• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining the position of the overhead line or the busbar for vehicles, in which the overhead line or the busbar is detected optically and the position is determined on a measuring device. In order to enable an automatic measurement, the catenary or the busbar is detected by measuring the reflection of laser beams, wherein the position of the catenary or the busbar is determined by the position of the laser unit with respect to a predetermined measuring point and the data obtained in a data processing system be fed. For this purpose, a measuring ruler (3) which is preferably mounted transversely to the feed direction and on which a laser-optical measuring device (2) is guided, is provided on a carriage (1).
    公开号:AT516343A1
    申请号:T562/2015
    申请日:2015-08-25
    公开日:2016-04-15
    发明作者:Alois Winter；Hubert Winter；Wilfried Rendl；Herbert Weinberger
    申请人:Europ Trans Energy Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a method for determining the position of the catenary for vehicles, in which the catenary or the busbars are detected and the position is determined on a measuring device, as well as to an apparatus for carrying out this method.
    DE 1262023 A1 discloses a transportable optical device for determining the positional deviation of a contact wire of electrical tracks from the track mean perpendicular and for simultaneously determining the contact wire height above the rail top edge. In this known embodiment, the contact wire is sighted via an optical device, wherein the optical device has a lens and an eyepiece, and the exact position of the contact wire is then determined by superposing two images appearing in the eyepiece congruently. Such a design is disadvantageous in this respect , on the one hand, as sufficient light conditions must be present, which must allow an accurate detection of the contact wire in the eyepiece. In addition, for the operation of this device requires a specially trained professional, as for the exact superimposing of imokkular appearing images appropriate experience and a specially trained eye is necessary. Furthermore, this optical measuring device is mounted on a measuring beam, which is placed across the track, and centered with respect to the position to the track. Again, this requires a corresponding experience.
    DE 102011003495 A1 discloses a system with a measuring rail and a measuring device, wherein at least one computing unit, a tilt measuring device and an electronic distance measuring device are provided on the measuring rail. In particular, the device relates to the coupling between the measuring device and the measuring rail.
    The invention is based on the object to improve a method and an apparatus of the type mentioned in that the position of the Oberleitungbzw. the power rail can be determined automatically, without any operator visually checking the position and its conformity with the measured value directly on the device.
    According to the invention, this object is achieved in that the detection of the conductor rail is carried out by measuring the reflection of laser beams, wherein the position of the overhead conductor or the bus bar is determined by the position of the laser unit with respect to a predetermined measuring point, wherein the determined data are transferred to a data processing system be fed.
    This makes it possible to determine the position of the overhead line or the busbar by scanning a range by means of the laser beam, wherein the necessary data are then further processed by the data processing system.
    Advantageously, once the position has been determined for the first time, the detection range can be traversed several times, after which an average value of all the data extracted by the laser unit is calculated and stored as a result. As a result, possible measurement inaccuracies due to the shape of the overhead line or the power rail or the surrounding components can be switched off. Furthermore, the measured or calculated position data in the data processing system can be compared with stored desired values and, if appropriate, the position of the conductor rail or be corrected. This can be quickly and accurately determined whether the overhead line or the busbar is in the correct position. then the overhead line or the busbar can be adjusted exactly on the basis of the determined data. In order to limit the intended measuring range along the route, the intended measuring range can be approached by means of GPS. In one embodiment of the method, the position of the overhead line or of the busbar is additionally detected by a video camera and the laser unit is pre-adjusted and / or tracked using the data from the video camera.
    The measuring method may be performed stationary at a selected point of the distance of the vehicles.
    Alternatively, the method can be used to measure the position of the overhead line or the busbars continuously in a specific section of the route. For this purpose data on the advancement of the laser unit in the direction of travel, which may originate from a rotary encoder and / or a stepping motor, are fed into the data processing system. These rotary encoders may be provided on the wheels of a vehicle on which the laser unit is mounted or which pulls a carriage on which the laser unit is mounted. Alternatively, stepper motors and / or encoders are mounted on the wheels of the carriage carrying the laser unit. These continuous measurements of the individual measurements are made at adjustable intervals, or based on setpoint specifications. These measurements allow a precise and reproducible representation of the lateral position and altitude of the overhead line or the busbar over a freely selectable section of the overhead line or busbar system.
