Contact network defect positioning device based on Beidou high-precision RTK

Abstract

The utility model provides a catenary defect positioning device based on Beidou high-precision RTK, which belongs to the catenary device field, and comprises an industrial control computer, an acquisition and detection device, a Beidou RTK and a hand-held device, the acquisition and detection device is communicated with the industrial control computer through Ethernet, the Beidou RTK is communicated with the industrial control computer through a serial port, and the hand-held device is connected with the acquisition and detection device. The handheld device is in wireless connection with the acquisition and detection device, and the handheld device controls the acquisition and detection device to operate; the collecting and detecting device comprises a walking trolley, a controller, a laser radar, two supporting cameras and two triggering cameras are arranged on the walking trolley, the laser radar, the supporting cameras and the triggering cameras are connected with the controller, and the controller communicates with the industrial personal computer through the Ethernet. According to the positioning device disclosed by the utility model, the capturing rod is arranged on the acquisition and detection device under the conditions of correct visual angle and sufficient light, the defects of parts of the overhead line system are identified through the industrial personal computer, and defective images are marked, so that the defects of the overhead line system are positioned, the workload is reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of contact net device, especially a contact net defect positioning device based on high-precision RTK of big dipper. BACKGROUND

[0002] The pantograph-catenary relationship is one of the most important key links of the railway traffic traction power supply system, the contact net is overhead equipment directly related to normal current taking of the pantograph-catenary, its working environment is poor, the surrounding environment is very complex, is erected along the line and has no backup, and is the weakest link of the whole traction power supply system. With the rapid development of the national road network, the long-existing problems of insufficient maintenance time and lack of reasonable detection means lead to the increasingly prominent operation and maintenance problems of the pantograph-catenary system. The normal operation of the pantograph-catenary system is an important guarantee for the safe operation of railway traffic.

[0003] At present, the common contact net defect positioning devices include devices based on line kilometer markers and odometers, devices based on pole numbers, and devices based on the combination of pole numbers and line databases. The devices based on line kilometer markers and odometers cannot avoid the cumulative error of the odometer no matter what type of odometer is selected, and the cumulative error increases with the increase of the mileage, so the positioning accuracy is lower and lower as the distance increases. The devices based on pole numbers cannot be used in the actual situation because the images are not clear, the pole numbers are not clear, and the poles are missing due to the reasons such as triggering accuracy, incorrect angle of view, sunlight interference, insufficient light, and number stains, etc. The devices based on the combination of pole numbers and line databases cannot align the pole numbers in the line database due to the reasons such as continuous missing of pole numbers and continuous identification errors. Finally, the contact net defects cannot be positioned.

[0004] If the contact net defect positioning is wrong or the positioning deviation is too large, the maintenance workers cannot find the contact net defect position for verification and maintenance, and the maintenance workers can only expand the search range to verify one by one to determine the position of the contact net defect, which not only increases the workload and is low in efficiency, but also is not conducive to the maintenance work. Therefore, a contact net defect positioning device based on high-precision RTK of big dipper is needed. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a contact net defect positioning device based on high-precision RTK of big dipper, solving the technical problem of low maintenance efficiency caused by the large positioning deviation of the existing contact net defect positioning device. The utility model can accurately position the contact net defect position and is very reliable and stable.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] A kind of contact net defect positioning device based on Beidou high-precision RTK, including industrial computer, acquisition detection device, Beidou RTK and handheld device, the acquisition detection device with industrial computer between by Ethernet communication, the Beidou RTK with industrial computer between by serial communication, the handheld device with acquisition detection device by wireless connection, the handheld device controls acquisition detection device to run;

[0008] The acquisition detection device includes a walking trolley, a controller, a laser radar, two laser displacement meters, two support cameras and two trigger cameras are arranged on the walking trolley, and the laser radar, the laser displacement meter, the support camera and the trigger camera are connected with the controller respectively, and the controller is in communication with the industrial computer through Ethernet.

[0009] Further, the controller is connected with a battery and an inclinometer, and the inclinometer, the laser radar, the laser displacement meter, the support camera and the trigger camera are connected with the battery respectively.

[0010] Further, one side of the support camera and the trigger camera is respectively provided with a fill light, and the fill light is connected with the controller and the battery respectively.

[0011] Further, the industrial computer includes a control unit, a defect identification unit, a data conversion unit, a rod positioning unit and an odometer unit, and the control unit is connected with the defect identification unit, the data conversion unit, the rod positioning unit and the odometer unit respectively.

