Portable sky rail contact network detection device

Abstract

The utility model discloses a portable sky rail contact network detection device, which comprises a vehicle body; the parameter measurement module comprises a plurality of vision measurement assemblies; the vision measurement assemblies are obliquely arranged on the two sides of the top of the vehicle body respectively. The imaging detection module comprises a driving mechanism, a plurality of first cameras and a plurality of second cameras; one side of the driving mechanism is connected with the vehicle body, the other side of the driving mechanism is connected with the first cameras, and the second cameras are obliquely arranged on the two sides of the top of the vehicle body; the driving mechanism is used for driving the first cameras to move in the height direction. The vehicle body moves in the installation box, the geometric position of the power supply rail in the actual space is obtained through the parameter measurement module, the top and the bottom of the power supply rail are detected at the same time through the first camera and the second camera, rapidness and accuracy are achieved, and the detection efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle body detection, in particular to a portable empty rail contact network detection device. Background Art

[0002] The normal operation of the skyrail train uses a shoe rail power supply system. The power rail installed along the inner wall of the skyrail box beam provides power for the train. However, under the long-term influence of factors such as the contact force of the collector shoe and environmental changes, the spatial dimensions of the power rail will change. Arc erosion is very likely to occur at the elbow position at the end of the power rail steel strip surface and the position where the shoe rail does not match well, which seriously affects the normal current collection of the shoe rail and poses a potential threat to the safe operation of the skyrail vehicle. Because the skyrail box beam is erected in the air, it is difficult to detect and patrol the power supply system, and problems with the power rail are not easy to be discovered in time. Utility Model Content

[0003] The utility model aims to provide a portable empty rail contact network detection device, which is intended to quickly and accurately detect the power supply rail.

[0004] The embodiments of the present invention are implemented by the following technical solutions:

[0005] A portable overhead contact network detection device, comprising:

[0006] Vehicle body;

[0007] A parameter measurement module, the parameter measurement module comprising a plurality of visual measurement components; the plurality of visual measurement components are respectively arranged obliquely on both sides of the top of the vehicle body;

[0008] An imaging detection module, the imaging detection module comprising a driving mechanism, a plurality of first cameras and a plurality of second cameras; one side of the driving mechanism is connected to the vehicle body, and the other side is connected to the plurality of first cameras, and the plurality of second cameras are obliquely arranged on both sides of the top of the vehicle body; the driving mechanism is used to drive the plurality of first cameras to move along the height direction.

[0009] In an embodiment of the present invention, the visual measurement component includes a line laser and a third camera.

[0010] In one embodiment of the present invention, the driving mechanism comprises:

[0011] Slide blocks, four of which are slidably arranged on the vehicle body;

[0012] Scissor-type connecting rods, the scissor-type connecting rods are in two groups, and the two groups of scissor-type connecting rods are connected to each other, and the bottoms of the scissor-type connecting rods are respectively hinged to the four sliders;

[0013] A driving unit, the driving unit is used to drive the two sets of scissor-type connecting rods to rise or fall;

[0014] Among them, a plurality of the first cameras are arranged between the tops of the two sets of scissor-type connecting rods.

[0015] In one embodiment of the present invention, the driving unit comprises:

[0016] Connecting rods, there are two connecting rods, both ends of which are respectively connected to the two ends of the bottom of the two groups of scissor-type connecting rods;

[0017] There are two telescopic rods, one end of which is hinged to the vehicle body, and the other end of which is hinged to the connecting rod.

[0018] In one embodiment of the utility model, a guide mechanism is also included; the guide mechanism includes:

[0019] Guide arm rods, the guide arm rods are four in number, one end of each guide arm rod is respectively arranged at four corners of the vehicle body;

[0020] There are a plurality of guide wheels, each of which is rotatably arranged on the other end of the four guide arm rods.

[0021] In one embodiment of the present invention, the guide mechanism further includes nitrogen springs; the nitrogen springs are divided into four groups, one end of each of which is connected to the vehicle body, and the other end of each of which is connected to the guide arm rod.

[0022] In one embodiment of the utility model, it also includes a posture compensation mechanism; the posture compensation mechanism includes at least four distance sensors, and the four distance sensors are respectively installed on the vehicle body, two of which are perpendicular to the vehicle body and detect downward, and the other two distance sensors are horizontal to the vehicle body and detect to both sides.

