CN109435986A - A kind of mobile device for removing railway contact line foreign matter - Google Patents
A kind of mobile device for removing railway contact line foreign matter Download PDFInfo
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- CN109435986A CN109435986A CN201811507055.6A CN201811507055A CN109435986A CN 109435986 A CN109435986 A CN 109435986A CN 201811507055 A CN201811507055 A CN 201811507055A CN 109435986 A CN109435986 A CN 109435986A
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- inspection car
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- 238000007689 inspection Methods 0.000 claims abstract description 108
- 230000005611 electricity Effects 0.000 claims abstract description 24
- 229910052782 aluminium Inorganic materials 0.000 claims description 62
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 62
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 37
- 229910052799 carbon Inorganic materials 0.000 claims description 37
- 229910052751 metal Inorganic materials 0.000 claims description 35
- 239000002184 metal Substances 0.000 claims description 35
- 239000004411 aluminium Substances 0.000 claims description 27
- 230000001105 regulatory effect Effects 0.000 claims description 14
- 230000004927 fusion Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 239000003086 colorant Substances 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 238000003709 image segmentation Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 230000006837 decompression Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000003672 processing method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002195 synergetic effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of mobile devices for removing railway contact line foreign matter, including supply lines, by electric pole, inspection car, certain position sets up conducting wire as supply lines on the pillar of contact net, and the electricity on supply lines is provided by the power-feed section of railway, it is mounted on inspection car by electric pole, the electric current on supply lines is introduced into inspection car by being stretched to supply lines by electric pole, for inspection car power supply, inspection car is along the presence for whether having foreign matter on track detecting contact net, in the presence of having foreign matter on contact net, inspection car emits superlaser to foreign matter, foreign matter is melted or burnt, realize the cleaning of foreign matter.
Description
Technical field
The present invention relates to contact net foreign bodies detection and remove field more particularly to a kind of mobile removing railway contact line foreign matter
Device.
Background technique
Contact net is the main truss of railway electrification project, is the spy to power to electric locomotive that downline overhead is set up
The transmission line of electricity of different form.Once with the presence of foreign matter on contact net, easily fracture pantograph, in addition, resting on contact net
After foreign matter is drenched by rainwater, it is short-circuit to be easy to cause contact net, and then burn out electrical equipment, bring security risk to train operation.
It freezes to also result on contact net and the safety of pantograph is impacted.
Under the action of strong wind, some kites, plastic cloth, polybag, branch etc. can be blown off on contact net, when by electricity
When bow is hit by these foreign matters, be easily broken off, influence train normally travel, and due to the contact line of most contact nets,
Carrier cable, return wire, dropper etc. are all made of exposed metal wire, once the floatabilities foreign matter such as kite, plastic cloth, polybag is by rain
It after water, snow, dew retting are wet, easily causes to short cut with each other between plain conductor, so that part Railway Electric equipment is burnt out, influences train
Traveling.Into winter, it also will appear icicle on contact net, these icicles are cleared up not in time, be will lead to pantograph and are fractureed by icicle.
In the prior art, mainly it whether there is foreign matter on contact net by detecting along staff, when having on contact net
When foreign matter, mainly take several method extractd:
1. the foreign matter on contact net is taken off using insulating bar, but the operating distance of insulating bar is limited, needs artificial
The foreign matter on contact net is checked along the line；
2. extracing foreign matter or deicing on staff's tower wagon, need for tower wagon to be transported on track, influences other vehicles fortune
Row, and need a large amount of people's manpower and material resources.
3. staff is transported foreign matter position with track checking car, by staff manually by the foreign matter on contact net
Extract, this method need along check, when staff contacts contact net, there are some potential safety problems, and labor intensity
Greatly.
And another is using the foreign matter detected on contact net along unmanned plane, and burns to contact net flame to foreign matter
It burns, but due to the power supply performance of unmanned plane, cannot continue a journey always, while the wing of unmanned plane is easy partition conducting wire,
Cause serious consequence.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of mobile dresses for removing railway contact line foreign matter
Set, using inspection car along on track detecting contact net whether the presence of foreign matter, in the presence of having foreign matter on contact net, inspection car
Emit superlaser to foreign matter, foreign matter is melted or burnt, in addition, setting up current supply line, You Shou electricity on the pillar of contact net
Electric current on current supply line is introduced inspection car as inspection car power supply by bar, is continued working convenient for inspection car.
To achieve the above object, a kind of mobile device for removing railway contact line foreign matter provided by the invention is realized in
:
It is a kind of it is mobile remove railway contact line foreign matter device, including supply lines, by electric pole, inspection car, in contact net
Certain position sets up conducting wire as supply lines on pillar, and the electricity on supply lines is provided by the power-feed section of railway, is installed by electric pole
On inspection car, the electric current on supply lines is introduced into inspection car by being stretched to supply lines by electric pole, is powered for inspection car, inspection car edge
Whether have the presence of foreign matter on track detecting contact net, in the presence of having foreign matter on contact net, inspection car is sent out to icicle foreign matter
Superlaser is penetrated, foreign matter is melted or burnt.
