surface to obtain continuous distribution data of the contact wire height of the entire line.

[0016] Compared with the prior art, the present invention provides a trackless measurement device and strategy method for rail transit catenary, which has the following beneficial effects: This invention relates to a trackless measurement device and strategy for rail transit overhead contact lines. The device measures contact line height without relying on contact line supports, track fasteners, or any fixed ground references. The mobile support rolls solely on the rail surface via its wheels. An encoder provides mileage reference, an inertial measurement unit provides attitude compensation, and a first laser ranging module corrects for front-end runout. The combination of these three components allows the device to complete measurements independently under trackless conditions. An operator can obtain continuous contact line height distribution data for the entire line simply by pushing the mobile support along the track once, without needing to close the line or install additional track measuring trolleys. Compared to traditional methods relying on total stations for point-by-point measurements, this device increases measurement efficiency several times over, allowing data acquisition to be completed by a single operator, significantly reducing labor costs.

[0017] This invention relates to a trackless measurement device and strategy for rail transit catenary systems. An inertial measurement unit collects pitch and roll angles in real time and performs spatial coordinate transformation correction on the second laser distance data, eliminating measurement errors caused by track irregularities and support tilt during the movement of the mobile support. The first laser ranging module simultaneously monitors the runout at the front end of the mobile support, further compensating for the vertical displacement of the traveling wheels at the rail joints. Scale markings on the telescopic column allow for quick reading of the initial height of the second laser ranging module without additional measuring tools. The display terminal presents the corrected guide height value in real time, allowing operators to immediately determine whether the current section meets design requirements. The track gauge measurement component simultaneously acquires track gauge data, providing a lateral positioning reference for the analysis of the catenary pull-out value. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1 The present invention provides a technical solution: A trackless measurement device for rail transit overhead contact lines, the specific structure of which is as follows: The mobile support frame is constructed from spliced ​​metal profiles. A set of wheels, comprising multiple wheels, is mounted at the bottom of the mobile support frame and sits atop the rail running surface, rolling along that surface.

[0021] The first laser ranging module is fixedly installed at the front end of the moving support. The laser emission direction of the first laser ranging module is towards the forward direction of the moving support, that is, horizontally forward along the extension direction of the rail. The first laser ranging module is used to measure the vertical distance between the bottom surface of the front end of the moving support and the track running surface, and this distance is recorded as the first distance data.

[0022] The second laser ranging module is fixedly installed in the middle of the mobile support. The laser emission direction of the second laser ranging module is vertically upward, that is, perpendicular to the horizontal plane. The second laser ranging module is used to measure the distance between its own emission window and the bottom surface of the contact wire, and this distance is recorded as the second distance data.

[0023] The inertial measurement unit (IMU) is fixedly installed inside the cavity of the moving support. The IMU integrates a gyroscope and an accelerometer. The IMU is used to acquire real-time attitude angle data of the moving support during its movement, including pitch and roll angles.

[0024] The encoder is coaxially connected to one of the wheels in the wheel assembly via a coupling. The encoder outputs pulse signals as the wheel rotates. The embedded processor calculates the number of wheel rotations by accumulating the number of pulse signals, and then combines this with the wheel's circumference to calculate the distance traveled by the mobile support.

[0025] The data acquisition card is electrically connected to the first laser ranging module, the second laser ranging module, the inertial measurement unit, and the encoder via cables. The data acquisition card simultaneously acquires data from these four sources at a fixed sampling frequency to ensure that the data from each source is synchronized in time.

[0026] The embedded processor is electrically connected to the data acquisition card. The embedded processor receives first distance data, second distance data, attitude angle data, and odometer data. The embedded processor runs a data processing program internally. The program first reads the pitch and roll angles from the attitude angle data, and then uses these two angle values ​​to correct the tilt of the second distance data. The basic principle of the correction is to convert the slant distance into a vertical distance. The embedded processor subtracts the known installation height of the second laser ranging module relative to the rail surface from the corrected vertical distance to obtain the actual conductor height of the contact wire.

[0027] The display terminal is mounted on the upper push handle of the mobile support. It is electrically connected to the embedded processor via a communication interface. The display terminal digitally displays the corrected contact wire height value in real time, along with the corresponding current mileage data. Operators can observe the real-time measurement results of the contact wire height on the display terminal while pushing the mobile support forward.

[0028] The telescopic column is vertically fixed at the center of the top platform of the mobile support. The telescopic column consists of two sleeves, inner and outer, connected by a locking device. The second laser ranging module is mounted on the upper surface of the telescopic column. The outer sleeve of the telescopic column has graduations marked along its length. These graduations are marked upwards from the top surface of the mobile support's top platform, with zero at this point. When the telescopic column extends or retracts, the initial height of the second laser ranging module is obtained by reading the values ​​on the graduations, eliminating the need for additional measuring tools.