    In a device according to the invention for carrying out the method according to the invention, a measuring ruler, preferably mounted transversely to the advancing direction, on which a laser-optical measuring device is guided is provided on a carriage. Thus, the position of the carriage and the measuring ruler located thereon can be precisely located via the laser-optical measuring device, the position of the transition or the busbar.
    Advantageously, the laser-optical measuring device can be adjustable by means of a stepper motor along the measuring rule, whereby the automatic adjustment and accurate determination of the position is possible. In this case, the laser-optical measuring device and the stepping motor for position detection and / or the adjustment can be connected to a data processing system and optionally controllable by the latter. Thus, an automatic operation of the device is possible until the output of the determined data. In order to operate the device as independently as possible, the data processing system may be readable and / or operable via a wireless input and / or output device. It must be present at the measuring device not a trained personnel, but it is sufficient if, for. in a neighboring vehicle or the like, the determined data is evaluated.
    In order to be able to differentiate also the object to be measured, that is, in order to be able to determine separately the position of the driving wire and of the carrying cable or of the clamps or support arms, the beam of the laser optical device can be angularly adjustable. This makes it possible to determine the location of vertically superimposed wires or holding organs separately. In a particularly simple way, a pivotable mirror for guiding the laser beam can be provided in the laser-optical measuring device for this purpose. For rail vehicles, in a catenary on a rail-guided carriage, a measuring device may be provided for determining the lateral offset of the carriage on the rails, whereby the determined data can be fed into the data processing system. In this way it is possible to include in the calculations the distance between the wheel flange and rail flank, depending on the position of the car. This is particularly necessary on those routes where, due to wear, gauge extensions or the like have occurred. Furthermore, an inclination measuring device whose data can also be fed into the data processing system can be provided on the rail-guided trolley. In fact, due to the inclination of the rails, there is an angular offset in the position of the overhead line (s), e.g. deviations may occur in determining the height of the guidewire relative to the upper edge of the track.
    Finally, a laser-optical device may additionally be provided on the trolley bearing the measuring ruler, the laser beam of which is directed horizontally in the direction of the longitudinal axis of the measuring ruler. This makes it possible to determine the exact position of the measuring vehicle e.g. with regard to suspension poles for the contact wire suspension or adjacent components and also to determine the distance to them. Preferably, the additional laser-optical device may be formed by an additional mirror horizontally deflecting the laser beam. Finally, for precise location of the trolley provided with the measuring ruler, a GPS device may be provided on the measuring ruler.
    In a particular embodiment, at least one of the wheels of each side of the cart is connected to another stepping motor and / or a rotary encoder which is or is not provided with a rotary encoder. which is or are connected to the data processing system. The data of the stepping motor or of the rotary encoder takes into account the movement of the measuring system in the direction of travel of the vehicle, and the position of the overhead line or of the busbar can be detected continuously over a freely selectable section of the overhead line system. The device may be self-propelled or externally moved by the other stepper motor (s) so that it is moved by mounting on a vehicle, by attaching it to a vehicle, or manually.
    By having at least one of the wheels connected to the stepper motor on each side of the carriage, it is also possible to compensate for different path distances given by bends or the like, in that the arithmetic mean between that of the the left wheel and the distance measured by the right wheel is determined, which then gives the actually traveled distance.
    In addition, a video camera directed onto the catenary or busbar can be provided on the measuring device, whereby with the recording of the video images during the measurement, all measuring points and nominal value measurements can be displayed and evaluated, namely the interpolation points, fixed points, hangers, disconnectors, and the same. The video images can also be used to continuously and slowly track the laser optical measuring device along the measuring line of the overhead line or the busbar so as not to lose it.
    When a traction vehicle is used as a carriage, the measuring ruler may be located at any location on the traction vehicle, preferably being located immediately adjacent the current collector, whereby more accurate measurements may be made due to the proximity of the overhead line.