Inspection car of the invention includes metallic aluminium box, transformer, laser base, laser beam emitting device, voltage-stablizer, camera shooting
Head pedestal, the first high-definition camera, the second high-definition camera, third high-definition camera, camera bracket, the first microwave radar,
GPS module, GPRS module, controller, voltage reduction module, the 4th high-definition camera, running gear, the second microwave radar, metallic aluminium
Box is fixed on running gear, drives metallic aluminium box mobile by running gear, laser base, camera base, camera
Bracket is installed in the top of metallic aluminium box, and laser beam emitting device is fixed on laser base, for different on contact net
Object sends high energy laser beam, so that the foreign matter fusing on contact net is fallen or is burnt and falls, it is high that first is installed on camera base
Clear camera and the second high-definition camera, the foreign matter on contact net for identification, and controller is sent information to, by controller
It controls laser beam emitting device and emits superlaser to foreign matter, third high-definition camera is mounted on camera bracket, for guiding
Inspection car moves ahead along on the outside of track, and the first microwave radar is mounted on the front of metallic aluminium box, for detecting barrier in front of inspection car
Hinder object, the right lateral surface of metallic aluminium box be mounted on using four identical second microwave radars and the 4th high-definition camera,
Second microwave radar is for detecting the distance between inspection car and rail, and the information that will test is sent to controller, by controlling
The direction of device control running gear processed, makes inspection car and rail maintain a certain distance traveling, the 4th high-definition camera is for examining
Survey whether inspection car present position is on the outside of track, transformer, voltage-stablizer, GPS module, GPRS module, controller, drop
Die block is mounted in metallic aluminium box, and the electricity that transformer is used to be collected by electric pole carries out transformation processing, and will be after transformation
Fax be defeated by voltage-stablizer and carry out pressure stabilizing, by voltage-stablizer be laser beam emitting device, running gear, powered by electric pole, voltage reduction module
By in voltage-stablizer wherein power supply carries out decompression processing all the way, for be the first high-definition camera, the second high-definition camera, third
High-definition camera, the first microwave radar, GPS module, GPRS module, controller, the 4th high-definition camera, the second microwave radar supply
Electricity, GPS module are used to navigate for inspection car, and GPRS module is used for and the communication of railway relevant department, will be on collected contact net
The image information of foreign matter is sent to railway relevant department, while sending and instructing from railway relevant department to GPRS module, makes inspection
Vehicle follows instruction works.
The front side and right side of camera base of the invention are designed using wedge, and the first high-definition camera is mounted on camera
The front side of pedestal, the second high-definition camera are mounted on the right side of camera base, take the photograph the first high-definition camera and the second high definition
As head tilt acquires the image of contact net upwards, the inspection car right side is acquired by the first high-definition camera and the second high-definition camera jointly
Foreign matter on the contact net in front, and the first high-definition camera and the collected common images partial fusion of the second high-definition camera
Together.
First high-definition camera and the second high-definition camera of the invention is used to the presence of foreign matter on acquisition contact net, and
Collected information is sent to controller, controller is first to the first high-definition camera and the collected figure of the second high-definition camera
Image is filtered as carrying out binary conversion treatment, then using Fourier transform, noise is removed, is enhanced using spatial transform
Method improves the clarity of image, using Wavelet Transform will treated that two images merge, to the image of fusion into
After invariable rotary small echo Moment Feature Extraction, the foreign matter on contact net is identified for row normalized, Polar coordinates.
Controller of the invention is all made of third high-definition camera and the 4th high-definition camera acquired image identical
Image processing method, the gray level image of 256 colors is first converted to acquired image, then to image carry out binaryzation at
Reason eliminates noise using wavelet analysis method, then carries out edge detection, image segmentation to image, identifies background and target, will carry on the back
Scape and target are distinguished, and are identified the track and background in third high-definition camera acquired image with this, are come with this
Judge whether inspection car moves ahead along track, identifies the track and background in the 4th high-definition camera acquired image, with
This judges whether inspection car present position is on the outside of track.
The electric pole that takes of the invention includes carbon slipper, insulating bar, the 5th high-definition camera, the first telescope motor, rack gear, straight-tooth
Wheel, the first stepper motor, the first stepper motor are mounted at the top of metallic aluminium box, and spur gear is mounted on the rotation of the first stepper motor
On axis, the first telescope motor is mounted on rack gear, controls the rotation of the first stepper motor by controller, and turn spur rotates, by
Spur gear is rack-driving, and then adjusts the angle on the first telescope motor left and right directions, and insulating bar is mounted on the first flexible electricity
Carbon slipper and the 5th high-definition camera are installed on the telescopic rod of machine, on insulating bar, connected between carbon slipper and transformer with conducting wire
It connects, is slided on supply lines by carbon slipper and take electricity, electric current is transferred to transformer from conducting wire for inspection car power supply, the 5th high definition
Camera is used to acquire the position where supply lines, and guides the first telescope motor and the first stepper motor by the carbon on insulating bar
Slide plate stretches to supply lines.
Acquired image is sent to controller by the 5th high-definition camera of the invention, and controller is first to collected figure
Gray level image as being converted to 256 colors, then carries out binary conversion treatment to image, eliminates noise using wavelet analysis method, then right
Image carries out edge detection, image segmentation, identifies background and target, supply lines, carbon slipper and background are distinguished, knowledge is worked as
Be clipped to carbon slipper in the vertical direction far from supply lines when, controller control the first telescope motor adjust carbon slipper height, when
Recognize carbon slipper in the horizontal direction far from supply lines when, controller controls the first stepper motor and adjusts carbon slipper and supply lines
The distance between.
Running gear of the invention include vehicle frame, servo motor, rotating electric machine, power takeoff, back axle, crawler belt, bogie,
Front axle, vehicle frame both sides are installed crawler belt, are connect above vehicle frame with metallic aluminium box, and servo motor, rotating electric machine are mounted on vehicle frame,
The rotary shaft of rotating electric machine is connect with power takeoff, is mounted between two crawler belts using front axle and rear car axis connection, power takeoff
It is power takeoff transmission by rotating electric machine on back axle, power takeoff drives back axle rotation, and then drives crawler belt rotation, servo electricity
The rotary shaft of machine is connected on bogie, and swivel mount with front truck axis connection, is rotated, band turn again by controller control servo motor
It is mobile to frame, and then adjust the direction of crawler belt.
Laser beam emitting device of the invention includes laser regulating device, laser emitter, the second telescope motor, the second stepping
Motor, second stepper motor are mounted on laser base, for adjusting the angle of laser emitter in the horizontal direction, second
The pedestal of telescope motor is fixed in the rotary shaft of second stepper motor, for adjusting the angle of laser emitter in the vertical direction
Degree, laser emitter are mounted on the telescopic rod of the second telescope motor, and for generating high energy laser beam, laser regulating device is used for
The laser beam that adjustment laser emitter issues, the first high-definition camera and the second high-definition camera identify different on contact net
When object, the laser beam that laser regulating device, the second telescope motor, second stepper motor synergic adjustment laser emitter issue makes
Laser beam only gathers on foreign matter, will not gather on contact net.
