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Catenary detection and maintenance vehicle and method based on lidar

A technology of laser radar and catenary, applied in the direction of overhead lines, etc., can solve the problems of fatigue and slackness of operators, low detection efficiency, large error of detection results, etc.

Active Publication Date: 2017-09-15
BEIJING TIANGEGAOTONG TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] (1) The detection efficiency is low, and the inspection cannot be realized: the traditional catenary detection requires multiple people to work together. Generally, three people are required during the measurement process, one is responsible for operating the detection equipment, the other is responsible for recording, and the third is responsible for this. For the safety of two people, such a detection method wastes a lot of manpower, and the error of the detection result is relatively large, time-consuming and labor-intensive, and error-prone;
[0006] (2) Separation of detection and maintenance: In the existing technical scheme, the detection personnel are only responsible for detection. After the detection is unqualified, the workers on the platform of the rail operation vehicle are notified by shouting to carry out maintenance. The noise of the car is loud, and the attention of workers is reduced, which can easily lead to information delays and affect work efficiency
[0007] (3) Potential safety hazards: Due to the large error in detection accuracy, it is generally necessary to repeat repairs and re-inspections for defect locations. The ground inspection personnel repeatedly measure, which wastes a lot of manpower and working time during the skylight period, and the work efficiency is low.
The working time of the skylight period is mostly at night. Due to repeated operations, the rail car needs to move back and forth, which makes the sound noisy. Most of the ground surveyors are close to the rail work car, which poses personal safety hazards.
[0008] (4) Maintenance quality is uncontrollable: maintenance is mostly at night, operators are prone to fatigue and slack, there may be missed inspections or concealment of abnormal problems, maintenance quality depends entirely on the professionalism of on-site staff

Method used

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  • Catenary detection and maintenance vehicle and method based on lidar
  • Catenary detection and maintenance vehicle and method based on lidar
  • Catenary detection and maintenance vehicle and method based on lidar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] Such as Figure 1-3 As shown, a lidar-based catenary detection and maintenance vehicle provided in this embodiment includes a detection vehicle body 1, a data acquisition unit, a lifting and rotating work platform 3 and a server 4 for data analysis and processing; the data acquisition unit includes The lidar sensor 2 that is arranged on the front of the roof of the detection car body 1; the detection car body 1 travels on the track 6, the laser radar sensor 2 is provided with a laser automatic scanner, and the scanning direction of the laser automatic scanner is aligned with the vehicle to be detected. Catenary 8. 9 of them are columns.

[0072] The lifting and rotating operation platform 3 can be lifted and rotated and arranged behind the top of the detection vehicle body 1; the lifting and rotating operation platform 3 is provided with a display and control panel (not shown); the server 4 communicates with the data acquisition unit in a wired manner and through wirel...

Embodiment 2

[0082] A catenary geometric parameter detection method based on the lidar sensor, the steps are:

[0083] (1) Using a single-line laser radar to scan, obtain a plurality of continuous scan data within the scan range and convert the scan data into space Cartesian coordinate system data;

[0084] (2) Sorting the spatial Cartesian coordinate system data in chronological order or displacement order, selecting data whose guide height and pull-out value are within a preset range, to obtain valid data for detection;

[0085] The preset range of pull-out value is -600mm~600mm. When it is a high-speed railway, the preset range of guide height is 5000mm~5800mm; when it is a normal speed railway, the preset range of guide height is 5800mm~6600mm; , The preset range of guide height is 3600mm~4400mm.

[0086] (3) Find the data point corresponding to the minimum conductance value in each row of data of the effective data, and obtain the contact position of the pantograph and contact wire w...

Embodiment 3

[0095] Such as Figure 5 As shown, a lidar-based catenary detection and maintenance method, the steps include:

[0096] (1) Data acquisition: the laser radar sensor scans the catenary, the pillar positioning unit collects the number information of the detected catenary pillar, and the inclination sensor measures the inclination angle of the detected vehicle body; the data acquisition unit transmits the collected data to said server;

[0097] (2) Differentiate data: the server distinguishes the received data and identifies different data types;

[0098] (3) Data processing: the server determines the detected catenary pillar number according to the data collected by the pillar positioning unit; the server calculates the geometric parameter value of the detected catenary according to the information collected by the laser radar sensor and the inclination sensor;

[0099] (4) Data comparison: the server compares the measured catenary geometric parameter value with the preset val...

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Abstract

The invention relates to a contact screen detecting and overhauling car based on laser radar. The contact screen detecting and overhauling car comprises a detecting car body, a data acquisition unit, a lifting and rotating operation platform and a server used for data analyzing and processing. The data acquisition unit is arranged on the detecting car body. The lifting and rotating operation platform can be rotationally arranged on the back of the top of the detecting car body in a lifted mode and is provided with a display and control panel. The server is connected with the data acquisition unit and the display and control panel. Data collected through the data acquisition unit are analyzed and processed by the server and then transmitted to the display and control panel. According to the contact screen detecting and overhauling car based on the laser radar, the operation effect is improved significantly, the operation time is saved, and the labor intensity is relieved; moreover, after contact screens are maintained, the yield of the contact screens can reach 100%, and artificial misoperations in the maintenance process are avoided effectively.

Description

technical field [0001] The invention relates to the field of geometric parameter detection of railway or subway catenary, in particular to a catenary detection and maintenance vehicle based on laser radar, and a catenary detection and maintenance method based on the detection and maintenance vehicle. Background technique [0002] The electrified railway is driven by electric energy. The transmission line network that provides electric energy along the railway line is called catenary, and the device on the top of the train car that contacts the contact line and obtains electric energy is the pantograph. The catenary is overhead equipment directly related to the safe operation of electrified railways, and is erected along the line without backup. In railway or subway, in order to ensure the safety and reliability of catenary power supply, it is necessary to periodically test the geometric parameters of catenary. The detection of catenary geometric parameters mainly includes c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60M1/28
CPCB60M1/28
Inventor 宋学谦吴天龙黄立平王晓航牛金磊
Owner BEIJING TIANGEGAOTONG TECH
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