[0023] In an embodiment of the present invention, the distance sensor is a laser distance sensor.

[0024] In an embodiment of the present invention, both the first camera and the second camera are line array cameras.

[0025] In an embodiment of the present invention, the third camera is an industrial area array digital camera.

[0026] The technical solution of the embodiment of the utility model has at least the following advantages and beneficial effects:

[0027] The portable empty rail contact network detection device of the utility model places the vehicle body on the installation box when detecting the empty rail contact network, and the vehicle body moves along the installation box; the several visual measurement components of the parameter measurement module obtain the geometric position of the power supply rail in the actual space after certain image processing; at the same time, the driving mechanism drives the first camera to move upward, so that the first camera is located above the power supply rail, and cooperates with the second camera to simultaneously detect the upper and lower parts of the power supply rail. The utility model moves the vehicle body in the installation box, obtains the geometric position of the power supply rail in the actual space through the parameter measurement module, and then simultaneously detects the top and bottom of the power supply rail through the first camera and the second camera, which is fast and accurate, and increases the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the rising state of the utility model. Figure 1 ;

[0029] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0030] Figure 3 This is a schematic diagram of the rising state of the utility model. Figure 2 ;

[0031] Figure 4 This is a schematic diagram of the descending state of the utility model. Figure 1 ;

[0032] Figure 5 This is a schematic diagram of the descending state of the utility model. Figure 2 ;

[0033] Figure 6 It is a bottom view of the utility model;

[0034] Figure 7 Schematic diagram of the structure in which the vehicle body is installed on the power supply rail.

[0035] Icons: 1- vehicle body, 2- parameter measurement module, 21- line laser, 22- third camera, 3- imaging detection module, 31- first camera, 32- second camera, 33- connecting rod, 34- scissor-type connecting rod, 35- slider, 36- telescopic rod, 4- guide mechanism, 41- guide arm rod, 42- guide wheel, 43- nitrogen spring. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. The modules of the embodiment of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. They are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0041] Embodiment 1:

[0042] Please refer to Figure 1-Figure 7 A portable overhead rail contact network detection device includes a vehicle body 1, a parameter measurement module 2, an imaging detection module 3, a guide mechanism 4 and a posture compensation mechanism.

[0043] like Figure 1 and Figure 3-Figure 6 As shown, the vehicle body 1 has four vacuum rubber tires, two front wheels are steering wheels, and two rear wheels are power wheels; the vehicle body 1 has a power module, specifically a brushless servo motor is used to drive the vacuum rubber tires to rotate. In this embodiment, how the steering wheel realizes steering and the connection relationship between the brushless servo motor and the vacuum rubber tire are both existing technologies, and are not the improvement of this embodiment, and will not be described in detail here.

[0044] like Figure 1 and Figure 3-Figure 6 As shown, the parameter measurement module 2 includes several visual measurement components; in this embodiment, two groups are preferably used, and the two groups of visual measurement components are tilted at the top of the roof to realize parameter detection such as the horizontal distance between the center of the power supply rail and the center of the line, the vertical distance between the current collecting surface of the power supply rail and the wall of the installation box beam, etc., so as to improve the measurement accuracy of geometric parameters.

[0045] Specifically, the visual measurement component includes a line laser 21 and a third camera 22. The laser projects laser light outward onto the power supply rail, and the third camera 22 tilts at a certain angle to shoot a distorted image of the laser on the power supply rail. In this embodiment, the third camera 22 is preferably an industrial area array digital camera, which outputs an 8-bit grayscale image. Due to the triangular relationship between the third camera 22 and the laser, the imaging positions of spatial objects at different offsets and heights on the image are different. A certain image processing algorithm is used to find the pixel coordinates of the bottom and side of the power supply rail in the image, and then through certain calibration calculations, the geometric position of the power supply rail in the actual space, that is, the lateral offset of the power supply rail and the vertical height of the power supply rail gauge mounting surface, can be converted.

[0046] like Figure 1-Figure 6 As shown, the imaging detection module 3 includes a driving mechanism, a plurality of first cameras 31 and a plurality of second cameras 32; wherein the driving mechanism further includes four sliders 35, two sets of scissor-type connecting rods 34, two connecting rods 33 and two telescopic rods 36; in this embodiment, the number of the first camera 31 and the second camera 32 are preferably two, respectively.