Laser regulating device biconcave lens of the invention, the first convex lens, the first motor, the first reflective mirror, the first metal
Aluminum strip, the second reflective mirror, the second motor, the second metal aluminum strip, third motor, lead screw, third telescope motor, third metallic aluminium
Item, the second convex lens, third convex lens, biconcave lens and the first convex lens are installed in parallel in front of laser emitter, by laser
The laser beam that transmitter issues is collimated, and the second reflective mirror is mounted in front of the first convex lens, the reflective mirror of the second reflective mirror
Towards the first convex lens, the non-reflective surface of the second reflective mirror is equipped with the second metal aluminum strip, the rotary shaft of the second motor and the second gold medal
Belong to aluminum strip connection, the rotation of the second motor is controlled by controller, drives the rotation of the second metal aluminum strip, and then the second reflective mirror is driven to turn
It is dynamic, adjust laser beam in the angle of vertical direction, the first reflective mirror is mounted on the top of the second reflective mirror, the first reflective mirror it is anti-
For smooth surface against the reflective surface of the second reflective mirror, the non-reflective surface of the first reflective mirror is equipped with the first metal aluminum strip, the first motor
Rotary shaft is connect with the first metal aluminum strip, controls the rotation of the first motor by controller, drives the rotation of the first metal aluminum strip, and then band
Dynamic first reflective mirror rotation, adjusts laser beam angle in the horizontal direction, the second convex lens and third convex lens are mounted on first
In front of reflective mirror, the laser beam for coming out to the first mirror reflection collimates again, and the second convex lens and third convex lens are solid
It is scheduled below third metal aluminum strip, on the fixed telescopic rod of third telescope motor again in the top of third metal aluminum strip, third is flexible
Motor is mounted on the flexible electricity of third for adjusting the position of the second convex lens and third convex lens in the vertical direction, third motor
The top of machine, lead screw are fixed in the rotary shaft of third motor, the vertical third metal aluminum strip of lead screw, the bottom of third telescope motor
It is fixed on lead screw, by third motor rotational lead screw, and then drives the rotation of third telescope motor, the second convex lens is adjusted with this
With the position of third convex lens in the horizontal direction.
Controller control third telescope motor of the invention is followed by the rotation of the second motor, and it is reflective that the second motor adjusts second
When mirror rotates, the position of laser beam in the vertical direction changes, and adjusts the second convex lens and third by third telescope motor
The position of convex lens in the vertical direction come be aligned the first mirror reflection come laser beam, controller control third motor follow
The first motor rotation, the first motor adjust the first reflective mirror rotation when, the position of laser beam in the horizontal direction changes,
The position of second convex lens and third convex lens in the horizontal direction is adjusted by third motor to be directed at the first mirror reflection
Laser beam.
Since the present invention uses inspection car along the presence for whether having foreign matter on track detecting contact net, and will using laser
Foreign matter melts or burning；The electricity on supply lines is introduced into the structure that inspection car is powered using by electric pole, it is following so as to obtain
The utility model has the advantages that
1. the present invention uses inspection car along the presence for whether having foreign matter on track detecting contact net, different when having on contact net
In the presence of object, inspection car emits superlaser to foreign matter, and foreign matter is melted or burnt, the cleaning of foreign matter is realized, passes through inspection car
Progress foreign matter cleaning mode, do not limited by operating distance, and without using tower wagon, reduce manpower and material resources, safety
It is higher.
2. the present invention sets up current supply line on the pillar of contact net, by the electric current introducing on current supply line is patrolled by electric pole
Vehicle is examined as inspection car power supply, is continued working convenient for inspection car.
3. the present invention acquires the presence for whether having foreign matter on contact net using the first high-definition camera and high-definition camera,
And the second telescope motor, second stepper motor is guided to carry out coarse adjustment, the angle of laser regulating device laser beam to the angle of laser beam
Degree carries out fine tuning, gathers laser beam only on foreign matter, will not gather on contact net, avoids high energy laser beam fusing contact
Net.
Detailed description of the invention
Fig. 1 is structural schematic diagram when a kind of mobile device for removing railway contact line foreign matter of the present invention works；
Fig. 2 is a kind of structural schematic diagram of the inspection car of the mobile device for removing railway contact line foreign matter of the present invention；
Fig. 3 is a kind of structural schematic diagram by electric pole of the mobile device for removing railway contact line foreign matter of the present invention；
Fig. 4 is a kind of schematic diagram of the running gear of the mobile device for removing railway contact line foreign matter of the present invention；
Fig. 5 is a kind of structural representation of the laser beam emitting device of the mobile device for removing railway contact line foreign matter of the present invention
Figure；
Fig. 6 is a kind of structural representation of the laser regulating device of the mobile device for removing railway contact line foreign matter of the present invention
Figure；
Fig. 7 is a kind of working principle diagram of the mobile device for removing railway contact line foreign matter of the present invention.
Main element symbol description.
Specific embodiment
Below with reference to embodiment and compares attached drawing invention is further described in detail.
Fig. 1 to 7 is please referred to, show the mobile device for removing railway contact line foreign matter of one of present invention, including supply
Electric wire 1, by electric pole 2, inspection car 3.
As shown in Figure 1, certain position sets up conducting wire as supply lines 1,1 height off the ground of supply lines on the pillar of contact net
It is bigger than train height, avoid supply lines 1 from contacting train and cause accident, and the electricity on supply lines 1 is provided by the power-feed section of railway,
It is mounted on inspection car 3 by electric pole 2, the electric current on supply lines 1 is introduced into inspection car 3 by being stretched to supply lines 1 by electric pole 2, to patrol
Examine vehicle 3 to power, be conducive to inspection car 3 and continue working, inspection car 3 along the presence for whether having foreign matter on track detecting contact net,
Inspection car 3 issues superlaser to foreign matter in the presence of having foreign matter on contact net, and foreign matter can classify two kinds here, and one is ice
The foreign matter of column class can be melted by superlaser, become water after fusing, realize the cleaning of foreign matter, and another kind is can be with
The foreign matter for class of burning, can make its burning by superlaser, become ash after burning, thus realize the cleaning of foreign matter, it is specific real
Shi Shi can set the energy of superlaser, guarantee that the energy that it is issued can make the fusing of icicle and make mostly
The burning of number incendivity foreign matters, while for the protection to supply lines, the energy of superlaser be not easy it is excessively high, to prevent to supply lines
Generate damage.It may be noted that when, for the foreign matter that can be burnt, in the presence of icicle, inspection car 3 swashs to icicle transmitting high energy
Icicle is melted and is fallen by light, the laser converged on icicle, and in the presence of having other foreign matters, inspection car 3 is sent out to foreign matter at once
Superlaser is penetrated, the laser of high-energy converges on foreign matter, so that falling down after foreign matter is burned.
