Study On Hand-pushing Detection Device Of Catenary Status Based On Laser Scanning

Catenary is the important way that tractive power supply system provides power to the electric locomotive, and plays an important role in the electrified railway, therefore ensuring normal working condition of catenary is of vital significance to railway transportation. Height of conductor and stagger value are very important to maintain good pantograph-contact line relation in catenary static parameters, traditional contact measurement adopting range pole, objecto pendent has not meet the requirement of catenary inspection, due to low detection efficiency and big labor-intensity. Therefore developing a kind of automatic catenary parameters detection device with high efficience is of great significance.This thesis comprehensively analysing the current situation of catenary geometry parameters detection, and puts forward a non-contact measurement scheme to detect catenary geometric parameters using laser scanning system, and designs a set of hand-pushing catenary geometric parameters detection device. This system uses hand-pushing detection car as the main structure, and installs laser scanning sensor, inclinometer and axle encoder to collect detection data, and calculates height of conductor, stagger value, superelevation, mileage. System can display catenary geometry parameters at current position in the interface.This thesis completes the selection of sensors and designs signal conditioning circuit on hardware, offering support for data collection. On software this thesis designs catenary data extraction algorithm, according to the characteristics of contact line to extract data; and basing on Kalman filter algorithm to filter the sensor signal, to reduce noise, and analysing the filtering effect; Calibration scheme is designed, using the improved iterative closest point algorithm (ICP algorithm) to calibrate the laser scanning sensor.To verify the stability and reliability of the catenary inspection system, system was tested in the laboratory environment and in the circular railway experimental base of China Academy of Railway Sciences. Through comparing measurement results to static catenary geometric parameters measuring instrument with higher precision, accuracy can reach ±5mm, showing that this system can accurately detect catenary geometry parameters.