[go: up one dir, main page]

WO2013133779A2 - Catenary measurement robot and method - Google Patents

Catenary measurement robot and method Download PDF

Info

Publication number
WO2013133779A2
WO2013133779A2 PCT/TR2013/000085 TR2013000085W WO2013133779A2 WO 2013133779 A2 WO2013133779 A2 WO 2013133779A2 TR 2013000085 W TR2013000085 W TR 2013000085W WO 2013133779 A2 WO2013133779 A2 WO 2013133779A2
Authority
WO
WIPO (PCT)
Prior art keywords
catenary
robot
measurement
distance sensor
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/TR2013/000085
Other languages
French (fr)
Other versions
WO2013133779A3 (en
Inventor
Murat Yesiloglu Siddik
Narthan Cemal SAADET
Cihangir Odabas
Salih ERIM
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ROBAT KONTROL OTOMASYON AR GE VE YAZILIM
Original Assignee
ROBAT KONTROL OTOMASYON AR GE VE YAZILIM
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ROBAT KONTROL OTOMASYON AR GE VE YAZILIM filed Critical ROBAT KONTROL OTOMASYON AR GE VE YAZILIM
Publication of WO2013133779A2 publication Critical patent/WO2013133779A2/en
Publication of WO2013133779A3 publication Critical patent/WO2013133779A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