As shown in Fig. 2, the inspection car 3 includes metallic aluminium box 4, transformer 5, laser base 6, laser beam emitting device
7, voltage-stablizer 8, camera base 9, the first high-definition camera 10, the second high-definition camera 11, third high-definition camera 12, camera shooting
Head bracket 13, the first microwave radar 14, GPS module 15, GPRS module 16, controller 17, voltage reduction module 18, the 4th high-definition camera
First 19, running gear 20, the second microwave radar 21, metallic aluminium box 4 are fixed on running gear 20, are driven by running gear 20
Metallic aluminium box 4 is mobile, and laser base 6, camera base 9, camera bracket 13 are installed in the top of metallic aluminium box 4, swashs
Light emitting devices 7 is fixed on laser base 6, is sent high energy laser beam for the foreign matter on contact net, is made on contact net
Foreign matter fusing fall or it is burned fall, the first high-definition camera 10 and the second high-definition camera are installed on camera base 9
First 11, the foreign matter on contact net for identification, and controller 17 is sent information to, laser beam emitting device is controlled by controller 17
7 emit superlaser to foreign matter, when it is implemented, can be in conjunction with image recognition technology, first to 10 He of the first high-definition camera
The image of second high-definition camera 11 shooting is handled and is identified, and then is directed to different foreign matter types, issues different-energy
Laser, such as when recognizing foreign matter type is icicle, the laser with the first energy value can be issued, when recognizing foreign matter
When type is polybag, the laser with the second energy value can be issued, wherein the energy size of the second energy value can be greater than
The energy size of first energy value.
Third high-definition camera 12 is mounted on camera bracket 13, for guiding inspection car 3 to move ahead along on the outside of track,
First microwave radar 14 is mounted on the front of metallic aluminium box 4, identical using four for detecting 3 front obstacle of inspection car
Second microwave radar 21 and the 4th high-definition camera 19 are mounted on the right lateral surface of metallic aluminium box 4, the second microwave radar 21
For detecting the distance between inspection car 3 and rail, and the information that will test is sent to controller 17, by controller 17 to four
The collected data of a second microwave radar 21 are analyzed and processed, and remove maximum value and minimum value to calculate average value, when flat
Mean value is in when presetting inspection car 3 between rail within the scope of distance value, and inspection car 3 moves on, when this average value exceeds
When presetting inspection car 3 between rail within the scope of distance value, the direction of running gear 20 is controlled by controller 17, makes inspection car 3
It is maintained in preset distance and travels with rail, whether the 4th high-definition camera 19 is for detecting 3 present position of inspection car
On the outside of the track, judge whether inspection car 3 is in outside track by judge whether 3 right side of inspection car is complete track
Side, transformer 5, voltage-stablizer 8, GPS module 15, GPRS module 16, controller 17, voltage reduction module 18 are mounted in metallic aluminium box 4,
The electricity that transformer 5 is used to be collected by electric pole 2 carries out transformation processing, and voltage-stablizer 8 is defeated by the fax after transformation and is carried out
Pressure stabilizing is powered by voltage-stablizer 8 for laser beam emitting device 7, running gear 20, by electric pole 2, and voltage reduction module 18 will be in voltage-stablizer 8
Wherein power supply carries out decompression processing all the way, for being the first high-definition camera 10, the second high-definition camera 11, third high-definition camera
First 12, first microwave radar 14, GPS module 15, GPRS module 16, controller 17, the 4th high-definition camera 19, the second microwave thunder
Up to 21 power supplies, GPS module 15 is used to navigate for inspection car 3, and GPRS module 16 is used for and the communication of railway relevant department, will collect
Contact net on the image information of foreign matter be sent to railway relevant department, while being sent from railway relevant department to GPRS module 16
Instruction makes inspection car 3 follow instruction works.
The front side and right side of the camera base 9 are designed using wedge, and the first high-definition camera 10 is mounted on camera shooting
The front side of head pedestal 9, the second high-definition camera 11 is mounted on the right side of camera base 9, makes the first high-definition camera 10 and the
Two high-definition cameras 11 tilt upward the image of acquisition contact net, are total to by the first high-definition camera 10 and the second high-definition camera 11
With the foreign matter on the contact net of acquisition 3 right front of inspection car, using image fusion technology by the first high-definition camera 10 and second
The collected common images partial fusion of high-definition camera 11 is together, wider convenient for acquired image range.
First high-definition camera 10 and the second high-definition camera 11 is used to the presence of foreign matter on acquisition contact net,
And collected information is sent to controller 17, by controller 17 by the first high-definition camera 10 and the second high-definition camera 11
Acquired image carries out fusion treatment, it may be assumed that controller 17 first adopts the first high-definition camera 10 and the second high-definition camera 11
The image collected carries out binary conversion treatment, then is filtered using Fourier transform to image, noise is removed, using airspace
Enhancing method is converted to improve the clarity of image, two images merge by treated using Wavelet Transform, to fusion
Image be normalized, after invariable rotary small echo Moment Feature Extraction, the foreign matter on contact net is identified for Polar coordinates
Come.
The controller 17 is all made of third high-definition camera 12 and 19 acquired image of the 4th high-definition camera
Identical image processing method is first converted to the gray level image of 256 colors to acquired image, then carries out binaryzation to image
Processing eliminates noise using wavelet analysis method, then carries out edge detection, image segmentation to image, identifies background and target, will
Background and target are distinguished, and identify the track and background in 12 acquired image of third high-definition camera with this, with
This come judge inspection car 3 whether along track move ahead, when recognizing 3 offset track of inspection car, controller 17 control walking dress
Set 20 adjustment directions, after vehicle to be inspected 3 is along rail running, inspection car 3 is moved on, and identifies that the 4th high-definition camera 19 is adopted
The track and background in image collected judges whether 3 present position of inspection car is on the outside of track with this, by sentencing
Whether the disconnected track recognized is that complete track judges inspection car 3 whether on the outside of track, outside the no track again of inspection car 3
When side, controller 17 controls running gear 20 to adjust inspection car 3, is in inspection car 3 on the outside of track.