[0012] Further, the data conversion unit is connected with the Beidou RTK.

[0013] Further, the defect identification unit is in communication with the controller through Ethernet.

[0014] Further, the odometer unit is in communication with the controller through Ethernet, and the odometer unit is connected with the rod positioning unit.

[0015] The utility model has the following beneficial effects due to the adoption of the above technical scheme:

[0016] The positioning device of the utility model can ensure that the support camera and the trigger camera can capture the rod under the condition of correct visual angle and sufficient light by arranging the laser radar, the laser displacement meter, the inclinometer and the fill light on the acquisition detection device, and the data conversion unit, the defect identification unit, the rod positioning unit and the odometer unit of the industrial computer can identify the defects of the contact net parts, and the images with defects can be labeled, so that the contact net defects can be positioned, and the workload can be reduced and the work efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the block diagram of the positioning device of the utility model;

[0018] Figure 2 is the structural schematic diagram of the acquisition detection device of the utility model;

[0019] Figure 3 is the block diagram of the industrial computer of the utility model.

[0020] In the drawings, 1-industrial computer, 11-control unit, 12-defect identification unit, 13-data conversion unit, 14-rod positioning unit, 15-odometer unit, 2-acquisition detection device, 21-traveling trolley, 22-controller, 23-laser radar, 24-support camera, 25-trigger camera, 26-battery, 27-inclinometer, 28-light supplementing lamp, 29-laser displacement meter, 3-Beidou RTK, 4-handheld device. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the following preferred embodiments are referred to the drawings and are given, and the utility model is further explained in detail. However, it should be pointed out that many details listed in the specification are only for making the reader have a thorough understanding of one or more aspects of the utility model, and the aspects of the utility model can be realized even without these specific details.

[0022] As Figures 1-2 shown, a contact net defect positioning device based on Beidou high-precision RTK, including industrial computer 1, acquisition detection device 2, Beidou RTK 3 and handheld device 4, the acquisition detection device 2 and industrial computer 1 are communicated through Ethernet, the acquisition detection device 2 is used to collect the image data of contact net support device and hanging line on line and is transmitted to industrial computer 1, and industrial computer 1 identifies the defects of contact net parts of image data and labels the images with defects, the Beidou RTK 3 and industrial computer 1 are communicated through serial communication, and the Beidou RTK 3 collects the real-time data of Beidou high-precision RTK in real time, the handheld device 4 and acquisition detection device 2 are connected wirelessly, and the handheld device 4 controls the operation of acquisition detection device 2;The acquisition detection device 2 includes traveling trolley 21, and the traveling trolley 21 is self-powered and can realize remote control of handheld device 4, the traveling trolley 21 is provided with controller 22, laser radar 23, two laser displacement meters 29, two support cameras 24 and two trigger cameras 25, the laser radar 23, laser displacement meter 29, support camera 24 and trigger camera 25 are connected with controller 22 respectively, and the controller 22 and industrial computer 1 are communicated through Ethernet.

[0023] As Figure 2As shown, the controller 22 is connected with a battery 26 and an inclinometer 27, the inclinometer 27, the laser radar 23, the laser displacement meter 29, the supporting camera 24 and the trigger camera 25 are connected with the battery 26, and the battery 26 is a power supply for the equipment. One side of the supporting camera 24 and the trigger camera 25 is respectively provided with a fill light 28, and the fill light 28 is connected with the controller 22 and the battery. Through the laser radar 23, the laser displacement meter 29, the inclinometer 27 and the fill light 28, it is ensured that the supporting camera 24 and the trigger camera 25 can capture the pole under the condition of correct visual angle and sufficient light, and the supporting camera 24 and the trigger camera 25 collect the image data of the catenary support device and the dropper on the line in real time and send the image data to the industrial computer 1 through the controller 22. The walking trolley is used to replace the worker to inspect, so that the inspection efficiency is improved, and the labor cost is reduced.