    Furthermore, the device may contain further measuring lasers or one or more pendulum lasers, which additionally or alternatively serve for tracking the measuring laser, above all during a continuous measurement.
    In the drawings, embodiments of the subject invention are shown.
    Fig. 1 shows schematically a plan view of the device according to the invention, namely in a stationary application of the method for determining the overhead line rail-bound vehicles.
    FIG. 2 is a schematic front view of the device according to the invention from FIG. 1. FIG.
    Fig. 3 shows schematically a side view thereof.
    Fig. 4 shows, also schematically, an overall picture of the device according to the invention of Fig. 1 in measuring the overhead line of a rail-bound vehicle again, wherein the suspension of the overhead line is shown accordingly.
    Fig. 5 shows schematically the beam path of the laser optical device when detecting the contact wire of a catenary of a rail-bound vehicle again.
    Fig. 6 is an analogous representation, but in determining the position of the carrying cable of a driving wire.
    Fig. 7 shows schematically in front view an additional embodiment with which the lateral offset of the wheels on the rails can be determined.
    Fig. 8 illustrates an additional embodiment of the laser optical device for measuring the distance from a trolley mast.
    FIG. 9 shows, analogously to FIG. 8, such a measurement, but with an excessive track in curves.
    Fig. 10 shows schematically a plan view of the device according to the invention, in an application for determining the position of the overhead line rail vehicles in a selected portion of the distance traveled by the vehicles.
    Fig. 11 is a schematic front view of the device according to the invention according to Fig. 10.
    On a carriage 1, a laser-optical measuring device 2 is arranged adjustable on a measuring ruler 3, wherein a stepping motor 4 is provided for adjusting the laser optical device on the measuring ruler.
    As a power source in the present embodiment, a battery 5 is provided, but it could be replaced by a conventional power supply. Furthermore, a control 6 is provided on the carriage 1, which on the one hand stores the position of the laser-optical measuring device 2 along the measuring rule 3 and which is also supplied with power via the batteries 5. The controller 6 is connected to a mobile terminal 7 via a wireless connection such as radio, WLAN, mobile telephone and the like, via which the determined data can be read and also the required parameters can be entered.
    As can be seen from Fig. 1, the carriage 1 is formed on wheels 8 with flanges 9 for advancing on a railway track 10. By guiding the carriage 1 over the flanges 9 of the wheels 8, a precise position of the measuring rule 3 is given in relation to the overhead line to be measured. For the suspension of the overhead line, a support pole 11 is provided, stand out from which boom 12 and hold the overhead line 13 above the track. The transition consists of a contact wire 14 and a support cable 15, which is suspended from the boom 12. Between the support cable 15 and the contact wire 14 conventional cable suspensions are provided with contact wire terminals, which are not shown in the present case.
    In the laser-optical measuring unit 2, a mirror 16 is provided, which is pivotable about a horizontal axis extending transversely to the measuring ruler 3 so that a deflection of the beam originating from a laser generator 17 can be directed directly onto the driving wire and the reflected laser beam can be measured. Should, as inFig. 6, the position and height of the support cable 15 with respect to the track system are also measured, then the mirror 16 is adjusted so that the laser beam emitted by the laser generator 17 hits and is reflected by the contact wire 14 on the support cable 15, which reflected beam then is again guided via the mirror 16 into the laser generator or the laser receiver provided therein.
    As can be seen from FIG. 7, detaching lasers 18 are mounted on the underside of the carriage 1, by means of which the exact position of the carriage 1 with respect to the tracks 10 can be measured. Due to the clearance between the wheel flanks of the track rings 9 and the inner flanks of the rails, it is difficult to precisely determine the track center over the carriage 1, since lateral deflection of the carriage 1 with respect to the track 10 occurs due to said clearance. This so-called lateral offset is then taken into account for correcting the measurement by means of the laser-optical device 2.