Definitions

  • the present invention is related to a catenary measurement robot and method which enables the measurement of the geometrical characteristics such as the position, orientation and dimensions of objects such as catenaries.
  • the catenary contact wire is sensed with the laser ray emitted from the laser device located between the rails.
  • the laser ray is directed to the power line, being vertical to the rail plane and the distance of the line from the rail plane is measured.
  • the laser device is moved vertically to the rail axis between the rails, until it is aligned with the power cable.
  • the distance estimating sensor mentioned in the European patent document numbered EP0668185 can only be moved at a single axis. Thus a measurement in a catenary contact wire can only be taken from one point and the stagger angle and wire thickness is calculated.
  • a portable, manually carried, optical device which can measure the contact webs of the parameters in railways operated with electricity is described.
  • the device comprises elements such as a measurement matrix located on rails, a guide that is vertical to the rails, a fixing unit that can move on a guide way, a light source mounted on the fixing unit and laser sensing units.
  • the distance sensors of the device described in the Chinese beneficial model document numbered CN201104220 can only move vertical to the rails, thus the catenary contact wire can only measure from a single point and the measurements that are necessary to measure from two points such as the stagger angle and dimension information cannot be calculated.
  • the aim of the present invention is to provide a measurement robot and method that can take measurements without any interventions after the start command has been given.
  • Another aim of this invention is to provide a measuring robot and method that can measure in three axes using a distance sensor that has been mounted on the tip point of a manipulator with two degrees of freedom, that can move automatically on a plane parallel to the rail plane.
  • Another aim of this invention is to provide a measurement robot and method that measures data such as the height, stagger angle, and dimensions properties of a catenary contact wire.
  • Another aim of this invention is to provide a measurement robot and method that continuously measures along a catenary contact wire.
  • Yet another aim of this invention is to provide a measurement robot and method that can eliminate automatically the measuring of foreign objects that could be within the range of measurement besides a catenary contact wire.
  • Yet another aim of this invention is to provide a measurement robot and method, that can measure each one or any desired one of the catenaries, in the case where there is more than one catenary contact wire.
  • Figure - 1 Shows the perspective view of a catenary measurement robot fixed on rails
  • Figure -3 Shows the perspective view of the connection of the robot base with the first joint actuator and the angular position sensors
  • Figure - 4 Shows the perspective view of the connection of the second joint actuator and the position sensor with the arm.
  • Figure - 6 Is the schematic view of the manipulator.
  • a catenary measurement robot (1) that can measure the features such as the height of the catenary contact wire in railway systems, the stagger angle, and the wire diameter, comprises;
  • At least a distance sensor (7) that can move at a longitudinal direction over the arm (6)
  • At least a limit switch (11) that determines the initial position and/or the joint limits of the arm (6) and/or the distance sensor (7),
  • At least an automatic control unit which automatically controls the motions of the elements such as the first joint actuator (5) and the second joint actuator (8) and records the measurement data received from elements such as the distance sensor (7), limit switch (11) and position sensor.
  • the robot base (2) can be mounted or dismounted on the mobile platform or the rails (R).
  • the robot base (2) is mounted on the rails (R) or the mobile platform, in order to ensure that the robot base (2) does not shift, it is fixed on the rails (R) or the mobile platform by means of the base locks (3).
  • the robot base (2) has a base lock (3) on one side, and is directly fixed to the rail, and on the other side it has a base lock (3) which can be fixed and adjusted by sliding it into the base lock slot (31).
  • the power unit supplies the necessary energy for the electronical parts to operate such as the first joint actuator (5), the second joint actuator (8), an angular position sensor (9), a position sensor (10), a distance sensor (7), the automatic control unit (12) and the limit switch (11).
  • the first joint actuator (5) preferably is located at the exact midpoint of the robot base (2), and it is enabled for the arm (6) to be rotated at a parallel plane in relation to the rail (R) plane.
  • the first joint actuator (5) is preferably an engine that operates with electricity.
  • an angular position sensor (9) is connected to the first joint actuator (5) and the automatic control unit (12) determines the amount of rotation the arm (6) has been rotated according to the information received from the angular position sensor (9).
  • the angular position sensor (9) is a rotating sensor (encoder) and it calculates theamount of rotation of the first joint actuator (5) and transfers said information to the automatic control unit (12).
  • the distance sensor (7) moves from one edge of the arm (6) to the other at a longitudinal direction.
  • the distance sensor (7) is used to measure the height, diameter and stagger angle of the catenary contact wire.
  • the distance sensor (7) can be moved to the desired point at a parallel axis, both at a vertical axis to the rails (R) and at a parallel axis to the rails (R), by means of the motion of the distance sensor (7) on the arm (6) and the rotating motion of the arm (6).
  • the distance sensor (7) can be any of the sensors known in the art such as a laser, sonic, optical or magnetic sensor. In another embodiment according to the invention the distance sensor (7) can move at a different direction besides the longitudinal direction on the arm (6).
  • the second joint actuator (8) supplies the necessary actuation in order to cause the displacement (move at a longitudinal direction) of the distance sensor (7) on the arm (6).
  • the second joint actuator (8) is an engine operating with electricity in the preferred embodiment of the invention.
  • the distance sensor (7) is moved by being connected to the second joint actuator (8) with methods known in the technique, preferably such as a belt, band or perpetual screw gear.
  • the position sensor (10) measures how much the second joint actuator (8) displaces the distance sensor (7).
  • the position sensor (10) submits the data it has obtained to the automatic control unit (12).
  • the position sensor is an encoder and it measures the number of cycles the second actuator (8) has achieved and submits said information to the automatic control unit (12).
  • the limit switch (11) determines the borders of the angular position of the arm (6) on the robot base (2) and the position of the distance sensor (7) on the arm (6).
  • the limit switch (11) is any kind of sensor/ switch known in the state of the art such as an optical or mechanical sensor.
  • the housing (13) surrounds the second joint actuator (8) and the position sensor (10) in the preferred embodiment of the invention and protects said elements from any external effects.
  • the control unit (14) enables to input certain commands and various data to the catenary measurement robot (1) by the user in the preferred embodiment of the invention. According to the applications of the invention, the control unit (14) sends data to the automatic control unit (12) and receives data from the automatic control unit (12) preferably by means of known methods in the state of the art such as with wireless connection or with cabled connection.
  • At least a screen (15) is present on the control unit (14).
  • the screen (15) enables the selection and input of data that is to be sent to the automatic control unit (12) and/or the displaying of the data that have been submitted to the controller unit (14) from the automatic control unit (12).
  • At least a data transfer unit (16) is present that enables the transfer of the data within the control unit (14) to be transferred to a computer or any other platform.
  • a method (100) that enables the measurement of features such as the height, the stagger angle and the wire diameter of the catenary contact wire in railway systems, wherein said method comprises the following steps:
  • the automatic control unit (12) calculates the stagger angle, in the step of calculating the stagger angle (109), using the four points obtained from the catenary contact wire, by means of the below formula,
  • the speed of the arm (6) and the distance sensor (7) during the following of the catenary contact wire along a line (1 1 1) by the distance sensor (7) is calculated by the automatic control unit (12) after the adjustment of the distance sensor (7) to be located at the midpoint of the catenary contact wire (1 10), by using the below mentioned formula,
  • ⁇ is the first joint angular speed (rotating speed of the arm (6)),
  • d is the second joint linear speed (the linear speed of the distance sensor (7)),
  • the catenary measurement robot (1) subject to the invention is used in measuring the height, the diameter and the stagger angle of the catenary contact wire, as well as measuring the location and geometric information of any kind of object that is hanging high above the ground such as power lines.
  • the measurements are carried out by means of the distance sensor (7) located on the arm (6) and the position sensor (10) and the angular position sensor (9).
  • the first joint actuator (5) is actuated by the automatic control unit (12) and the arm (6) is enabled to rotate ( 103).
  • the position data submitted to the automatic control unit (12) by the position sensor (10) and the angular position sensor (9) is determined (104).
  • the first joint actuator (5) shall continue to operate to the point where the distance sensor (7) is out of the range and this point is determined (105).