[0047] The rear part of the vehicle body 1 is provided with two slide rails arranged in parallel along the width direction, and the four sliders 35 are respectively divided into two groups and slidably arranged on the two slide rails, thereby realizing a sliding connection with the vehicle body 1; the two groups of scissor-type connecting rods 34 are connected to each other, and the four corners at the bottom are respectively hinged to the four sliders 35, and two installation spaces are formed between the four corners at the top, and the two first cameras 31 are respectively arranged in the two installation spaces; the two ends of the two connecting rods 33 are respectively connected to the two ends at the bottom of the scissor-type connecting rods 34, one end of one telescopic rod 36 is hinged to the vehicle body 1, and the other end is hinged to one of the connecting rods 33, and one end of the other telescopic rod 36 is hinged to the vehicle body 1, and the other end is hinged to the other connecting rod 33; the four sliders 35 are driven to slide toward or oppositely by the extension or shortening of the two telescopic rods 36, so that the scissor-type connecting rod 34 drives the first camera 31 to be lowered or raised.

[0048] In this embodiment, the first camera 31 and the second camera 32 are both linear array cameras. The linear array camera is selected to image the power rail and the auxiliary suspension device, which can maximize the use of hardware resources and reduce the resource waste of the camera and the processor relative to the area array imaging. The linear array camera is a linear arrangement of pixels. Each exposure only collects one or several rows of linear images, and the captured images are spliced ​​on the software side. The theoretical length of the linear array camera can be infinite, which is suitable for the detection of curved objects, narrow objects, and some high-speed objects. Combining the characteristics of linear array imaging and the speed of the vehicle body 1, a long strip of detection imaging can be formed.

[0049] In this embodiment, the telescopic rod 36 may be an electric telescopic rod 36, a gas rod, a hydraulic rod or others, which is not limited in this embodiment.

[0050] As a preferred embodiment of the present invention, the top of the vehicle body is inclined from the middle to both sides, and the two sets of visual measurement components and the two second cameras 32 only need to be installed on the inclined surface of the top of the vehicle body without installing other inclined brackets.

[0051] like Figure 1 and Figure 3-Figure 6 As shown, the guide mechanism 4 includes four guide arms 41, a plurality of guide wheels 42 and four groups of nitrogen springs 43; in this embodiment, there are preferably four guide wheels 42; one end of the four guide arms 41 is respectively fixed to the four corners of the vehicle body 1, and the other end is respectively rotatably provided with guide wheels 42; when the vehicle body 1 is placed in the installation box, the four guide wheels 42 are respectively abutted against the inner side wall of the installation box, for details, refer to Figure 7 One end of the four groups of nitrogen springs 43 are respectively connected to the vehicle body 1, and the other ends are respectively connected to the guide arm rods 41, so that the guide wheels 42 can be attached to the inner wall of the installation box in real time, thereby stabilizing the vehicle body 1 to run along the center line of the installation box.

[0052] In this embodiment, each group of nitrogen springs 43 includes two nitrogen springs, that is, four groups of nitrogen springs 43 include eight nitrogen springs in total.

[0053] The posture compensation mechanism includes at least four distance sensors. In this embodiment, the number of distance sensors is preferably four; the four distance sensors are divided into two groups, one group is vertically mounted on the bottom of the vehicle body 1 for downward detection, and the other group is horizontally mounted on both sides of the vehicle body 1 for detection on both sides; after installation, the relative positions of the four distance sensors remain fixed. When the vehicle body 1 changes relative to the running plane of the installation box, the return values ​​of the four distance sensors also change, and the compensation measurement of the posture of the vehicle body 1 is realized by reverse deduction.

[0054] In this embodiment, the distance sensor is preferably a laser ranging sensor.