    In practice, it is often desirable for the measuring ruler 3 to be positioned precisely in the region of a particular predetermined measuring point, in particular a supporting mast 11, during measurement, for which purpose the laser optical device 2 includes an auxiliary mirror 19 which can adjust a laser beam to be adjusted by the laser generator 17 Mirror 16 is directed in the horizontal direction parallel to the measuring ruler, then in the area of the mast 11 a corresponding reflection of the laser beam and the reflected laser beam is passed via the additional mirror 19, the mirror 16 to the laser receiver, which then the corresponding signal via the controller 6 to the wireless input / output unit 7 forwards.
    The auxiliary mirror 19, like the mirror 16, is pivotable about a horizontal advancing axis, so that in the case of an increase of the track in curves, as shown in Fig. 9, a horizontal laser beam can be emitted in the direction of the mast 11, thus also in these cases the position of the overhead line with respect to the track can be determined.
    The wireless input / output unit 7 is designed so that it not only enables corresponding displays on a monitor, but that with this input / output unit 7 also measurement protocols and also measurement diagrams can be stored and printed out.
    In order not to lose the same between the measurements of the position of the overhead line or the busbars, the device according to the invention may also include a video camera which continuously detects the overhead line or busbar.
    With the help of the video images, the measuring device 2 can be tracked and pre-adjust the laser unit. The video camera is preferably mounted on the measuring device 2, but a different positioning is also conceivable. Further, the video images may also be transmitted to and displayed on the input / output unit 7.
    The tracking of the measuring device and the pre-adjustment of the laser unit can also be done by means of additional measuring laser or one or more pendulum laser.
    Hereinafter, the advantages of the present invention will be summarized again.
    The measurement tolerance of a laser is on the order of 5 millimeters, whereas in the prior art in which conventional light optics are used, the measurement tolerance is 20 millimeters.
    Furthermore, the measuring method according to the invention can be carried out fully automatically and by scanning the area around the driving wire by means of the laser-optical measuring device until it reflects the laser beam, after which an automatic measurement is carried out. The measuring device 6 can then be controlled either from a lifting platform via the operating element 7, which may be a conventional computer, a notebook, a tablet or even a mobile device. Several measurements are made per measurement, in which case the mean value from the averaged data is used, which increases the measurement accuracy. For the measurement, one does not need additional staff on the measuring rail to locate the driving wire via a viewfinder, but it suffices if there is an operator at the input / output device 7 who can make any post-corrections.
    The control device 6 stores all measurements and can perform a desired-actual-value comparison, wherein the setpoint is set according to the predetermined standards. Further, by measuring the lateral offset with respect to the track center, an increase in measurement accuracy is achieved. For the measurement, both a separate carriage 1, as shown, may be provided, but the measuring ruler with stepper motor and laser-optical measuring device may be arranged directly on a measuring vehicle in the region of the axis.
    By means of the laser-optical measuring device, which has two different measuring possibilities, namely the distance measurement and the signal measurement, the measuring range is automatically approached and scanned by a laser on the measuring ruler. For outdoor measurements, a fast signal measurement is first performed by scanning a preset area and looking for a point to be measured. Once this is detected, the meter will move back to perform the slower distance measurement. The lowest measured point is detected and measured as a contact wire. The set measuring tolerance (in terms of height and lateral) is scanned and then the mean value is calculated and output. The area to the right and left of the contact wire is ignored by the meter.
    To measure the distance between rail and trolley wire in a tunnel, only a distance measurement is performed, the area of the trolley wire being scanned and the lowest point of the scan then being measured as the trolley position.
    In general, three working forms can be performed with the laser-optical measuring device, namely a point measurement in which a preset area is scanned, wherein the height is constantly measured and displayed on the screen. This is important for assembly work on working platforms for the adjustment of the side and height position of the contact wire. A second form of work is the automatic search; In this case, the set range is sampled and, after detecting the signal, the measurement is performed and stored. These are particularly free to use since reflection of the laser beam can only occur in the region of the catenary. A third form of work is finally to work with target values, which are read in via a USB stick, an SD card, another transmission medium or an input device and compared with the measured actual values and stored.