It by electric pole is included that carbon slipper 22, insulating bar 23, the 5th high-definition camera 24, first are flexible as shown in figure 3, described
Motor 25, rack gear 26, spur gear 27, the first stepper motor 28, the first stepper motor 28 are mounted on 4 top of metallic aluminium box, straight-tooth
Wheel 27 is mounted in the rotary shaft of the first stepper motor 28, and the first telescope motor 25 is mounted on rack gear 26, is controlled by controller 17
The rotation of the first stepper motor 28 is made, turn spur 27 rotates, and is that rack gear 26 is driven, and then it is flexible to adjust first by spur gear 27
Angle on 25 left and right directions of motor, carbon slipper 22 and the 5th high-definition camera 24 are equipped on insulating bar 23, and insulating bar 23 is pacified
On the telescopic rod of the first telescope motor 25, the height of carbon slipper 22 in the vertical direction is adjusted by the first telescope motor 25,
It is connected between carbon slipper 22 and transformer 5 with conducting wire, when inspection car 3 moves forward, controller 17 controls the first telescope motor 25
Carbon slipper 22 is reached into 1 height of supply lines, then controls the rotation of the first stepper motor 28, adjusts the position of 22 horizontal direction of carbon slipper
It sets, so that carbon slipper 22 is contacted supply lines 1, slided on supply lines 1 by carbon slipper 22 and take electricity, electric current is transferred to change from conducting wire
Depressor 5 is the power supply of inspection car 3, and the 5th high-definition camera 24 is used to acquire the position where supply lines 1, and guides the first flexible electricity
Carbon slipper 22 on insulating bar 23 is stretched to supply lines 1 by machine 25 and the first stepper motor 28.
Acquired image is sent to controller 17 by the 5th high-definition camera 24, and controller 17 is first to collecting
Image be converted to the gray level images of 256 colors, binary conversion treatment then is carried out to image, noise is eliminated using wavelet analysis method,
Edge detection, image segmentation are carried out to image again, background and target is identified, supply lines 1, carbon slipper 22 and background is differentiated
Come, when recognize carbon slipper 22 in the vertical direction far from supply lines 1 when, controller 17 control the first telescope motor 25 adjust carbon
The height of slide plate 22, when recognize carbon slipper 22 in the horizontal direction far from supply lines 1 when, controller 17 control the first stepping electricity
Machine 28 adjusts the distance between carbon slipper 22 and supply lines 1, takes electricity on supply lines 1 convenient for carbon slipper 22.
As shown in figure 4, the running gear 20 include vehicle frame 29, servo motor 30, rotating electric machine 31, power takeoff 32,
Crawler belt 34,29 top of vehicle frame and metallic aluminium box 4 are installed in back axle 33, crawler belt 34, bogie 35, front axle 36,29 both sides of vehicle frame
Connection, servo motor 30, rotating electric machine 31 are mounted on vehicle frame 29, and the rotary shaft of rotating electric machine 31 is connect with power takeoff 32, and two
It is connected between a crawler belt 34 using front axle 36 and back axle 33, power takeoff 32 is mounted on back axle 33, by rotating electric machine 31
For the transmission of power takeoff 32, power takeoff 32 drives back axle 33 to rotate, and then crawler belt 34 is driven to rotate, the rotary shaft of servo motor 30
It is connected on bogie 35, swivel mount is connect with front axle 36 again, is controlled servo motor 30 by controller 17 and is rotated, drives and turn to
Frame 35 is mobile, and then adjusts the direction of crawler belt 34, and then controls advance, retrogressing, the steering of inspection car 3.
As shown in figure 5, the laser beam emitting device 7 is flexible including laser regulating device 37, laser emitter 38, second
Motor 39, second stepper motor 40, second stepper motor 40 are mounted on laser base 6, for adjusting laser emitter 38
The pedestal of angle in the horizontal direction, the second telescope motor 39 is fixed in the rotary shaft of second stepper motor 40, for adjusting
The angle of whole laser emitter 38 in the vertical direction, laser emitter 38 are mounted on the telescopic rod of the second telescope motor 39,
For generating high energy laser beam, laser regulating device 37 is for adjusting the laser beam that laser emitter 38 issues, the first high definition
When camera 10 and the second high-definition camera 11 identify the foreign matter on contact net, laser regulating device 37, the second telescope motor
39, the laser beam that 40 synergic adjustment laser emitter 38 of second stepper motor issues, the second telescope motor 39, second stepper motor
40 are used for the angle of coarse adjustment laser beam, and laser regulating device 37 is used for the angle of fine tuning laser beam, it should be pointed out that sharp
When the angle of light beam is adjusted, the position of the image shot in conjunction with the first camera 10 and second camera 11 is needed to determine
The position of foreign matter, gathers laser beam only on foreign matter, will not gather on contact net, avoids high energy laser beam fusing contact
Net.