  • the automatic control unit (12) shall check if the distance between the determined two points is within acceptable ranges or not (106). If the distance between the determined two points is not within acceptable ranges, an obstacle will be continued to be searched and the arm (6) is continued to be rotated (103). If the automatic control unit (12) determines that the distance between the points are within acceptable ranges, the second joint actuator (8) is operated and the distance sensor (7) is brought closer to the rotating axis of the arm (6) (107).
  • the automatic control unit (12) shall use the four points in total that have been obtained to calculate, with mathematical operations, the approximate value of the stagger angle (109) and the distance sensor (7) is located at the midpoint of the catenary contact wire (110).
  • the distance sensor (7) shall follow the catenary contact wire along the whole line by adjusting the first joint (17) and the second joint (18) positions by the automatic control unit (12) (111). At this point, the height of the catenary contact wire is measured and recorded (112).
  • the automatic control unit (12) checks in order to determine if the catenary contact wire has gone beyond the measurement range or not (113).
  • the action will be taken to go back to step 108, and the entrance and exit points of the catenary contact wire are re-detected and the stagger angle is more precisely measured. Otherwise it will be checked if the operation limits are reached or not (114). If said limits are not reached, we will have to return to step 111 and the catenary contact wire shall be followed along a line. If the operation limit is reached the measuring process shall be ended (115). The width of the catenary contact wire (the dimension) is determined by using the entrance and exit points and the stagger angle data.
  • Figure - 7 Is the perspective view of the catenary measurement robot fixed on rails.
  • Figure - 8 Is the plan view of the catenary measurement robot's robot base .
  • Figure - 9 Is the bottom view of the robot base of the catenary measurement robot.
  • Figure - 10 Is the perspective view of the catenary measurement robot fixed on the mobile platform.
  • Figure -11 The schematic view of the manipulator .
  • Figure - 12 Is the view of the catenary measurement algorithm without an arm.
  • the application without an arm of the catenary measurement robot (201) placed on rails (R) subject to the invention basically comprises;
  • [121] Preferably two mobile feet placed (203) on the rails (R) by means of a mobile foot shaft (217) which presses at the same time on the lateral surface ( ) of both rails, in order to be fixed on the rails (R) of the robot base (202),
  • [125] -A distance sensor (208) located on the guide (205) and rotated at a vertical plane in relation to the rail (R) by means of the second joint actuator (209) located again on the guide (205).
  • both feet (203) move at an equal amount at a counter direction in relation to each other.
  • the mobile foot shafts (217) that push the mobile feet (203) to bring the mobile feet (203) closer to each other or push them further apart by means of two screw threads which have counter spirals to each other.
  • the distance sensor (208) which shall be used in carrying out measurements relating to the catenary contact wire is mounted on top of the robot base (202). In order to carry out the stagger measurements the distance sensor needs to be moved between the rails (R) and the position of the catenary contact wire must be determined in relation to the rails (R).
  • a guide rail (204) has been placed along the robot base (202) and a guide (205) is moved on said rail.
  • the distance sensor (208) has been directed upwards and the catenary contact wire shall be detected as soon as it enters into the range of the distance sensor (208).
  • the guide (205) has been connected to the first joint actuator (212) with a belt (207) in order to control the movements of the distance sensor (208) and to detect the position of the catenary contact wire.
  • the first joint actuator (212) shall push and pull the belt (205), thus the guide (205) shall be able to move along the guide rail (204).
  • the means of following the motions and/or a certain resetting position can be determined via the feedback that shall be provided by the first joint actuator (212) and the distance sensor (208).
  • the position at the moment where the catenary contact wire is determined by the movement of the distance sensor (208) along the length of the guide rail needs to be recorded and then following this by the continuation of the motion of the guide (205), the position where the catenary contact wire cannot be determined by the distance sensor (208) will need to be recorded by means of the automatic control unit (216).
  • the difference between said two positions will give us the diameter information of the catenary contact wire.
  • the distance sensor (208) needs to be vertical to the plane established by the rails (R) of the measurement axis, in order for the measurement results to be correct. It is difficult to provide this in practice.
  • the distance sensor (208) will need to be rotated 180° around a vertical axis to the rail (R) plane and the measurement will be retaken and the new measurement will be recorded in the automatic control unit (216).
  • the stagger value di that has been obtained during the first measurement process, and the height value hi , and the stagger value d 2 and the height value h 2 obtained at the second measurement, shall be used to calculate the stagger value d and the height value h in accordance with the formula mentioned below.
  • Another application of the invention is that, besides the measuring of the catenary measurement robot (201) being fixed to the rails (R) by using the mobile feet (203), the catenary measurement robot can also take measurements on a mobile platform
  • the mobile platform (218) moves by means of the mobile platform wheels
  • carrying arm handles
  • the catenary measurement robot (201) that have been mounted on both sides of the mobile platform (218) shall be used in order to place, move and take back the mobile platform (218) over the rails (R). It is necessary for the catenary measurement robot (201) which either could be placed directly on the rails (R) or could move over the rails (R), to be able to operate without being dependent on an external hardware, during the measuring processes carried out. For this reason the catenary measurement robot (201) carries out the measurement processes fed by the power unit (215) and controlled by the automatic control unit (216). According to the preferred embodiment of the invention, batteries have been used as power units (215).
  • the automatic control unit (216) operates in compliance with 'the armless catenary measurement robot algorithm' (300). The steps of said algorithm have been described in detail, below.
  • the catenary measurement robot (201) subject to the invention comprises
  • first joint actuator housing (210) which covers the first joint actuator (212) that moves the belt (207) and consequently the guide (205).
  • the second joint actuator (209) is also covered with a second joint actuator housing (206).
  • the displacement of the distance sensor (208) on the robot base (202) is carried out by the first joint actuator (212). This displacement is measured by the position sensor (213) and the data obtained is sent to the automatic control unit (216).
  • the position sensor (213) is an encoder and it measures the angular position of the first joint actuator (212) and submits said information to the automatic control unit (216).
  • the limit switch (221) determines the starting position of the distance sensor (208) and/or the rotating limits around its own axis.
  • the limit switch (221) is a switch that operates in compliance with the electromagnetic principle.
  • any kind of limit switch known in the state of the art such as an optical or mechanical limit switch (221) can be used.
  • the related units (215-216) are protected by means of the power unit and the automatic control unit housing (214). The mounting and dismantling of the power unit (215) onto the catenary measurement robot (201) is carried out again by guiding it through the power unit and the automatic control unit housing (214).
  • the distance sensor (208) mentioned above can be any of the sensors known in the art, such as laser, sonic, optical or magnetic sensors.
  • the movement of the second joint actuator (209) can be transferred to the distance sensor (208) by means of using any kind of method known in the art such as a belt (207), band or a helical gear screw.
  • the second joint actuator (209) can be transferred to the distance sensor (208) by means of using any kind of method known in the art such as a belt (207), band or a helical gear screw.
  • the main aim of the control device is to submit the starting command to the
  • catenary measurement robot (201) and to transfer the measurement data received from the catenary measurement robot (201) to the user.
  • the catenary measurement robot (201) operates as a wireless network server which can connect wirelessly to the internet and which can use any kind of device (preferably a mobile phone with such property) having an internet browser as a controller device. Moreover the measurement data, is stored on the controller device by means of the user interface according to the preferred embodiment of the invention. Besides the measurement data regarding the catenary contact wire, the localisation data is sent to the controller device by means of the internal GPS located on the catenary measurement robot (201).
  • the armless catenary measurement algorithm (300), is the algorithm related to the operation of the armless catenary measurement robot (201).
  • step 310 If another line is not detected in step 310, or if another line is not to be measured, the previously calculated height h and the stagger d value is displayed (313).
  • FIG. 5 wherein the connection of the first joint (222) and the second joint (223) with each other is shown schematically.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Description