[0029] The wheel assembly includes a first wheel, a second wheel, and a third wheel. The first wheel is located on the left side of the front end of the mobile support. The second wheel is located on the right side of the front end of the mobile support. The third wheel is located in the center of the rear end of the mobile support. The three wheels are arranged in a triangle. The first and second wheels have anti-slip grooves on their surfaces, which are cross-shaped mesh grooves. The third wheel has a smooth, flat surface.

[0030] The track gauge measurement assembly includes a transverse slide rail, a first slider, a second slider, a first displacement sensor, and a second displacement sensor. The transverse slide rail is fixedly mounted on the bottom surface of a movable support, and its length is greater than the standard track gauge width. Both the first and second sliders are mounted on the transverse slide rail, and each slider has a linear bearing inside, allowing it to slide freely along the transverse slide rail. The body of the first displacement sensor is fixed to one end of the transverse slide rail, and its movable end is connected to the first slider. The body of the second displacement sensor is fixed to the other end of the transverse slide rail, and its movable end is connected to the second slider. A first contact is located at the lower end of the first slider, and a second contact is located at the lower end of the second slider. During measurement, the first and second contacts abut against the inner surfaces of the two rails, respectively. When the track gauge changes, the two sliders move relative to the transverse slide rail, and the first and second displacement sensors detect the displacement of their respective sliders. The embedded processor adds the measurements from the two displacement sensors to obtain the actual track gauge value.

[0031] An ambient light sensor is mounted on top of the mobile support, with its photosensitive window facing upwards. The ambient light sensor is used to collect the ambient illuminance value at the measurement site. A laser power adjustment module is electrically connected to both the ambient light sensor and the second laser ranging module. The laser power adjustment module internally contains a variable gain amplifier. When the ambient light sensor detects a high ambient illuminance value, the laser power adjustment module increases the emitted laser power of the second laser ranging module. When the ambient illuminance value is low, the laser power adjustment module decreases the emitted laser power. This ensures that the second laser ranging module can obtain an effective reflected echo signal under different lighting conditions.

[0032] The temperature compensation module includes a temperature sensor and a heating film. The temperature sensor is mounted flush against the surface of the inertial measurement unit's (IMU) housing, with a thermally conductive medium coated between the sensor and the housing. The heating film is attached to the bottom of the IMU housing. The temperature sensor is electrically connected to an embedded processor via a communication bus. The embedded processor contains a temperature control program. When the temperature detected by the sensor is below a set threshold, the embedded processor controls a switching element to close, energizing the heating film and causing it to heat up. When the temperature detected by the sensor rises to another set threshold, the embedded processor disconnects the switching element, stopping the heating film from heating. This method maintains the operating temperature of the IMU within a stable range.

[0033] A first level is installed at the front end of the movable support, and a second level is installed at the rear end. Both the first and second levels are bubble levels, used to indicate the horizontal level of the movable support in the longitudinal and lateral directions, respectively. An adjustable foot is located at each of the four corners of the bottom of the movable support. Each adjustable foot is connected to the movable support via a threaded joint; rotating the upper knob of the adjustable foot raises or lowers it relative to the movable support. A rubber pad is nested at the lower end of each adjustable foot, and the bottom surface of the rubber pad has a wavy texture. After placing the movable support, the operator observes the bubble positions of the first and second levels and rotates each of the four adjustable feet until the bubbles in both levels are centered, at which point the entire movable support is level.

[0034] The wireless communication module is installed inside the mobile support and is electrically connected to the embedded processor via a serial port. The module has a built-in communication card supporting cellular network communication. During measurement, the wireless communication module sends the corrected second distance data and its corresponding mileage data to the remote server in real time. Simultaneously, the module receives the route parameter file from the remote server. This file contains the design guide height values ​​and allowable deviation ranges for each mileage interval of the route. The embedded processor receives the route parameter file and stores it in its internal memory. In subsequent measurements, the embedded processor compares the real-time measured guide height values ​​with the corresponding design guide height values ​​in the route parameter file. If the deviation exceeds the allowable range, an alarm will pop up on the display terminal.