As shown in fig. 6,37 biconcave lens 41 of laser regulating device, the first convex lens 42, the first motor 43, first
Reflective mirror 44, the first metal aluminum strip 45, the second reflective mirror 46, the second motor 47, the second metal aluminum strip 48, third motor 49, silk
Thick stick 50, third telescope motor 51, third metal aluminum strip 52, the second convex lens 53, third convex lens 54, biconcave lens 41 and first
Convex lens 42 is installed in parallel in 38 front of laser emitter, and the laser beam that laser emitter 38 issues is collimated, and second is anti-
Light microscopic 46 is mounted on the front of the first convex lens 42, and the reflective mirror of the second reflective mirror 46 is to the first convex lens 42, the second reflective mirror
46 non-reflective surface is equipped with the second metal aluminum strip 48, and the rotary shaft of the second motor 47 is connect with the second metal aluminum strip 48, by controlling
Device 17 controls the rotation of the second motor 47, drives the rotation of the second metal aluminum strip 48, and then drives the rotation of the second reflective mirror 46, adjusts and swashs
For light beam in the angle of vertical direction, the first reflective mirror 44 is mounted on the top of the second reflective mirror 46, the first reflective mirror 44 it is reflective
Facing to the reflective surface of the second reflective mirror 46, the radiating laser beams after the reflection of the second reflective mirror 46 are to the first reflective mirror 44
On, enter in the second convex lens 53 after the reflection of the first reflective mirror 44, is collimated again using third convex lens 54, first is reflective
The non-reflective surface of mirror 44 is equipped with the first metal aluminum strip 45, and the rotary shaft of the first motor 43 is connect with the first metal aluminum strip 45, by
Controller 17 controls the rotation of the first motor 43, drives the rotation of the first metal aluminum strip 45, and then drives the rotation of the first reflective mirror 44, adjusts
Laser beam angle in the horizontal direction is saved, the second convex lens 53 and third convex lens 54 are mounted on 44 front of the first reflective mirror, use
It is collimated again in the laser beam reflected to the first reflective mirror 44, the second convex lens 53 and third convex lens 54 are fixed on third
52 lower section of metal aluminum strip, the top of third metal aluminum strip 52 are fixed on the telescopic rod of third telescope motor 51 again, the flexible electricity of third
For machine 51 for adjusting the position of the second convex lens 53 and third convex lens 54 in the vertical direction, third motor 49 is mounted on third
The top of telescope motor 51, lead screw 50 are fixed in the rotary shaft of third motor 49, the vertical third metal aluminum strip 52 of lead screw 50, the
The bottom of three telescope motors 51 is fixed on lead screw 50, by 49 rotational lead screw 50 of third motor, and then drives third telescope motor
51 rotations adjust the position of the second convex lens 53 and third convex lens 54 in the horizontal direction with this.
The controller 17 controls third telescope motor 51 and is followed by the rotation of the second motor 47, and the second motor 47 adjusts the
When two reflective mirrors 46 rotate, the position of laser beam in the vertical direction changes, and it is convex to adjust second by third telescope motor 51
The laser beam of coming, controller are reflected to be directed at the first reflective mirror 44 in the position of lens 53 and third convex lens 54 in the vertical direction
17 control third motors 49 are followed by the rotation of the first motor 43, when the first motor 43 adjusts the rotation of the first reflective mirror 44, laser beam
Position in the horizontal direction changes, and adjusts the second convex lens 53 and third convex lens 54 in level side by third motor 49
The laser beam of coming is reflected to be directed at the first reflective mirror 44 in upward position, realizes the fine tuning of laser beam.
The working principle and working process of the present invention is as follows:
As shown in fig. 7, the first microwave radar 14 detects 3 front obstacle of inspection car, the second microwave radar 21 detects inspection
The distance between vehicle 3 and rail, and the information that will test is sent to controller 17, by controller 17 to four the second microwave thunders
It is analyzed and processed up to 21 collected data, removes maximum value and minimum value to calculate average value, when average value is in default
When inspection car 3 is between rail within the scope of distance value, controller 17 controls rotating electric machine 31 and rotates, so that Selected Inspection vehicle is mobile, after
It is continuous to advance, when this average value, which exceeds, presets inspection car 3 between rail within the scope of distance value, is controlled and walked by controller 17
The servo motor 30 of device 20 drives the rotation of bogie 35 to adjust the direction of inspection car 3, and inspection car 3 is made to be maintained at pre- with rail
If distance in travel, whether the 4th high-definition camera 19 detection 3 present position of inspection car is on the outside of track, GPS mould
Block 15 is used to navigate for inspection car 3, and GPRS module 16 is used for and the communication of railway relevant department, by foreign matter on collected contact net
Image information be sent to railway relevant department, while sending and instructing from railway relevant department to GPRS module 16, make inspection car 3
And then instruction works, the first high-definition camera 10 and the second high-definition camera 11 identify the foreign matter on contact net, and information is sent out
Controller 17 is given, by controller 17 to the 11 acquired image fusion of the first high-definition camera 10 and the second high-definition camera
Reason controls laser emitter 38 from controller 17 and emits superlaser to foreign matter, and third high-definition camera 12 guides 3 edge of inspection car
Move ahead on the outside of track, and acquired image information is sent to controller 17, the 4th high-definition camera 19 detects inspection car 3
Whether present position is on the outside of track, by judge on the right side of inspection car 3 that whether to be complete track judge inspection car 3
Whether on the outside of track, the 5th high-definition camera 24 acquires the position where supply lines 1, and guides 25 He of the first telescope motor
Carbon slipper 22 on insulating bar 23 is stretched to supply lines 1 by the first stepper motor 28, and controller 17 controls the second telescope motor 39, the
The angle of 40 coarse adjustment laser beam of two stepping motor, controller 17 control the first motor 43, the second motor 47, third motor 49, the
The angle of three telescope motors, 51 fine tuning laser beam.
Claims (10)
1. a kind of mobile device for removing railway contact line foreign matter, it is characterised in that: including supply lines, by electric pole, inspection car,
Certain position sets up conducting wire as the supply lines on the pillar of contact net, and the electricity on the supply lines is by the power-feed section of railway
There is provided, it is described to be mounted on the inspection car by electric pole, by it is described stretched to the supply lines by electric pole will be on the supply lines
Electric current introduces the inspection car, powers for the inspection car, the inspection car along foreign matter on track detecting contact net presence,
In the presence of having foreign matter on contact net, the inspection car emits superlaser to foreign matter, and foreign matter is melted or burnt.