Description
CATENARY MEASUREMENT ROBOT AND METHOD
Technical Field
The present invention is related to a catenary measurement robot and method which enables the measurement of the geometrical characteristics such as the position, orientation and dimensions of objects such as catenaries.
Background Art
Optical or mechanical measuring systems have been developed nowadays for various aims. However none of these measuring devices that have been developed can carry out fully automatic and three axes measurements. In rail delivery systems the electricity energy is provided from the catenary contact wire. It is very important for the catenary contact wire height to stay within certain limits. Especially when a new line is being constructed, and during maintenance the catenary contact wire height and the stagger angle and wire width needs to be measured. In measurements carried out with present systems the measuring device is moved manually only in one axis, and the catenary contact wire height and horizontal position is measured. According to the state of the art German Patent document numbered EP0668185, a method and device which helps to estimate the position of the catenary contact wire in relation to the railway rails is described. The catenary contact wire is sensed with the laser ray emitted from the laser device located between the rails. The laser ray is directed to the power line, being vertical to the rail plane and the distance of the line from the rail plane is measured. The laser device is moved vertically to the rail axis between the rails, until it is aligned with the power cable. The distance estimating sensor mentioned in the European patent document numbered EP0668185 can only be moved at a single axis. Thus a measurement in a catenary contact wire can only be taken from one point and the stagger angle and wire thickness is calculated.
In the Chinese beneficial model numbered CN201104220 which is a document according to the state of the art, a portable, manually carried, optical device which can measure the contact webs of the parameters in railways operated with electricity is described. The device comprises elements such as a measurement matrix located on rails, a guide that is vertical to the rails, a fixing unit that can move on a guide way, a light source mounted on the fixing unit and laser sensing units. However, the distance sensors of the device described in the Chinese beneficial model document numbered CN201104220 can only move vertical to the rails, thus the catenary contact wire can only measure from a single point and the measurements that are necessary to measure from two points such as the stagger angle and dimension information cannot be calculated.
Disclosure
The aim of the present invention is to provide a measurement robot and method that can take measurements without any interventions after the start command has been given.
Another aim of this invention is to provide a measuring robot and method that can measure in three axes using a distance sensor that has been mounted on the tip point of a manipulator with two degrees of freedom, that can move automatically on a plane parallel to the rail plane.
Another aim of this invention is to provide a measurement robot and method that measures data such as the height, stagger angle, and dimensions properties of a catenary contact wire.
Another aim of this invention is to provide a measurement robot and method that continuously measures along a catenary contact wire.
Yet another aim of this invention is to provide a measurement robot and method that can eliminate automatically the measuring of foreign objects that could be within the range of measurement besides a catenary contact wire.
Yet another aim of this invention is to provide a measurement robot and method, that can measure each one or any desired one of the catenaries, in the case where there is more than one catenary contact wire.
Detailed description of the Armed Catenary Measurement Robot Invention
The catenary measurement robot and method provided in order to reach the aims of the invention has been shown in the attached figures wherein said figures illustrate the following;
Figure - 1 Shows the perspective view of a catenary measurement robot fixed on rails
Figure - 2 Shows below view of the robot base
Figure -3 Shows the perspective view of the connection of the robot base with the first joint actuator and the angular position sensors
Figure - 4 Shows the perspective view of the connection of the second joint actuator and the position sensor with the arm.
Figure - 5 Shows the perspective view of the control unit
Figure - 6 Is the schematic view of the manipulator.
The parts in the figures have each been numbered and the references of said numbers have been listed below.
[19] 1. Catenary measurement robot
[20] 2. Robot base
[21] 3. Base lock
[22] 4. Battery
[23] 5. First joint actuator
[24] 6. Arm
[25] 7. Distance sensor
[26] 8. Second joint actuator 9. Angular position sensor
10. Position sensor
1 1. Limit switch
12. Automatic control unit
13. Housing
14. Control unit
15. Screen
16. Data transfer unit
17. First joint
18. Second joint
100. Method
31. Base lock slot
A catenary measurement robot (1) that can measure the features such as the height of the catenary contact wire in railway systems, the stagger angle, and the wire diameter, comprises;
- At least a robot base (2) that can be mounted or dismounted between the mobile platform and/or rails (R),
- At least a base lock (3) that enables the robot base (2) to be fixed to the mobile platform and/or rail (R) that it is mounted on,
- At least a power unit (battery) (4),
- At least a first joint actuator (5) that has been fixed to the robot base (2),
- At least an arm (6), whose one side is fixed to the first joint actuator (5), and rotated preferably parallel to the rail plane by the first joint actuator (5),
- At least a distance sensor (7) that can move at a longitudinal direction over the arm (6),
- At least a second joint actuator (8) that enables the movement of the distance sensor (7) over the arm (6),
- At least an angular position sensor (9) that measures the angular position of the arm (6) in relation to the robot base (2),
- At least a position sensor (10) that measures the amount of change of position of the distance sensor (7) on the arm (6),
- At least a limit switch (11) that determines the initial position and/or the joint limits of the arm (6) and/or the distance sensor (7),
- At least an automatic control unit, which automatically controls the motions of the elements such as the first joint actuator (5) and the second joint actuator (8) and records the measurement data received from elements such as the distance sensor (7), limit switch (11) and position sensor.
The robot base (2) can be mounted or dismounted on the mobile platform or the rails (R). When the robot base (2) is mounted on the rails (R) or the mobile platform, in order to ensure that the robot base (2) does not shift, it is fixed on the rails (R) or the mobile platform by means of the base locks (3). In a preferred embodiment of the invention, the robot base (2) has a base lock (3) on one side, and is directly fixed to the rail, and on the other side it has a base lock (3) which can be fixed and adjusted by sliding it into the base lock slot (31).
In a preferred embodiment of the invention as the power unit, supplies the necessary energy for the electronical parts to operate such as the first joint actuator (5), the second joint actuator (8), an angular position sensor (9), a position sensor (10), a distance sensor (7), the automatic control unit (12) and the limit switch (11).
The first joint actuator (5) preferably is located at the exact midpoint of the robot base (2), and it is enabled for the arm (6) to be rotated at a parallel plane in relation to the rail (R) plane. The first joint actuator (5) is preferably an engine that operates with electricity. In the preferred embodiment of the invention, an angular position sensor (9) is connected to the first joint actuator (5) and the automatic control unit (12) determines the amount of rotation the arm (6) has been rotated according to the information received from the angular position sensor (9). According to a preferred embodiment of the invention the angular position sensor (9) is a rotating sensor (encoder) and it calculates theamount of rotation of the first joint actuator (5) and transfers said information to the automatic control unit (12).
The distance sensor (7) moves from one edge of the arm (6) to the other at a longitudinal direction. The distance sensor (7) is used to measure the height, diameter and stagger angle of the catenary contact wire. The distance sensor (7) can be moved to the desired point at a parallel axis, both at a vertical axis to the rails (R) and at a parallel axis to the rails (R), by means of the motion of the distance sensor (7) on the arm (6) and the rotating motion of the arm (6). The distance sensor (7) can be any of the sensors known in the art such as a laser, sonic, optical or magnetic sensor. In another embodiment according to the invention the distance sensor (7) can move at a different direction besides the longitudinal direction on the arm (6).
The second joint actuator (8) supplies the necessary actuation in order to cause the displacement (move at a longitudinal direction) of the distance sensor (7) on the arm (6). The second joint actuator (8) is an engine operating with electricity in the preferred embodiment of the invention. The distance sensor (7), is moved by being connected to the second joint actuator (8) with methods known in the technique, preferably such as a belt, band or perpetual screw gear.
The position sensor (10) measures how much the second joint actuator (8) displaces the distance sensor (7). The position sensor (10) submits the data it has obtained to the automatic control unit (12). In the preferred embodiment of the invention, the position sensor is an encoder and it measures the number of cycles the second actuator (8) has achieved and submits said information to the automatic control unit (12).
The limit switch (11) determines the borders of the angular position of the arm (6) on the robot base (2) and the position of the distance sensor (7) on the arm (6). The limit switch (11) is any kind of sensor/ switch known in the state of the art such as an optical or mechanical sensor.
The housing (13) surrounds the second joint actuator (8) and the position sensor (10) in the preferred embodiment of the invention and protects said elements from any external effects.
The control unit (14) enables to input certain commands and various data to the catenary measurement robot (1) by the user in the preferred embodiment of the invention. According to the applications of the invention, the control unit (14) sends data to the automatic control unit (12) and receives data from the automatic control unit (12) preferably by means of known methods in the state of the art such as with wireless connection or with cabled connection.