[0024] As Figure 3 shown, the industrial computer 1 comprises a control unit 11, a defect identification unit 12, a data conversion unit 13, a pole positioning unit 14 and an odometer unit 15, and the control unit 11 is connected with the defect identification unit 12, the data conversion unit 13, the pole positioning unit 14 and the odometer unit 15 respectively. The data conversion unit 13 is connected with the Beidou RTK 3, and Beidou RTK 3 data is converted into longitude and latitude values in the WGS84 coordinate system in real time. When the detection device is in an open area without shielding, the Beidou RTK can receive effective satellite signals, and the longitude and latitude information of the current position, the pole number and the kilometer marker are output. When the detection device is under a bridge, in a tunnel or shielded by other buildings, mountains and the like, the Beidou RTK cannot receive effective satellite signals, and the defect position information is the longitude and latitude of the nearest pole, the pole number and the kilometer marker of the current position. The defect position information includes longitude and latitude, pole number and kilometer marker.

[0025] In the embodiment of the utility model, the defect identification unit 12 and the controller 22 communicate through Ethernet, identify the defects of the overhead contact system parts, and mark the images with defects. The odometer unit 15 and the controller 22 communicate through Ethernet, and the odometer unit 15 is connected with the pole positioning unit 14. The odometer unit 15 is connected with the wheel servo motor of the walking trolley 21, and the running distance is calculated by real-time collection of the rotation speed, running time and wheel diameter of the servo motor; mileage = rotation speed * running time * π * wheel diameter. Since the odometer has cumulative error, when the detection device passes through the pole position, the zero point of the odometer is reset to ensure that the cumulative error of the odometer is controlled between the poles. The odometer unit 15 collects the mileage of the detection device 2 in real time and converts it into the kilometer marker of the current position, and the pole positioning information is output after the odometer, including the longitude and latitude of the current pole, the pole number and the kilometer marker of the current position.

[0026] Working principle

[0027] The acquisition detection device 2 is placed on the train track manually, and the acquisition detection device 2 is remotely controlled to walk on the train track through the handheld device 4, the laser radar 23, the laser displacement meter 29, the inclinometer 27 and the light supplement lamp 28 arranged on the acquisition detection device 2 are used to ensure that the support camera 24 and the trigger camera 25 can capture the rod under the condition of correct visual angle and sufficient light, the control unit 11, the data conversion unit 13, the defect identification unit 12, the rod positioning unit 14 and the odometer unit 15 of the industrial computer 1 are used to identify the defects of the overhead contact system components, and the images with defects are labeled, so that the defects of the overhead contact system are located.

[0028] The above only describes the preferred embodiments of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A contact net defect positioning device based on Beidou high-precision RTK, characterized in that: The application relates to a data acquisition and detection device, which comprises an industrial computer, a data acquisition and detection device, a Beidou RTK and a handheld device, wherein the data acquisition and detection device and the industrial computer are communicated through Ethernet, the Beidou RTK and the industrial computer are communicated through a serial port, and the handheld device and the data acquisition and detection device are wirelessly connected; the handheld device controls the data acquisition and detection device to run. The data acquisition and detection device comprises a walking trolley, wherein a controller, a laser radar, two laser displacement meters, two support cameras and two trigger cameras are arranged on the walking trolley; the laser radar, the laser displacement meter, the support camera and the trigger camera are connected with the controller; and the controller and the industrial computer are communicated through Ethernet.

2. The overhead contact line defect positioning device based on Beidou high-precision RTK according to claim 1, characterized in that: The controller is connected with a battery and an inclinometer; and the inclinometer, the laser radar, the laser displacement meter, the support camera and the trigger camera are connected with the battery.

3. The overhead contact line defect positioning device based on Beidou high-precision RTK according to claim 1, characterized in that: One side of the support camera and the trigger camera is respectively provided with a light supplement lamp; and the light supplement lamp is connected with the controller and the battery respectively.

4. The overhead contact line defect positioning device based on Beidou high-precision RTK according to claim 1, characterized in that: The industrial computer comprises a control unit, a defect identification unit, a data conversion unit, a rod positioning unit and an odometer unit; and the control unit is connected with the defect identification unit, the data conversion unit, the rod positioning unit and the odometer unit respectively.

5. The overhead contact line defect positioning device based on Beidou high-precision RTK according to claim 4, characterized in that: The data conversion unit is connected with the Beidou RTK.

6. The overhead contact line defect positioning device based on Beidou high-precision RTK according to claim 4, characterized in that: The defect identification unit and the controller are communicated through Ethernet.

7. The overhead contact line defect positioning device based on Beidou high-precision RTK according to claim 4, characterized in that: The odometer unit and the controller are communicated through Ethernet; and the odometer unit is connected with the rod positioning unit.

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