    In the above embodiment, the measurement of the position of the overhead line with respect to a rail track has been described. However, the location of catenary bus bars of trolleybuses or the like can be determined in the same manner, then a predetermined measuring point is targeted for the determination of the exact position by means of the additional mirror 19, and then by detecting the exact lateral position of the catenary busbars by means of the laser optical device the measuring point is determined. For example, the location of trolley buses for trolleybuses is to be determined substantially because the lateral deflection angles of the pantograph arms allow only a certain range of evasion of the trolleybus without the risk of slipping of the shoes connected to the arrester arms.
    Also in the embodiment of FIGS. 10 and 11, on a carriage 1, a laser-optical measuring device 2 is adjustably arranged on a measuring ruler 3, wherein a stepping motor 4 is provided for adjusting the laser optical device on the measuring ruler.
    As a power source, a battery 5 is provided in the present embodiment, but it may be replaced by a conventional power supply or another power source. Furthermore, a control 6 is provided on the carriage 1, which on the one hand stores the position of the laser-optical measuring device 2 along the measuring rule 3, and which is also powered by the battery 5 with power. The controller 6, on the other hand, is connected to a mobile terminal 7 via a wireless connection, such as radio, WLAN, mobile telephone, and the like, through which the detected data can be read and also the required parameters can be input.
    As further seen in Fig. 10, the carriage 1 is formed on wheels 8 with flanges 9 for feeding on a railway track 10. By guiding the carriage 1 over the wheel flanges 9 of the wheels 8, a precise position of the measuring rule 3 is given with respect to the overhead line to be measured.
    As can be seen from Fig. 10, the forward direction, i. shown below, wheels 8 with stepper motors 22 and the other pair of wheels are connected to encoders 20. The stepper motors are used to move the carriage 1 along a rail track, whereby due to the stepping motor the number of revolutions can be accurately determined, which is then converted accordingly over the circumference of the wheels. In the event that the carriage 1 is pushed over a drawbar 21 by a separate drive means, then, if a rotary encoder 20 is present, the distance covered can be determined by a corresponding conversion.
    As set forth in the first embodiment, means corresponding to the underside of the carriage may be provided which allow for the exact spacing of the track rings 9 from the inner flanks of the rails 10 and thus exact location of the track center. Further, means are provided by which a skew of the tracks in curves and the like can be compensated with respect to the calculation of the position of the overhead line. For the construction of the measuring system on a rail vehicle, only the measuring ruler with the laser optical device thereon is mounted on the top side of the rail vehicle, close to the current collector. This attachment then requires a corresponding changed calibration of the meter.
    The software and a suitably adapted data processing system should be selected according to the measuring method used.
    With the present training, the requirement for measurement accuracy, reproducibility and presentation of the measurement results can be fulfilled in accordance with the specification: "Technical Information on the Regulation 997.0103 of Deutsche Bahn AG".
    The use of 2D laser scanners can reduce the number of lasers.
    There are thus obtained by the present invention additional advantages to the cited in the first embodiment effects.
    权利要求:
    Claims (22)
    [1]
    1. A method for determining the position of the overhead line or the busbar for vehicles, in which the catenary or the busbar is optically detected and the position is determined on a measuring device, characterized in that the detection of the catenary or the busbar by measuring the reflection of Laser beams are taken, wherein the position of the catenary or the power rail is determined by the position of the laser unit with respect to a predetermined measuring point, wherein the determined data are fed into a data processing system.
    [2]
    2. The method according to claim 1, characterized in that after the first determination of the position of the detection area is repeated several times, after which then a mean value of all collected by the laser unit data is calculated and stored as a result.
    [3]
    3. The method according to claim 1 or 2, characterized in that the measured or calculated position data in the data processing system with stored setpoints are compared and optionally the position of the overcurrent or the busbar is corrected.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the intended measuring range is approached by GPS.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that the position of the overhead line or the busbar is additionally detected by a video camera and the laser unit is pre-adjusted and / or tracked using the data from the video camera.
