CN108032868B - A kind of train rail detection system and method - Google Patents
A kind of train rail detection system and method Download PDFInfo
- Publication number
- CN108032868B CN108032868B CN201711233863.3A CN201711233863A CN108032868B CN 108032868 B CN108032868 B CN 108032868B CN 201711233863 A CN201711233863 A CN 201711233863A CN 108032868 B CN108032868 B CN 108032868B
- Authority
- CN
- China
- Prior art keywords
- rail
- data
- detection beam
- assembly machine
- machine equipment
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The present invention provides a kind of train rail detection system and methods, are related to track field.Embedding assembly machine equipment sends sampling pulse signal to inertia component and Laser video camera component in system；Laser video camera component shoots rail profile image, and is sent to embedding assembly machine equipment；Attitude parameter of the inertia component measurement detection beam relative to rail, and it is sent to embedding assembly machine equipment；Embedding assembly machine equipment determines lateral displacement data and vertical deviation data of the detection beam relative to rail according to rail profile image；Calculation processing is carried out according to lateral displacement data, vertical deviation data and attitude parameter, determines the irregularity geometric parameter of train rail；Judgement of transfiniting is carried out according to irregularity geometric parameter, forms the Wave data for judging data, and generating irregularity geometric parameter that transfinites；It will transfinite and judge that data and Wave data are sent to central station equipment.
Description
Technical field
The present invention relates to track field more particularly to a kind of train rail detection systems and method.
Background technique
Currently, the common concern with people to train safety, train rail detection technique are also gradually developing.In
Railway Scientific Institute Institute Of Infrastructure Detection Of Railway Sc of state has developed GJ-3, GJ-4, GJ-5 and GJ-6 by researching and developing for many years
Four kinds of rail detection systems are made that important contribution for the adjusting and routine testing of high-speed railway.
Existing rail detection system is by taking GJ-6 type rail detection system as an example, as shown in Figure 1, mainly by turning in train
Detection beam 101, laser and the high speed camera 102 installed on frame, arranged in train body 103 and detection beam 101 it is multiple
Accelerometer (is properly termed as the first accelerometer 104, the second accelerometer 105, third accelerometer 106 and the 4th respectively
Accelerometer 107), twin shaft gyro 108, the first displacement meter 109, second displacement meter 110, encoder 111, hardware signal processing group
The composition such as part 112, pattern process computer 113, data processing computer 114.The base of existing GJ-6 type rail detection system
This working principle are as follows: acquire rail image using laser and high speed camera 102, and by pattern process computer 113 to steel
Rail image is used to measure lateral displacement of the rail relative to detection beam after being handled；Use the first displacement meter 109 and second
Meter 110 is moved to measure vertical deviation of the car body 103 relative to wheel shaft；By the first accelerometer 104, the second accelerometer 105,
Third accelerometer 106 and the 4th accelerometer 107 and twin shaft gyro 108 measurement car body 103 and the posture for detecting beam 101
Variation, establishes inertial reference；The distance that train is advanced is measured by encoder 111, whole system is according to equidistant carry out data
Acquisition.Each sensor (each accelerometer, gyro, displacement meter etc.) turns the physical quantitys such as the displacement, the speed, acceleration that need to measure
It is changed to corresponding electric analoging signal, hardware signal processing component 112 is input to by signal converting and monitoring unit.Hardware signal
Processing component 112 will be input to data processing meter using signal converting and monitoring unit after signal amplification and analog filtering processing
Calculation machine 114.114 pairs of input analog signals of the data processing computer carry out A/D analog-to-digital conversions, acquisition, storage, digital filtering,
Amendment and compensation deals, then by comprehensive operation, synthesis obtains required orbit geometry parameter, and real on its display
When show track geometry waveform.In addition, data processing computer 114 can also be calculated by cable-network transmission to other application
Orbit geometry parameter and the data that transfinite are stored in database by machine by other application computer, and display track geometry waveform surpasses
Data are limited, and the data that transfinite can be edited.Finally, the data that transfinite of orbit geometry parameter can be printed by the network printer
Report and waveform diagram.
There are great number of issues for rail detection system in currently existing technology, such as:
1. current detection beam can only be installed on bogie end: being limited at rail check system algorithm model and image at present
Adjustment method, rail check system detection beam can only be installed on bogie tip position, and bogie needs are customized, are different from standard vehicle
Bogie, is not easy to system installation maintenance, while also increasing economic cost.
2. on vehicle and under vehicle, equipment volume, weight are excessive: equipment generally requires two 2.2 meters of high cabinets on vehicle, internal
Various hardware signal processing equipment, industrial personal computer, power supply, control equipment etc. are placed, the huge space of interior is occupied；Under vehicle
Laser and high speed camera volume is big, weight is big leads to the volume and again of the detection beam for installing laser and high speed camera
Amount will increase accordingly, this, which installs and repair to detection system, brings various problems.