According to a preferred embodiment of the invention at least a screen (15) is present on the control unit (14). The screen (15) enables the selection and input of data that is to be sent to the automatic control unit (12) and/or the displaying of the data that have been submitted to the controller unit (14) from the automatic control unit (12).
According to the preferred embodiment of the invention at least a data transfer unit (16) is present that enables the transfer of the data within the control unit (14) to be transferred to a computer or any other platform. A method (100) that enables the measurement of features such as the height, the stagger angle and the wire diameter of the catenary contact wire in railway systems, wherein said method comprises the following steps:
-Checking if the robot (1) is at its starting position or not (101)
- If the robot (1) is not at its starting position, bringing the robot to its starting position (102),
-If the robot (1) is at its starting position, actuating the first joint actuator (5) by the automatic control unit (12) and enabling the rotation of the arm (6) (103),
-As soon as an obstacle is determined by the distance sensor (7) located on the arm (6), determining the position data submitted to the automatic control unit (12) by the position sensor (10) and the angular position sensor (9) (104),
-determining the position of the point where the obstacle is avoided by the distance sensor (7) by the continuance of the operation of the first joint actuator (5) (105),
-Checking if the distance between the determined two points are within acceptable ranges or not, by the automatic control unit (12) (106),
-If the distance between the determined two points are not within acceptable ranges, an obstacle will be continued to be searched and the arm (6) is continued to be rotated, thus going back to step 103; then if the automatic control unit (12) determines that the distance between the points are within acceptable ranges, the second joint actuator (8) is operated and the distance sensor (7) is brought closer to the rotating axis ofthe arm (6) (107), [69] -the first joint actuator (5) is operated and the entrance and exit points to the obstacle are re-detected (108),
[70] -the calculation by the automatic control unit (12) by means of mathematical operations of the stagger angle using the four points that have been obtained (109),
[71] -adjusting the distance sensor (7) such that it comes to the midpoint of the catenary contact wire (1 10),
[72] - The distance sensor (7) to follow the catenary contact wire along the whole line by adjusting the first joint (17) and the second joint (18) positions by the automatic control unit (12) (11 1),
[73] -measuring and recording the height of the catenary contact wire (112),
[74] -checking by the automatic control unit (12) to determine if the catenary contact wire has gone beyond the measurement or not (113),
[75] -If the catenary contact wire is beyond the measurement, going back to step 108, and the entrance and exit points of the catenary contact wire are re-detected and the stagger angle is more precisely measured, and if the catenary contact wire does not go beyond the measurements, checking if the robot (I) is at its operating space or not (114),
[76] -if the robot is at the operating space, going back to step 111 and continuing to take measurements, and if the robot operation is within space limits, ending the measuring procedures (115).
[77] The automatic control unit (12) calculates the stagger angle, in the step of calculating the stagger angle (109), using the four points obtained from the catenary contact wire, by means of the below formula,
[78]
d1 (sin91 + sin92)— d2 (sin93 + sin94) o = tan 1
d1 (cos91 + cos92)— d2 (cos93 + cos94)
a: stagger angle
d: the first joint rotating axis (rotating centre of the arm (6))
distance between the distance sensor (7)
Θ; first joint angle (angle of arm (6) in relation to the robot base (2))
(di, θι): First point polar coordinates measured regarding the catenary contact wire border
2,62)-' second point polar coordinates measured regarding the catenary contact wire border
(d2,9s): third point polar coordinates measured regarding the catenary contact wire border,
(ά2,θ 4): fourth point polar coordinates measured regarding the catenary contact wire border.
The speed of the arm (6) and the distance sensor (7) during the following of the catenary contact wire along a line (1 1 1) by the distance sensor (7) is calculated by the automatic control unit (12) after the adjustment of the distance sensor (7) to be located at the midpoint of the catenary contact wire (1 10), by using the below mentioned formula,
V
Θ — sin (a
Figure imgf000008_0001
Θ: is the first joint angular speed (rotating speed of the arm (6)),
d: is the second joint linear speed (the linear speed of the distance sensor (7)),
v: the preferred speed for following the catenary contact wire,
d: the distance of the distance sensor (7) of the arm (6) in relation to the rotating centre.
The catenary measurement robot (1) subject to the invention, is used in measuring the height, the diameter and the stagger angle of the catenary contact wire, as well as measuring the location and geometric information of any kind of object that is hanging high above the ground such as power lines. The measurements are carried out by means of the distance sensor (7) located on the arm (6) and the position sensor (10) and the angular position sensor (9). When a start command is given to the robot (1), it is checked if the robot is at the starting position or not (101) and if the robot (1) is not at the starting position it is brought to the starting position (102).
If the robot (1) is at its starting position, the first joint actuator (5) is actuated by the automatic control unit (12) and the arm (6) is enabled to rotate ( 103). As soon as an obstacle is determined by the distance sensor (7) located on the arm (6), the position data submitted to the automatic control unit (12) by the position sensor (10) and the angular position sensor (9) is determined (104). The first joint actuator (5) shall continue to operate to the point where the distance sensor (7) is out of the range and this point is determined (105). The automatic control unit (12) shall check if the distance between the determined two points is within acceptable ranges or not (106). If the distance between the determined two points is not within acceptable ranges, an obstacle will be continued to be searched and the arm (6) is continued to be rotated (103). If the automatic control unit (12) determines that the distance between the points are within acceptable ranges, the second joint actuator (8) is operated and the distance sensor (7) is brought closer to the rotating axis of the arm (6) (107).
Following this, the first joint actuator (5) is operated and the entrance and exi t points to the obstacle are re-detected (108). The automatic control unit (12) shall use the four points in total that have been obtained to calculate, with mathematical operations, the approximate value of the stagger angle (109) and the distance sensor (7) is located at the midpoint of the catenary contact wire (110). The distance sensor (7) shall follow the catenary contact wire along the whole line by adjusting the first joint (17) and the second joint (18) positions by the automatic control unit (12) (111). At this point, the height of the catenary contact wire is measured and recorded (112). The automatic control unit (12) checks in order to determine if the catenary contact wire has gone beyond the measurement range or not (113). If the catenary contact wire is beyond the measurement range, the action will be taken to go back to step 108, and the entrance and exit points of the catenary contact wire are re-detected and the stagger angle is more precisely measured. Otherwise it will be checked if the operation limits are reached or not (114). If said limits are not reached, we will have to return to step 111 and the catenary contact wire shall be followed along a line. If the operation limit is reached the measuring process shall be ended (115). The width of the catenary contact wire (the dimension) is determined by using the entrance and exit points and the stagger angle data.
In the case that there are multiple catenary contact wires, when the related command is given by the user, the measurement that is taken at that moment is stopped and the next catenary contact wire search is carried out and when the next catenary contact wire is found the measurement is started over again. If the user wants all lines to be measured, when the robot finishes a measuring, it continues to search for the next line before it goes back to its starting position and this process continues until the first joint (17) angle reaches 180 degrees and then the robot goes back to its starting position. It is possible to develop many other various applications of the catenary measurement robot (1) subject to the invention and said robot cannot be limited with the examples described herein and the invention is principally as described in the claims.
Detailed description of the Catenary Measurement Robot without an arm 88] The catenary measurement robot and method that has been provided in order to reach the aims of the present invention has been shown in the attached, wherein said figures illustrate the following;
89] Figure - 7 Is the perspective view of the catenary measurement robot fixed on rails.
90] Figure - 8 Is the plan view of the catenary measurement robot's robot base .
91] Figure - 9 Is the bottom view of the robot base of the catenary measurement robot.
92] Figure - 10 Is the perspective view of the catenary measurement robot fixed on the mobile platform.
93] Figure -11 The schematic view of the manipulator .
94] Figure - 12 Is the view of the catenary measurement algorithm without an arm.
95] The parts in the figures have each been numbered and the references of the
numbers have been given below.
96] 201. Catenary measurement robot
97] 202. Robot base
98] 203. Mobile foot
99] 204. Guide rail
100] 205. Guide
"101] 206. Second joint actuator housing
;i02] 207. Belt
103] 208. Distance sensor
104] 209. Second joint actuator
105] 210. First joint actuator housing
106] 211. Position sensor housing
107] 212. First joint actuator
108] 213. Position sensor
109] 214. Automatic control unit and power unit housing
[110] 215. Power unit
[111] 216. Automatic control unit
[112] 217. Mobile foot shaft
[113] 218. Mobile platform
[114] 219. Mobile platform wheel
[115] 220. Carrying arm handle
[116] 221. Limit switch
[117] 222. First joint
[118] 223. Second joint
[119] The application without an arm of the catenary measurement robot (201) placed on rails (R) subject to the invention, basically comprises;
[120] - A robot base (202), positioned between rails (R), vertical to the rails (R),
[121] - Preferably two mobile feet placed (203) on the rails (R) by means of a mobile foot shaft (217) which presses at the same time on the lateral surface ( ) of both rails, in order to be fixed on the rails (R) of the robot base (202),
[122] -mobile foot shaft (217) that enables the centering of the catenary measurement robot (201) between rails by means of the mobile feet (203) that move at a counter direction in relation to each other,