2. the mobile device for removing railway contact line foreign matter according to claim 1, it is characterised in that: the inspection car packet
Include metallic aluminium box, transformer, laser base, laser beam emitting device, voltage-stablizer, camera base, the first high-definition camera,
Two high-definition cameras, third high-definition camera, camera bracket, the first microwave radar, GPS module, GPRS module, controller,
Voltage reduction module, the 4th high-definition camera, running gear, the second microwave radar, the metallic aluminium box are fixed on the running gear
On, drive the metallic aluminium box mobile by the running gear, the laser base, camera base, camera bracket
It is installed in the top of the metallic aluminium box, the laser beam emitting device is fixed on the laser base, is used for contact
Online foreign matter sends high energy laser beam, so that the foreign matter fusing on contact net is fallen or is burnt and falls, in the camera base
Upper installation first high-definition camera and second high-definition camera, the foreign matter on contact net for identification, and by information
It is sent to the controller, the laser beam emitting device is controlled from the controller and emits superlaser, the third to foreign matter
High-definition camera is mounted on the camera bracket, for guiding the inspection car to move ahead along on the outside of track, described first
Microwave radar is mounted on the front of the metallic aluminium box, identical using four for detecting the inspection car front obstacle
Second microwave radar and the 4th high-definition camera are mounted on the right lateral surface of the metallic aluminium box, and described second
The information that microwave radar is used to detect the distance between the inspection car and rail, and will test is sent to the controller,
The direction that the running gear is controlled by the controller makes the inspection car and rail maintain a certain distance traveling, described
4th high-definition camera is for detecting whether the inspection car present position is on the outside of track, the transformer, pressure stabilizing
Device, GPS module, GPRS module, controller, voltage reduction module are mounted in the metallic aluminium box, and the transformer is used for will be described
The electricity collected by electric pole carries out transformation processing, and the voltage-stablizer is defeated by the fax after transformation and carries out pressure stabilizing, by described
Voltage-stablizer is the laser beam emitting device, running gear, is powered by electric pole, the voltage reduction module by the voltage-stablizer wherein
Power supply carries out decompression processing all the way, for for first high-definition camera, the second high-definition camera, third high-definition camera,
First microwave radar, GPS module, GPRS module, controller, the 4th high-definition camera, the power supply of the second microwave radar, GPS module
For navigating for the inspection car, the GPRS module is used for and the communication of railway relevant department, will be different on collected contact net
The image information of object is sent to railway relevant department, while sending and instructing from railway relevant department to the GPRS module, makes institute
It states inspection car and follows instruction works.
3. the mobile device for removing railway contact line foreign matter according to claim 2, it is characterised in that: the camera bottom
The front side and right side of seat are designed using wedge, and first high-definition camera is mounted on the front side of the camera base, described
Second high-definition camera is mounted on the right side of the camera base, takes the photograph first high-definition camera and second high definition
As head tilt acquires the image of contact net upwards, acquired jointly by first high-definition camera and second high-definition camera
Foreign matter on the contact net of the inspection car right front, and first high-definition camera and second high-definition camera acquisition
The common images partial fusion arrived is together.
4. the mobile device for removing railway contact line foreign matter according to claim 3, it is characterised in that: first high definition
Camera and the second high-definition camera are used to the presence of foreign matter on acquisition contact net, and collected information is sent to control
First high-definition camera and the second high-definition camera acquired image are carried out fusion treatment by controller by device, and controller is first
Binary conversion treatment is carried out to the first high-definition camera and the second high-definition camera acquired image, then uses Fourier transform pair
Image is filtered, and removes noise, enhances method using spatial transform to improve the clarity of image, using Wavelet Transform
By treated, two images are merged, and the image of fusion are normalized, Polar coordinates, invariable rotary wavelet moment
After feature extraction, the foreign matter on contact net is identified.
5. the mobile device for removing railway contact line foreign matter according to claim 4, it is characterised in that: the controller pair
Third high-definition camera and the 4th high-definition camera acquired image are all made of identical image processing method, first to collecting
Image be converted to the gray level images of 256 colors, binary conversion treatment then is carried out to image, noise is eliminated using wavelet analysis method,
Edge detection, image segmentation are carried out to image again, background and target is identified, background and target is distinguished, is known with this
Not Chu track and background in third high-definition camera acquired image, with this come before judging inspection car whether along track
Row, when recognizing inspection car offset track, controller controls running gear adjustment direction, and vehicle to be inspected is along rail running
Afterwards, inspection car moves on, identify track and background in the 4th high-definition camera acquired image, judges to patrol with this
Whether inspection vehicle present position is on the outside of track, by judging whether the track recognized is that complete track judges inspection
Whether vehicle is on the outside of track, and when inspection car is without on the outside of track again, controller controls running gear to adjust inspection car, makes to patrol
Inspection vehicle is on the outside of track.
6. the mobile device for removing railway contact line foreign matter according to claim 5, it is characterised in that: described to take electric pole packet
Include carbon slipper, insulating bar, the 5th high-definition camera, the first telescope motor, rack gear, spur gear, the first stepper motor, described first
Stepper motor is mounted at the top of the metallic aluminium box, and the spur gear is mounted in the rotary shaft of first stepper motor, institute
It states the first telescope motor to be mounted on the rack gear, first stepper motor is controlled by the controller and is rotated, described in drive
Spur gear rotation is the rack-driving by the spur gear, and then adjusts the angle on the first telescope motor left and right directions
Degree, the insulating bar is mounted on the telescopic rod of first telescope motor, be equipped on the insulating bar carbon slipper and
5th high-definition camera, is connected between the carbon slipper and the transformer with conducting wire, by the carbon slipper in the confession
Sliding takes electricity on electric wire, electric current is transferred to the transformer from conducting wire for inspection car power supply, the 5th high definition is taken the photograph
Position as where head is used to acquire the supply lines, and guide first telescope motor and first stepper motor by institute
The carbon slipper stated on insulating bar stretches to the supply lines.
7. the mobile device for removing railway contact line foreign matter according to claim 6, it is characterised in that: the 5th high definition
Acquired image is sent to controller by camera, and controller is first converted to the gray level image of 256 colors to acquired image,
Then binary conversion treatment is carried out to image, noise is eliminated using wavelet analysis method, then edge detection, image point are carried out to image
It cuts, identifies background and target, supply lines, carbon slipper and background are distinguished, when recognizing carbon slipper in the vertical direction
When far from supply lines, controller controls the height that the first telescope motor adjusts carbon slipper, when recognizing carbon slipper in the horizontal direction
When upper separate supply lines, controller controls the first stepper motor and adjusts the distance between carbon slipper and supply lines, is convenient for carbon slipper
Electricity is taken on supply lines.