[0035] The display terminal uses a touchscreen. Two virtual buttons are positioned on the touchscreen interface: a data storage button and a measurement start button. Non-volatile memory is located inside the back cover of the touchscreen. When the measurement start button is pressed, the embedded processor begins acquiring data at a fixed frequency. When the data storage button is pressed, all measurement data at the current moment is saved as a record entry in the non-volatile memory. Each record entry contains the measurement time, mileage data, corrected second distance data, and vibration frequency data of the moving support. The vibration frequency data is extracted by the triaxial accelerometer inside the inertial measurement unit. The embedded processor performs spectral analysis on the vertical acceleration signal output by the accelerometer to obtain the dominant frequency component as the vibration frequency data. The vibration frequency data is used for subsequent analysis of the impact of vibration on measurement accuracy.

[0036] A method for trackless measurement of overhead contact lines in rail transit, comprising the following steps: Step one: Place the mobile support frame on the track surface, ensuring the wheels are in contact with the rail surface. The operator determines the levelness of the mobile support frame by observing the first level indicator at the front and the second level indicator at the rear. If the bubble is off-center, rotate the adjusting feet at the bottom of the mobile support frame until the bubbles on both the first and second level indicators are centered, thus leveling the mobile support frame.

[0037] Step two: Start the embedded processor and data acquisition card. The first laser ranging module begins continuously acquiring the initial distance data between the front end of the moving support and the track surface. The inertial measurement unit begins continuously acquiring the attitude angle data of the moving support. The encoder begins continuously recording the number of rotations of the traveling wheels.

[0038] Step three: The data acquisition card synchronously acquires the first distance data, attitude angle data, and the number of rotations output by the encoder. The embedded processor calculates the cumulative mileage of the moving support from the measurement starting point based on the number of rotations and the circumference of the wheels. The embedded processor calculates the pitch and roll angles of the moving support based on the gyroscope signals in the attitude angle data.

[0039] Step four: The second laser ranging module emits a laser beam to the contact wire. After being reflected by the wire, the laser beam is received by the module. The second distance data is obtained by measuring the time difference between emission and reception. The embedded processor reads the pitch and roll angles at the same moment and uses these two angle values ​​to perform spatial coordinate transformation on the second distance data. The specific transformation operation is to multiply the second distance data by the cosine of the pitch angle and then by the cosine of the roll angle to obtain the corrected vertical distance.

[0040] Step 5: The embedded processor reads the initial height of the second laser ranging module. This initial height is a fixed value pre-entered into the embedded processor by reading the scale markings on the telescopic column during the static initialization phase. The embedded processor subtracts the initial height of the second laser ranging module from the corrected vertical distance to obtain the actual guide height of the contact wire relative to the rail plane.

[0041] Step six: The embedded processor binds the actual elevation value with the current mileage data to generate a measurement record. This measurement record is displayed in text form on the display terminal for the operator to view in real time. Simultaneously, the measurement record is stored in non-volatile memory as raw data.

[0042] Step seven: The operator manually pushes the moving support, causing it to move continuously along the track surface. Steps two through six are repeated; each time the moving support moves one sampling interval, a complete measurement cycle is completed. After the moving support moves from the starting point to the end point of the line, the continuous distribution data of the contact wire conductor height at all sampling points along the entire line is obtained in the non-volatile memory. This data can be exported for subsequent analysis and processing.

[0043] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A trackless measuring device for rail transit overhead contact lines, characterized in that, include: A movable support frame, wherein a set of wheels is provided at the bottom of the movable support frame, and the set of wheels rolls along the track surface; A first laser ranging module is installed at the front end of the mobile support. The laser emission direction of the first laser ranging module is towards the forward direction of the mobile support. The first laser ranging module is used to obtain the first distance data between the mobile support and the track surface. The second laser ranging module is installed in the middle of the mobile support. The laser emission direction of the second laser ranging module is vertically upward. The second laser ranging module is used to obtain the second distance data from the second laser ranging module to the contact wire. An inertial measurement unit is fixed inside the movable support, and the inertial measurement unit is used to collect the attitude angle data of the movable support; An encoder is coaxially connected to the walking wheels in the walking wheel set. The encoder is used to record the number of rotations of the walking wheels to generate mileage data. The data acquisition card is electrically connected to the first laser ranging module, the second laser ranging module, the inertial measurement unit, and the encoder, respectively. An embedded processor is electrically connected to the data acquisition card. The embedded processor receives first distance data, second distance data, attitude angle data, and mileage data. The embedded processor corrects the second distance data based on the attitude angle data. A display terminal is installed on the upper part of the movable bracket. The display terminal is electrically connected to the embedded processor and displays the conductor height value of the contact wire corresponding to the corrected second distance data.

2. The trackless measurement device for rail transit overhead contact lines according to claim 1, characterized in that, The mobile support also includes a telescopic column, which is vertically fixed to the top platform of the mobile support. The second laser ranging module is installed on the upper end of the telescopic column. The telescopic column is marked with scale markings, and the initial height of the second laser ranging module is read through the scale markings.