[123] -A linear guide rail (204) placed at a longitudinal direction on the robot base (202), [124] -A guide (205) which is carried on the guide rail (204) and whose position is
changed by moving it at a linear direction by means of a belt (207) and the first joint actuator (212),
[125] -A distance sensor (208) located on the guide (205) and rotated at a vertical plane in relation to the rail (R) by means of the second joint actuator (209) located again on the guide (205).
[126] According to the application of the invention which takes measurements from a fixed position on the rail (R), in order for it to centre itself in relation to the rails (R) both feet (203) move at an equal amount at a counter direction in relation to each other. According to a preferred embodiment the mobile foot shafts (217) that push the mobile feet (203) to bring the mobile feet (203) closer to each other or push them further apart by means of two screw threads which have counter spirals to each other. The distance sensor (208) which shall be used in carrying out measurements relating to the catenary contact wire is mounted on top of the robot base (202). In order to carry out the stagger measurements the distance sensor needs to be moved between the rails (R) and the position of the catenary contact wire must be determined in relation to the rails (R). Thus a guide rail (204) has been placed along the robot base (202) and a guide (205) is moved on said rail.
[127] The distance sensor (208) has been directed upwards and the catenary contact wire shall be detected as soon as it enters into the range of the distance sensor (208). The guide (205) has been connected to the first joint actuator (212) with a belt (207) in order to control the movements of the distance sensor (208) and to detect the position of the catenary contact wire. The first joint actuator (212) shall push and pull the belt (205), thus the guide (205) shall be able to move along the guide rail (204).
[128] The position of the catenary contact wire in relation to any kind of rail (R) by
means of following the motions and/or a certain resetting position can be determined via the feedback that shall be provided by the first joint actuator (212) and the distance sensor (208). In order to be able to precisely determine the position, the position at the moment where the catenary contact wire is determined by the movement of the distance sensor (208) along the length of the guide rail needs to be recorded and then following this by the continuation of the motion of the guide (205), the position where the catenary contact wire cannot be determined by the distance sensor (208) will need to be recorded by means of the automatic control unit (216). The difference between said two positions will give us the diameter information of the catenary contact wire. The distance sensor (208) needs to be vertical to the plane established by the rails (R) of the measurement axis, in order for the measurement results to be correct. It is difficult to provide this in practice.
[129] In order to solve this problem, after a measurement is taken by the automatic
control unit (216), the distance sensor (208) will need to be rotated 180° around a vertical axis to the rail (R) plane and the measurement will be retaken and the new measurement will be recorded in the automatic control unit (216). The stagger value di that has been obtained during the first measurement process, and the height value hi, and the stagger value d2 and the height value h2 obtained at the second measurement, shall be used to calculate the stagger value d and the height value h in accordance with the formula mentioned below.
Figure imgf000012_0001
[131] Another application of the invention is that, besides the measuring of the catenary measurement robot (201) being fixed to the rails (R) by using the mobile feet (203), the catenary measurement robot can also take measurements on a mobile platform
(218) . The mobile platform (218) moves by means of the mobile platform wheels
(219) located on the platform, thus being able to move on the rails (R). During such a movement, as the robot base (202) shall be mounted between the rails (R) and vertical in relation to said rails (R), when the robot is stopped at any point on the rail (R) to be able to take measurements.
[132] According to the preferred embodiment of the invention, carrying arm handles
(220) that have been mounted on both sides of the mobile platform (218) shall be used in order to place, move and take back the mobile platform (218) over the rails (R). It is necessary for the catenary measurement robot (201) which either could be placed directly on the rails (R) or could move over the rails (R), to be able to operate without being dependent on an external hardware, during the measuring processes carried out. For this reason the catenary measurement robot (201) carries out the measurement processes fed by the power unit (215) and controlled by the automatic control unit (216). According to the preferred embodiment of the invention, batteries have been used as power units (215). The automatic control unit (216) operates in compliance with 'the armless catenary measurement robot algorithm' (300). The steps of said algorithm have been described in detail, below.
[133] The catenary measurement robot (201) subject to the invention comprises
components that could be damaged while they are operating, being stored or installed. These components are located in housings in order to protect them from external effects and one of these is the first joint actuator housing (210) which covers the first joint actuator (212) that moves the belt (207) and consequently the guide (205).
Similarly the second joint actuator (209) is also covered with a second joint actuator housing (206). The displacement of the distance sensor (208) on the robot base (202) is carried out by the first joint actuator (212). This displacement is measured by the position sensor (213) and the data obtained is sent to the automatic control unit (216).
[134] According to the preferred embodiment of the invention, the position sensor (213) is an encoder and it measures the angular position of the first joint actuator (212) and submits said information to the automatic control unit (216). The limit switch (221), determines the starting position of the distance sensor (208) and/or the rotating limits around its own axis. According to the preferred application the limit switch (221) is a switch that operates in compliance with the electromagnetic principle. According to other embodiments, any kind of limit switch known in the state of the art such as an optical or mechanical limit switch (221) can be used. The related units (215-216) are protected by means of the power unit and the automatic control unit housing (214). The mounting and dismantling of the power unit (215) onto the catenary measurement robot (201) is carried out again by guiding it through the power unit and the automatic control unit housing (214).
[135] The distance sensor (208) mentioned above, can be any of the sensors known in the art, such as laser, sonic, optical or magnetic sensors. Similarly the movement of the second joint actuator (209), can be transferred to the distance sensor (208) by means of using any kind of method known in the art such as a belt (207), band or a helical gear screw. Similarly the second joint actuator (209) can be transferred to the distance sensor (208) by means of using any kind of method known in the art such as a belt (207), band or a helical gear screw.
[136] The main aim of the control device, is to submit the starting command to the
catenary measurement robot (201) and to transfer the measurement data received from the catenary measurement robot (201) to the user.
[137] According to the preferred embodiment of the invention the catenary measurement robot (201) operates as a wireless network server which can connect wirelessly to the internet and which can use any kind of device (preferably a mobile phone with such property) having an internet browser as a controller device. Moreover the measurement data, is stored on the controller device by means of the user interface according to the preferred embodiment of the invention. Besides the measurement data regarding the catenary contact wire, the localisation data is sent to the controller device by means of the internal GPS located on the catenary measurement robot (201).
[138] The armless catenary measurement algorithm (300), is the algorithm related to the operation of the armless catenary measurement robot (201).
[ 139] This algorithm has been described in detail below. [140] -Checking if the guide (205) of the catenary measurement robot (201) is at its starting position or not (301),
[141] -If the guide (205) is not at the starting position bringing said guide to the starting position (302),
[142] -If the guide (205) is at the starting position, the guide (205) is moved over the guide rail (204) (303),
[143] -In the case that the distance sensor (208) detects an obstacle during a movement, recording the height and stagger information of the obstacles suitable to the dimensions by means of recording the guide (205) position during the detection of said obstacles,
[144] -checking if the guide (205) has reached its end position or not (305),
[145] - If the guide (205) has not reached its end position and if an obstacle is detected during the movement of the distance sensor (208), recording the height and stagger information of the obstacles suitable to the dimensions by means of recording the guide (205) position during the detection of said obstacles,
[146] - Recording the mid point of the shortest obstacle as di when the guide (205)
reaches the end position and recording the average as hi by taking several numbers of height measurement information from the di point (306),
[147] -rotating the distance sensor (208) (307),
[148] - Recording the midpoint of the shortest obstacle as d2, around the vicinity of d and recording the average as h2 by taking several numbers of height measurement information from the di point (308),
[149] -Calculating the d from dx and d2 values, which is the average stagger value by carrying out basic trigonometric calculation processes and calculating the h value which is the height value by using the hi and h2 with di and d2 values (309),
[150] -checking if another line is detected or not, at the location where measurements are taken (310),
[151] -If another line is determined, asked if this new line to be measured or not (311), [152] -If another line is to be measured, again measuring the midpoint of the next
shortest obstacle as di and taking several number of height information from di to calculate the value of hi (312),
[ 153] Following the step 312, the distance sensor (208) is rotated and measurements are continued to be taken (307)
[ 154] - If another line is not detected in step 310, or if another line is not to be measured, the previously calculated height h and the stagger d value is displayed (313).
[155] The manipulator enables the operation of the above mentioned algorithm shown in
Figure 5, wherein the connection of the first joint (222) and the second joint (223) with each other is shown schematically.