[0055] The working principle of this embodiment is:

[0056] When inspecting the empty rail contact network, the vehicle body 1 is placed on the installation box and the vehicle body 1 moves along the installation box; the laser projects the laser outward onto the power supply rail, and the third camera 22 tilts a certain angle to shoot the distorted image of the laser on the power supply rail outward. Due to the triangular relationship between the third camera 22 and the laser, the imaging positions of spatial objects at different offsets and heights on the image are different. A certain image processing algorithm is used to find the pixel coordinates of the bottom and side of the power supply rail in the image, and then through certain calibration calculations, the geometric position of the power supply rail in the actual space can be converted, that is, the lateral offset of the power supply rail and the vertical height of the power supply rail gauge installation surface; at the same time, the two telescopic rods 36 drive the four sliders 35 to slide inward, so that the scissor-type connecting rod 34 drives the first camera 31 to rise and is located above the power supply rail, and cooperates with the second camera 32 to simultaneously inspect the top and bottom of the power supply rail.

[0057] Embodiment 2:

[0058] This embodiment is improved on the basis of embodiment 1. A control communication module is also provided on the vehicle body 1. The control communication module is mainly composed of an on-board computer, a power module, a communication module, etc. It is a central hub connecting various detection components, responsible for controlling and adjusting the normal operation and detection calculation of each detection equipment, and can send detection data and images to the client in real time. At the same time, it can accept user instructions in real time and adjust the posture of each moving part to the optimal working position.

[0059] It should be noted that the control communication module in this embodiment is a prior art and is not an improvement of this embodiment, and will not be described in detail here.

[0060] The other parts of this embodiment are the same as those of the above-mentioned embodiment 1, and thus will not be described in detail.

[0061] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A portable overhead contact network detection device, characterized in that: include: Vehicle body; A parameter measurement module, the parameter measurement module comprising a plurality of visual measurement components; the plurality of visual measurement components are respectively arranged obliquely on both sides of the top of the vehicle body; An imaging detection module, the imaging detection module comprising a driving mechanism, a plurality of first cameras and a plurality of second cameras; one side of the driving mechanism is connected to the vehicle body, and the other side is connected to the plurality of first cameras, and the plurality of second cameras are obliquely arranged on both sides of the top of the vehicle body; the driving mechanism is used to drive the plurality of first cameras to move along the height direction.

2. A portable empty rail contact network detection device according to claim 1, characterized in that: The vision measurement assembly includes a line laser and a third camera.

3. A portable empty rail contact network detection device according to claim 1, characterized in that: The driving mechanism comprises: Slide blocks, four of which are slidably arranged on the vehicle body; Scissor-type connecting rods, the scissor-type connecting rods are in two groups, and the two groups of scissor-type connecting rods are connected to each other, and the bottoms of the scissor-type connecting rods are respectively hinged to the four sliders; A driving unit, the driving unit is used to drive the two sets of scissor-type connecting rods to rise or fall; Among them, a plurality of the first cameras are arranged between the tops of the two sets of scissor-type connecting rods.

4. A portable empty rail contact network detection device according to claim 3, characterized in that: The driving unit comprises: Connecting rods, there are two connecting rods, both ends of which are respectively connected to the two ends of the bottom of the two groups of scissor-type connecting rods; There are two telescopic rods, one end of which is hinged to the vehicle body, and the other end of which is hinged to the connecting rod.

5. The portable overhead contact network detection device according to claim 1 is characterized in that: Also includes a guiding mechanism; the guiding mechanism includes: Guide arm rods, the guide arm rods are four in number, one end of each guide arm rod is respectively arranged at four corners of the vehicle body; There are a plurality of guide wheels, each of which is rotatably arranged on the other end of the four guide arm rods.

6. A portable empty rail contact network detection device according to claim 5, characterized in that: The guide mechanism also includes nitrogen springs; the nitrogen springs are divided into four groups, one end of each nitrogen spring is connected to the vehicle body, and the other end of each nitrogen spring is connected to the guide arm rod.

7. A portable overhead line detection device for empty rail according to claim 1, characterized in that: It also includes a posture compensation mechanism; the posture compensation mechanism includes at least four distance sensors, which are respectively installed on the vehicle body, two of which detect downward perpendicularly to the vehicle body, and the other two distance sensors detect toward both sides horizontally to the vehicle body.

8. A portable empty rail contact network detection device according to claim 7, characterized in that: The distance sensor is a laser distance measuring sensor.

9. The portable overhead line detection device of claim 1, characterized in that: The first camera and the second camera are both line array cameras.

10. A portable overhead line detection device for empty rail according to claim 2, characterized in that: The third camera is an industrial area array digital camera.

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