3. The trackless measurement device for rail transit overhead contact lines according to claim 1, characterized in that, The walking wheel set includes a first walking wheel, a second walking wheel, and a third walking wheel. The first walking wheel is located on the left side of the front end of the mobile support, the second walking wheel is located on the right side of the front end of the mobile support, and the third walking wheel is located at the center of the rear end of the mobile support. The surfaces of the first and second walking wheels are provided with anti-slip patterns.

4. The trackless measurement device for rail transit overhead contact lines according to claim 1, characterized in that, It also includes a track gauge measuring component, which includes a transverse slide rail, a first slider, a second slider, a first displacement sensor, and a second displacement sensor. The transverse slide rail is fixed to the bottom of the movable bracket. The first slider and the second slider are both mounted on the transverse slide rail and slide along the transverse slide rail. The first displacement sensor detects the transverse displacement of the first slider, and the second displacement sensor detects the transverse displacement of the second slider. The lower ends of the first slider and the second slider respectively abut against the inner sides of the two tracks.

5. The trackless measurement device for rail transit overhead contact lines according to claim 1, characterized in that, It also includes an ambient light sensor and a laser power adjustment module. The ambient light sensor is installed on the top of the mobile bracket and collects the ambient illuminance value. The laser power adjustment module is electrically connected to the ambient light sensor and the second laser ranging module respectively. The laser power adjustment module adjusts the emitted laser power of the second laser ranging module according to the ambient illuminance value.

6. The trackless measurement device for rail transit overhead contact lines according to claim 1, characterized in that, It also includes a temperature compensation module, which includes a temperature sensor and a heating film. The temperature sensor is mounted on the surface of the housing of the inertial measurement unit, and the heating film is attached to the bottom of the housing of the inertial measurement unit. The temperature sensor is electrically connected to an embedded processor, and the embedded processor controls the start and stop of the heating film according to the detection value of the temperature sensor.

7. The trackless measurement device for rail transit overhead contact lines according to claim 1, characterized in that, The front and rear ends of the movable support are respectively equipped with a first level and a second level, both of which are bubble levels. The bottom of the movable support is equipped with four adjustable feet, each of which is connected to the movable support via a threaded joint, and a rubber pad is provided at the lower end of the adjustable feet.

8. The trackless measurement device for rail transit catenary according to claim 1, characterized in that, It also includes a wireless communication module, which is electrically connected to the embedded processor. The wireless communication module sends the corrected second distance data and the corresponding mileage data to a remote server. The wireless communication module receives the line parameter file sent by the remote server. The embedded processor verifies the corrected second distance data according to the line parameter file.

9. The trackless measurement device for rail transit catenary according to claim 1, characterized in that, The display terminal is a touch screen, which is equipped with a data storage button and a measurement start button. The touch screen is equipped with a non-volatile memory, which stores the measurement time, mileage data, corrected second distance data, and vibration frequency data of the moving support. The vibration frequency data is extracted by the triaxial accelerometer of the inertial measurement unit.

10. A strategy and method for trackless measurement equipment for rail transit catenary, implemented using the trackless measurement equipment for rail transit catenary as described in any one of claims 1 to 9, characterized in that... Includes the following steps: Step 1: Place the mobile support on the track surface, with the wheels in contact with the track surface. Observe the horizontal status of the mobile support using the first and second levels, and rotate and adjust the support legs to make the mobile support horizontal. Step 2: Start the embedded processor and data acquisition card. The first laser ranging module continuously acquires the first distance data between the front end of the mobile support and the track running surface. The inertial measurement unit continuously acquires the attitude angle data. The encoder continuously records the number of rotations of the walking wheels. Step 3: The data acquisition card synchronously acquires the first distance data, attitude angle data, and number of rotations. The embedded processor calculates the mileage data based on the number of rotations and the circumference of the traveling wheels. The embedded processor also calculates the pitch angle and roll angle of the moving support based on the attitude angle data. Step 4: The second laser ranging module emits a laser beam to the contact wire and receives the reflected light signal to obtain the second distance data. The embedded processor performs spatial coordinate transformation on the second distance data according to the pitch angle and roll angle to obtain the corrected vertical distance. Step 5: The embedded processor subtracts the initial height of the second laser ranging module from the corrected vertical distance to obtain the actual conductor height of the contact wire. Step six: The embedded processor binds the actual elevation value with the mileage data to generate a measurement record. The measurement record is displayed on the display terminal and simultaneously stored in non-volatile memory. Step 7: Repeat steps 2 to 7, and move the support continuously along the track running surface to obtain continuous distribution data of the catenary conductor height for the entire line.

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