Claims

Claims
A catenary measurement robot (1) that can measure the features such as the height of the catenary contact wire in railway systems, the stagger angle, and the wire diameter, which comprises;
-At least a robot base (2) that can be mounted or dismounted between the mobile platform and/or rails (R),
-At least a base lock (3) that enables the robot base (2) to be fixed to the mobile platform and/or rail (R) that it is mounted on,
-At least a power unit (battery) (4), characterized in that it further comprises; -At least a first joint actuator (5) that has been fixed to the robot base (2), -At least an arm (6), whose one side is fixed to the first joint actuator (5), and rotated preferably parallel to the rail plane by the first joint drive element (5), -At least a distance sensor (7) that can move at a longitudinal direction over the arm (6),
-At least a second joint actuator (8) that enables the movement of the distance sensor (7) over the arm (6),
-At least an angular position provider (9) that measures the angular position of the arm (6) in relation to the robot base (2),
-At least a position sensor (10) that measures the amount of change of position of the distance sensor (7) on the arm (6),
-At least a limit switch (11) that determines the initial position and/or the joint limits of the arm (6) and/or the distance sensor (7),
- At least an automatic control unit, which automatically controls the motions of the elements such as the first joint actuator (5) and the second joint actuator (8) and records the measurement data received from elements such as the distance sensor (7), limit switch (11) and position sensor.
A catenary measurement robot (1) according to claim 1, characterized in that it comprises at least a first joint actuator (5) located at the mid point of the robot base (2)
A catenary measurement robot (1) according to claim 1 or claim 2, characterized in that it comprises at least a first joint actuator (5) that enables the rotation or the arm (6) at a plane parallel to the rail (R) plane.
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises an angular position sensor (9) which is an encoder.
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a distance sensor (7) which moves on the arm (6)
A catenary measurement robot (1) accordmg to any of the preceding claims, characterized in that it comprises at least a distance sensor (7) which is a laser. A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a distance sensor (7) which is a sonic sensor.
A catenary measurement robot ( 1) according to any of the preceding claims, characterized in that it comprises at least a distance sensor (7) which is an optical sensor.
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a distance sensor (7) which is a magnetic sensor.
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a controller unit (14) which can send data via a wireless system to the automatic control unit (12) and receive data from the automatic control unit (12).
A catenary measurement robot (1) according to claim 1-9, characterized in that it comprises at least a control unit (14) which can send data via a cabled system to the automatic control unit (12) and receive data from the automatic control unit (12).
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a screen (15) located on the controller unit (14).
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a control unit (14) which enables the transfer of data to a computer or another kind of platform.
A catenary measurement robot (1) according to any of the preceding claims, characterized in that it comprises at least a housing (13) which surrounds the second joint actuator (8) and the position sensor (10) and protects them against external effects.
A method (100) that enables the measurement of features such as the height, the stagger angle and the wire dimensions of the catenary contact wire in railway systems, characterized in that said method comprises the following steps:
-Checking if the robot (1) is at its starting position or not (101)
- If the robot (1) is not at its starting position, bringing the robot to its starting position (102),
-If the robot (1) is at its starting position, actuating the first joint actuator (5) by the automatic control unit (12) and enabling the rotation of the arm (6) (103), -As soon as an obstacle is determined by the distance sensor (7) located on the arm (6), determining the position data submitted to the automatic control unit (12) by the position sensor (10) and the angular position sensor (9) (104), -determining the position of the point where the obstacle is avoided by the distance sensor (7) by the continuance of the operation of the first joint actuator (5) (105),
-Checking if the distance between the determined two points are within acceptable ranges or not, by the automatic control unit (12) (106),
-If the distance between the determined two points are not within acceptable ranges, an obstacle will be continued to be searched and the arm (6) is continued to be rotated, thus going back to step 103; then if the automatic control unit (12) determines that the distance between the points are within acceptable ranges, the second joint actuator (8) is operated and the distance sensor (7) is brought closer to the rotating axis of the arm (6) (107),
-the first joint actuator (5) is operated and the entrance and exit points to the obtstable are re-detected (108),
-the calculation by the automatic control unit (12) by means of mathematical operations of the stagger angle using the four points that have been obtained (109), -adjusting the distance sensor (7) such that it comes to the mid point of the catenary contact wire (110),
- The distance sensor (7) to follow the catenary contact wire along the whole line by adjusting the first joint (17) and the second joint (18) positions by the automatic control unit (12) (1 11),
-measureing and recording the height of the catenary contact wire (112), -checking by the automatic control unit (12) to determine if the catenary has gone beyond the measurement or not contact wire (113),
-If the catenary contact wire is beyond the measurement, going back to step 108, and the entrance and exit points of the catenary contact wire are re-detected and the stagger angle is more precisely measured, and if the catenary contact wire does not go beyond the measurements, checking if the robot (1) is at its operating space or not (114),
-if the robot is at the operating space, going back to step 1 11 and continuing to take measurements, and if the robot operation is within space limits, ending the measuring procedures (115).
A method (100) according to claim 15 characterized in that if a command is received for finding the next catenary contact wire from the user or the control unit, the measuring process at any step is stopped and the catenary contact wire searching process step is re-started.
A method (100) according to claim 15 or claim 16, characterized in that it comprises the steps of starting the searching of the next line and rotating the arm (103) without going back to the starting position if a measurement is finished. A catenary measurement robot (201) used to measure geometrical characteristics such as diameters and location characterized in that it comprises the following steps:
- A robot base (202), positioned between rails (R), vertical to the rails (R), - Preferably two mobile feet fixed (203) on the rails (R) by means of a mobile foot shaft (217) which presses at the same time on the lateral surface (R) of both rails, in order to be fixed on the rails (R) of the robot base (202),
-mobile foot shaft (217) that enables the centering of the catenary measurement robot (201) between rails by means of the mobile feet (203) that move at a counter direction in relation to each other,
-A lineer guide rail (204) placed at a longitudinal direction on the robot base
(202) ,
-A guide (205) which is carried on the guide rail (204) and whose position is changed by moving it at a linear direction by means of a belt (207) and the first joint actuator (212),
-A distance sensor (208) which has been directed upwards by means of moving with the guide (205), which senses the catenary contact wire location in relation to rails (R) at the moment the catenary enters the range of being detected.
A catenary measurement robot (201) according to claim 18, characterized in that it comprises a second joint actuator (209) located on the guide (205), which can turn the distance sensor (208) at a vertical axis o the rail (R) plane and which can angularly move the distance sensor, prior to the re-measuring process to be carried out by the distance sensor (208).
A catenary measurement robot (201) according to claims 18-19, characterized in that it comprises a foot shaft (217) that pushes the mobile feet (203) by means of two screw threads having counter helix in order to equally move both mobile feet
(203) at counter directions in relation to each other in order to center itself in relation to the rails (R).
A catenary measurement robot (201) according to claims 18-19, characterized in that it comprises an automatic control unit (216) which records the location where the catenary contact wire is detected at the movement the distance sensor (208) performs along a guide rail (204), and the following this the guide (205) continues to move and said distance sensor (208) again records the location where it can no longer detect the catenary contact wire and then obtains the diameter information of the catenary contact wire from the difference between the above mentioned two locations.
A catenary measurement robot (201) according to claim 21, characterized in that it comprises an automatic control unit (216) which records the measurement, after the measurement is taken by the control unit (216) and after the distance sensor (208) is rotated at 180° degrees around a vertical axis to the rail (R) plane. A catenary measurement robot (201) according to claim 22, characterized in that it comprises an automatic control unit (216) which calculates the stagger value of d by using dl, which is the stagger value obtained from the first measurement and d2 which is the stagger value obtained from the second measurement and by using the below mentioned formula,
Figure imgf000019_0001
A catenary measurement robot (201) according to claim 23, characterized in that it comprises an automatic control unit (216) which calculates the stagger value of hi by using dl which is the stagger value and hi which is the height value obtained from the first measurement and d2 which is the stagger value and h2 which is the height value obtained from the second measurement and by using the below mentioned formula,
Figure imgf000019_0002
A catenary measurement robot (201) according to claim 24, characterized in that it comprises a mobile platform (218) which instead of being fixed to the rails (R), moves along said rails (R) by means of the wheels located on the mobile platform and during such movement ensures for the robot base (202) to be continuously located between the rails (R) and vertical to the rails (R).
An armless catenary measurement algorithm (300) used to measure the geometrical characteristics such as the position and diameters of objects such as catenaries characterized in that it comprises the steps of
-Checking if the guide (205) of the catenary measurement robot (201) is at its starting position or not (301),
-If the guide (205) is not at the starting position bringing said guide to the starting position (302),
-If the guide (205) is at the starting position, the huide (205) is moved over the guide rail (204) (303),
-In the case that the distance sensor (208) detects an obstacle during a movement, recording the height and stagger information of the obstacles suitable to the dimensions by means of recording the guide (205) position during the detection of said obstacles, (304)
-checking if the guide (205) has reached its end position or not (305),
- If the guide (205) has not reached its end position and if an obstacle is detected during the movement of the distance sensor (208), recording the height and stagger information of the obstacles suitable to the dimensions by means of recording the guide (205) position during the detection of said obstacles,
- Recording the mid point of the shortest obstacle as dl when the guide (205) reaches the end position and recording the average as hi by taking several numbers of height measurement information from the dl point (306), -rotating the distance sensor (208) (307),
- Recording the mid point of the shortest obstacle as d2, around the vicinity of dl, and recording the average as h2 by taking several numbers of height measurement information from the dl point (308),
-Calculating the d from dl and d2 values, which is the average stagger value by carrying out basic trigonometric calculation processes and calculating the h value which is the height value by using the hi and h2 with dl and d2 values (309), -checking if another line is detected or not, at the location where measurements are taken (310),
-If another line is determined, questioning if this new line can be measured or not (311),
-If another line is to be measured, again measuring the mid point of the next shortest obstacle as dl and traking several number of height information from dl to calculate the value of hi (312),
Following the step 312, the distance sensor (208) is rotated and measurements are continued to be taken (307)
- If another line is not detected in step 310, or if another line is not to be measured, the previously calculated height h and the stagger d value is displayed (313).
PCT/TR2013/000085 2012-03-07 2013-03-07 Catenary measurement robot and method Ceased WO2013133779A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
TR2012/02598 2012-03-07
TR201202598 2012-03-07
TR201302724 2013-03-06
TR2013/02724 2013-03-06

Publications (2)

Publication Number Publication Date
WO2013133779A2 true WO2013133779A2 (en) 2013-09-12
WO2013133779A3 WO2013133779A3 (en) 2014-03-13