    [6]
    A method according to any one of claims 1 to 5, characterized in that data relating to the movement of the laser unit are fed to the data processing system along the length of the catenary, which data originate from a stepping motor or a rotary encoder of at least one wheel of a carriage which coincides with the laser unit moves in the direction of extension of the overhead line or busbar.
    [7]
    7. A device for carrying out the method according to one of claims 1 to 6, characterized in that on a wheels (8) having carriage (1) a preferably transverse to the feed direction mounted measuring ruler (3) is provided, to which a laser-optical measuring device (2) is guided.
    [8]
    8. The device according to claim 7, characterized in that the laser-optical measuring device (2) by means of a stepping motor (4) along the measuring rule (3) is adjustable.
    [9]
    9. Apparatus according to claim 7 or 8, characterized in that the laser-optical measuring device (2) and the stepping motor (4) for detecting the position and / or the adjustment with a data processing system (6) are connected and possibly controlled by this.
    [10]
    10. The device according to claim 9, characterized in that the data processing system (6) via a wireless input and / or output device (7) is readable and / or operable.
    [11]
    11. Device according to one of claims 7 to 10, characterized in that the beam of the laser-optical measuring device (2) is angularly adjustable.
    [12]
    12. The device according to claim 11, characterized in that in the laser-optical measuring device (2) is provided a pivotable mirror (16) for guiding the laser beam.
    [13]
    Device according to one of Claims 7 to 12, characterized in that, for a rail-mounted overhead contact line (13) on a rail-guided carriage (1), a measuring device (18) is provided for determining the lateral offset of the carriage (1) on the rails (10), wherein the determined data can be fed into the data processing system (6).
    [14]
    14. Device according to one of claims 7 to 13, characterized in that the rail-guided carriage (1) is provided a tilt measuring device whose data are also in the data processing system (6) can be fed.
    [15]
    A device according to any one of claims 7 to 14, characterized in that in addition a laser optical device is provided on the carriage (1) carrying the measuring ruler (3), the laser beam of which is directed horizontally in the direction of the longitudinal axis of the measuring rule (3).
    [16]
    16. The apparatus according to claim 15, characterized in that the additional device is formed by a laser beam horizontally deflecting additional mirror (19).
    [17]
    17. Device according to one of claims 7 to 16, characterized in that the measuring ruler (3) carrying carriage (1) is provided a GPS device.
    [18]
    Device according to any one of Claims 7 to 17, characterized in that, when used for rail-bound vehicles, at least one of the wheels (8) of each side of the carriage (1) is connected to a stepping motor (22) and / or rotary encoder (20), the one or the connected to the data processing systembzw. are.
    [19]
    19. Device according to one of claims 7 to 18, characterized in that it contains a directed onto the catenary video camera, which is connected to the data processing system.
    [20]
    A device according to any one of claims 7 to 19, characterized in that, when a traction vehicle is used as a carriage, the measuring ruler (3) is disposed at any location on the traction vehicle and is preferably arranged immediately adjacent to the current collector.
    [21]
    21. Device according to one of claims 7 to 20, characterized in that in addition to the laser-optical measuring device (2) further measuring laser or one or more pendulum laser are provided or is or is connected to the data processing system or are.
    [22]
    22. Device according to one of claims 1 to 21, characterized in that 2D laser are provided.
    类似技术:
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    DE1816224C3|1978-06-29|
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    同族专利:
    公开号 | 公开日
    WO2016046109A1|2016-03-31|
    AT516343B1|2018-02-15|
    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA719/2014A|AT516672B1|2014-09-22|2014-09-22|Mobile contact wire measuring system for two-way vehicles|
    ATA562/2015A|AT516343B1|2014-09-22|2015-08-25|Method for determining the position of the overhead line or the busbar for vehicles|ATA562/2015A| AT516343B1|2014-09-22|2015-08-25|Method for determining the position of the overhead line or the busbar for vehicles|
    PCT/EP2015/071551| WO2016046109A1|2014-09-22|2015-09-21|Method for ascertaining the position of the overhead contact line or the busbar for vehicles|
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