8. the mobile device for removing railway contact line foreign matter according to claim 7, it is characterised in that: the Laser emission
Device includes laser regulating device, laser emitter, the second telescope motor, second stepper motor, the second stepper motor peace
On the laser base, for adjusting the angle of the laser emitter in the horizontal direction, the described second flexible electricity
The pedestal of machine is fixed in the rotary shaft of the second stepper motor, for adjusting the laser emitter in the vertical direction
Angle, the laser emitter are mounted on the telescopic rod of second telescope motor, described to swash for generating high energy laser beam
Light regulating device is for adjusting the laser beam that the laser emitter issues, first high-definition camera and described second high
When clear camera identifies the foreign matter on contact net, the laser regulating device, the second telescope motor, second stepper motor collaboration
The laser beam that the laser emitter issues is adjusted, laser beam is gathered only on foreign matter, will not gather on contact net.
9. the mobile device for removing railway contact line foreign matter according to claim 8, it is characterised in that: the laser is adjusted
Device biconcave lens, the first convex lens, the first motor, the first reflective mirror, the first metal aluminum strip, the second reflective mirror, the second motor,
Second metal aluminum strip, third motor, lead screw, third telescope motor, third metal aluminum strip, the second convex lens, third convex lens, institute
It states biconcave lens and first convex lens is installed in parallel in front of the laser emitter, the laser emitter is issued
Laser beam is collimated, and second reflective mirror is mounted in front of first convex lens, the reflective mirror of second reflective mirror
Towards first convex lens, the non-reflective surface of second reflective mirror is equipped with the second metal aluminum strip, second motor
Rotary shaft connect with the second metal aluminum strip, second motor is controlled by the controller and is rotated, drives described second
The rotation of metal aluminum strip, and then the second reflective mirror rotation is driven, it is anti-in the angle of vertical direction, described first to adjust laser beam
Light microscopic is mounted on the top of second reflective mirror, and the reflective surface of first reflective mirror is against the reflective of second reflective mirror
Face, the non-reflective surface of first reflective mirror are equipped with the first metal aluminum strip, the rotary shaft of first motor with it is described
The connection of first metal aluminum strip controls first motor by the controller and rotates, and drives the first metal aluminum strip rotation, into
And first reflective mirror is driven to rotate, adjust laser beam angle in the horizontal direction, second convex lens and the third
Convex lens is mounted in front of first reflective mirror, and the laser beam for coming out to first mirror reflection collimates again,
Second convex lens and the third convex lens are fixed below the third metal aluminum strip, the third metal aluminum strip it is upper
On the telescopic rod of the fixed third telescope motor described again in side, the third telescope motor is for adjusting second convex lens and institute
The position of third convex lens in the vertical direction is stated, the third motor is mounted on the top of the third telescope motor, described
Lead screw is fixed in the rotary shaft of the third motor, and vertically the third metal aluminum strip, the third are flexible electric for the lead screw
The bottom of machine is fixed on lead screw, rotates the lead screw by the third motor, and then drives the third telescope motor rotation,
The position of second convex lens and the third convex lens in the horizontal direction is adjusted with this.
10. the mobile device for removing railway contact line foreign matter according to claim 9, it is characterised in that: the controller
It controls the third telescope motor and is followed by the second motor rotation, second motor adjusts the second reflective mirror rotation
When, the position of laser beam in the vertical direction changes, and adjusts second convex lens and institute by the third telescope motor
The position of third convex lens in the vertical direction is stated to be directed at the laser beam that first mirror reflection comes, the controller control
It makes the third motor and is followed by the first motor rotation, it is sharp when first motor adjusts first reflective mirror rotation
The position of light beam in the horizontal direction changes, and adjusts second convex lens and the third convex lens by the third motor
The position of mirror in the horizontal direction come be aligned first mirror reflection come laser beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507055.6A CN109435986A (en) | 2018-12-11 | 2018-12-11 | A kind of mobile device for removing railway contact line foreign matter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507055.6A CN109435986A (en) | 2018-12-11 | 2018-12-11 | A kind of mobile device for removing railway contact line foreign matter |
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| Publication Number | Publication Date |
|---|---|
| CN109435986A true CN109435986A (en) | 2019-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811507055.6A Pending CN109435986A (en) | 2018-12-11 | 2018-12-11 | A kind of mobile device for removing railway contact line foreign matter |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111638714A (en) * | 2020-05-28 | 2020-09-08 | 北京海益同展信息科技有限公司 | Method and device for preventing track inspection robot from falling |
| CN113210882A (en) * | 2021-04-13 | 2021-08-06 | 天津城建大学 | Underwater laser ice breaking device and method |
| CN114038068A (en) * | 2021-06-07 | 2022-02-11 | 杭州目博科技有限公司 | Video inspection system |
| CN115303320A (en) * | 2022-06-07 | 2022-11-08 | 西南交通大学 | Vehicle-mounted laser contact net obstacle removing system of high-speed train |
| CN121019288A (en) * | 2025-09-19 | 2025-11-28 | 北京城铁科技集团有限公司 | A contact-type traction power supply device for urban rail transit |
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2018
- 2018-12-11 CN CN201811507055.6A patent/CN109435986A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111638714A (en) * | 2020-05-28 | 2020-09-08 | 北京海益同展信息科技有限公司 | Method and device for preventing track inspection robot from falling |
| CN111638714B (en) * | 2020-05-28 | 2023-12-05 | 京东科技信息技术有限公司 | Method and device for preventing track inspection robot from falling |
| CN113210882A (en) * | 2021-04-13 | 2021-08-06 | 天津城建大学 | Underwater laser ice breaking device and method |
| CN113210882B (en) * | 2021-04-13 | 2022-09-02 | 天津城建大学 | Underwater laser ice breaking device and method |
| CN114038068A (en) * | 2021-06-07 | 2022-02-11 | 杭州目博科技有限公司 | Video inspection system |
| CN115303320A (en) * | 2022-06-07 | 2022-11-08 | 西南交通大学 | Vehicle-mounted laser contact net obstacle removing system of high-speed train |
| CN121019288A (en) * | 2025-09-19 | 2025-11-28 | 北京城铁科技集团有限公司 | A contact-type traction power supply device for urban rail transit |
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