Family

ID=48626104

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2013/000085 Ceased WO2013133779A2 (en) 2012-03-07 2013-03-07 Catenary measurement robot and method

Country Status (1)

Country Link
WO (1) WO2013133779A2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT516343A1 (en) * 2014-09-22 2016-04-15 Europ Trans Energy Gmbh Method for determining the position of the overhead line or the busbar for vehicles
AT516672A1 (en) * 2014-09-22 2016-07-15 European Trans Energy Gmbh Mobile contact wire measuring system for two-way vehicles
CN109177044A (en) * 2018-09-19 2019-01-11 金石机器人常州股份有限公司 A kind of injection molding machine draw rod positions follower and its grasping means
CN110466200A (en) * 2019-09-06 2019-11-19 郑州新生印务有限公司 A kind of Bag Making Machine automatic deviation correction perforating device
CN110470194A (en) * 2019-08-30 2019-11-19 中国铁建电气化局集团第五工程有限公司 A kind of lever contact net leads the measuring device of height and stagger
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
CN112171671A (en) * 2020-09-23 2021-01-05 中国铁建重工集团股份有限公司 Interference detection method and system for engineering vehicle, mechanical arm and flexible pipeline
CN112504124A (en) * 2020-12-12 2021-03-16 中铁第四勘察设计院集团有限公司 Automatic calibration system suitable for contact net

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107985125B (en) * 2017-12-15 2020-07-10 株洲瑞泰装备技术有限公司 Electrified railway loading and unloading district power transmission device based on portable contact net

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0668185A1 (en) 1994-02-11 1995-08-23 Siemens Aktiengesellschaft Test methode and device for estimating the relative position of a catenary line with regard to the railwaytrack
CN201104220Y (en) 2007-10-30 2008-08-20 四川广驰科技发展有限公司 Portable hand-hold optical measuring device for electrified railway contact network parameter

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1262023B (en) * 1966-06-18 1968-02-29 Dresden Feinmess Transportable optical device for determining the positional deviation of a contact wire of electrical railways from the track center vertical and for the simultaneous determination of the contact wire height above the top edge of the rail
DE2440085A1 (en) * 1974-08-19 1976-03-04 Licentia Gmbh Contactless measurement of contact wire position - is for electric railways and measures the height and lateral position
JPH07164357A (en) * 1993-12-10 1995-06-27 Shibaura Eng Works Co Ltd Industrial robot
JPH0825255A (en) * 1994-07-18 1996-01-30 Shibaura Eng Works Co Ltd Linear mobile robot
JPH0829118A (en) * 1994-07-20 1996-02-02 Laser Techno Kk Suspension position detector for trolley
JPH09101114A (en) * 1995-10-04 1997-04-15 Hitachi Denshi Ltd Train overhead line image measurement system
JPH09166433A (en) * 1995-12-18 1997-06-24 Nishi Nippon Denki Syst Kk Instrument for measuring height and displacement for wiring
JP3638724B2 (en) * 1996-06-27 2005-04-13 三和テッキ株式会社 Overhead wire measuring device and crossover wire measuring method
JPH10249787A (en) * 1997-03-11 1998-09-22 Shibaura Eng Works Co Ltd Industrial robot
JPH11348779A (en) * 1998-06-11 1999-12-21 East Japan Railway Co Trolley wire inspection vehicle
JP2000289499A (en) * 1999-04-08 2000-10-17 Nakata Seisakusho:Kk Height/displacement measuring device for trolley wire on electric overhead line
ES2367067B1 (en) * 2008-11-10 2012-09-03 Telice Teléfonos, Líneas Y Centrales, S.A. BIMODAL AND NO CONTACT CATENARY AUDITOR.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0668185A1 (en) 1994-02-11 1995-08-23 Siemens Aktiengesellschaft Test methode and device for estimating the relative position of a catenary line with regard to the railwaytrack
CN201104220Y (en) 2007-10-30 2008-08-20 四川广驰科技发展有限公司 Portable hand-hold optical measuring device for electrified railway contact network parameter

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT516343A1 (en) * 2014-09-22 2016-04-15 Europ Trans Energy Gmbh Method for determining the position of the overhead line or the busbar for vehicles
AT516672A1 (en) * 2014-09-22 2016-07-15 European Trans Energy Gmbh Mobile contact wire measuring system for two-way vehicles
AT516343B1 (en) * 2014-09-22 2018-02-15 European Trans Energy Gmbh Method for determining the position of the overhead line or the busbar for vehicles
AT516672B1 (en) * 2014-09-22 2019-08-15 European Trans Energy Gmbh Mobile contact wire measuring system for two-way vehicles
CN109177044A (en) * 2018-09-19 2019-01-11 金石机器人常州股份有限公司 A kind of injection molding machine draw rod positions follower and its grasping means
CN109177044B (en) * 2018-09-19 2023-05-23 金石机器人常州股份有限公司 Injection molding machine pull rod position tracking mechanism and grabbing method thereof
CN110470194A (en) * 2019-08-30 2019-11-19 中国铁建电气化局集团第五工程有限公司 A kind of lever contact net leads the measuring device of height and stagger
CN110470194B (en) * 2019-08-30 2024-02-13 中国铁建电气化局集团第五工程有限公司 Lever type contact net height guiding and pulling-out value measuring device
CN110466200A (en) * 2019-09-06 2019-11-19 郑州新生印务有限公司 A kind of Bag Making Machine automatic deviation correction perforating device
CN110466200B (en) * 2019-09-06 2024-11-12 郑州新生印务有限公司 Automatic deviation correction and punching device for bag making machine
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
CN112171671A (en) * 2020-09-23 2021-01-05 中国铁建重工集团股份有限公司 Interference detection method and system for engineering vehicle, mechanical arm and flexible pipeline
CN112504124A (en) * 2020-12-12 2021-03-16 中铁第四勘察设计院集团有限公司 Automatic calibration system suitable for contact net

Also Published As

Publication number Publication date
WO2013133779A3 (en) 2014-03-13

Similar Documents

Publication Publication Date Title
WO2013133779A2 (en) Catenary measurement robot and method
EP3668688B1 (en) Aircraft cleaning robot
US11480446B2 (en) Tracking positions of personnel, vehicles, and inanimate objects
CN104020768B (en) Infrared temperature measurement track inspection robot
EP3613544A1 (en) Mobile construction robot
EP2807472B1 (en) Automated system and method for tracking and detecting discrepancies on a target object
EP3184960B1 (en) Motorized orientable head for measuring system
CN102829734A (en) Device and method for contactless measurement of contour dimension of insulator
WO2019245835A1 (en) Localisation system and methods
CN108398153A (en) A kind of submarine pipeline buckling detection method
CN102788573B (en) Line structure light positioning projection image acquisition device
CN114964185A (en) Spatial data measuring device and measuring method thereof
CN102435149A (en) Geometric tolerance measurement device for deep holes
CN108180347B (en) Underground pipeline measuring equipment and using method thereof
CN110735369A (en) dynamic orbit geometric state measuring method
JP2020134173A (en) Measurement system and measuring method
EP2884225B1 (en) Laser sensor with a built-in rotary mechanism
CN120901904A (en) Mobile robots
EP1930240B1 (en) Method and system for navigating a nondestructive evaluation device
US20250353185A1 (en) Humanoid robot comprising articulated legs with wheels or tracks
CN220189433U (en) Transformer coil winding and detecting device
US20220049948A1 (en) Environmental scanning and image reconstruction thereof

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13728846

Country of ref document: EP

Kind code of ref document: A2

122 Ep: pct application non-entry in european phase

Ref document number: 13728846

Country of ref document: EP

Kind code of ref document: A2