3. if going wrong inside laser and high speed camera, need to dismantle to inside carry out maintenance or equipment replacement,
High-precision calibrating is needed simultaneously.Actual vehicle often docks at various complex environments, such as sleet dusty wind weather, without work trench
Deng, therefore actual field is unfavorable for carrying out this work.
4. encoder needs to be installed on train axle box position, the work for reequiping axle box is extremely complex, and daily maintenance is also very
It is inconvenient.
5. detection data needs artificial onboard scene editor, prolonged work and single site environment make one tired
Labor, it is difficult to guarantee the accuracy and science of editor's data.
Great number of issues existing for above-mentioned rail detection system in the prior art is substantially due to existing track detecting system
System is caused by structure is complicated, therefore how to simplify rail detection system and become a urgent problem to be solved.
Summary of the invention
The embodiment of the present invention provides a kind of train rail detection system and method, to solve track inspection in the prior art
Examining system structure is complicated problem.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of train rail detection system, including embedding assembly machine equipment, detection beam, inertia component and use are integrated
Change the Laser video camera component of sensor；The inertia component is set to the detection beam center；The detection beam is set to
At train body chassis；The embedding assembly machine equipment is set to inside train body；The Laser video camera component is installed on
The detection beam two sides；The inertia component and the Laser video camera component and the embedding assembly machine equipment communicate to connect；
The embedding assembly machine equipment is distinguished by wireless network and external navigation positioning system and central station equipment
Connection；
The embedding assembly machine equipment for receiving the space time information of navigation positioning system, and calculates sampling pulse number；
Sampling pulse signal is generated according to the sampling pulse number, and sends the sampling to the inertia component and Laser video camera component
Pulse signal；
The Laser video camera component irradiates respectively for after receiving the sampling pulse signal, issuing Linear Laser
Rail profile image is shot on the rail profile of the left and right sides, and by pre-set sample frequency, and the rail is broken
Face image is sent to the embedding assembly machine equipment；
The inertia component, for after receiving the sampling pulse signal, measuring the detection beam relative to rail
Attitude parameter, and the attitude parameter is sent to the embedding assembly machine equipment；The attitude parameter includes laterally adding
Speed, vertical acceleration, inclination angle, rate of roll and angular speed of shaking the head；
The embedding assembly machine equipment is also used to be determined the detection beam relative to steel according to the rail profile image
The lateral displacement data and vertical deviation data of rail；According to the lateral displacement data, vertical deviation data and the posture
Parameter carries out calculation processing, determines the irregularity geometric parameter of train rail；It is transfinited according to the irregularity geometric parameter
Judgement forms the Wave data for judging data, and generating irregularity geometric parameter that transfinites；Described transfinite is judged into data and described
Wave data is sent to the central station equipment.
In addition, the embedding assembly machine equipment, is specifically used for:
The sampling pulse number is counted, and judges whether the sampling pulse number reaches pre-set setting threshold
Value；
When the sampling pulse number reaches pre-set given threshold, the counting of sampling pulse number is reset, and produces
Rise sampling pulse signal.
Specifically, the inertia component includes three axial gyroscopic apparatus and accelerometer；
The inertia component, specifically for determining that the detection beam adds relative to the transverse direction of rail by the accelerometer
Speed and vertical acceleration；The inclination angle for detecting beam relative to rail, roll angle are determined by described three axial gyroscopic apparatus
Speed and angular speed of shaking the head.
In addition, the embedding assembly machine equipment, is specifically used for:
According to the rail profile image, establish global coordinate system, and carry out global coordinate system, camera coordinate system and
The unilateral lateral displacement component and unilateral vertical deviation point of left and right sides rail are extracted in relationship conversion between image coordinate system
Amount；
According to the unilateral lateral displacement component of the left and right sides rail, lateral displacement of the detection beam relative to rail is determined
Data；
According to the unilateral vertical deviation component of left and right sides rail, vertical deviation number of the detection beam relative to rail is determined
According to.
Specifically, the irregularity geometric parameter include: height data, rail to data, gauge data, horizontal data and
Twist irregularity data；
The embedding assembly machine equipment, is specifically also used to:
The gauge data of train rail are determined according to the lateral displacement data；
Attitude rectification is carried out to the vertical acceleration according to pre-set accelerometer attitude rectification amount, and in posture
Digital filtering is carried out after amendment, the height acceleration after determining digital filtering；According to the corresponding vertical deviation of left and right sides rail
Height acceleration after data and the digital filtering determines the corresponding height data of left and right sides rail respectively；
Attitude rectification is carried out to the transverse acceleration according to pre-set accelerometer attitude rectification amount, and in posture
Digital filtering is carried out after amendment, the rail after determining digital filtering is to acceleration；According to the corresponding lateral displacement of left and right sides rail
Rail after data and the digital filtering determines rail corresponding rail in the left and right sides to data respectively to acceleration；
Inclination angle of the detection beam relative to rail is determined according to the corresponding vertical deviation data of left and right sides rail；Respectively to institute
State rate of roll, angular speed and the transverse acceleration of shaking the head carry out signal condition filtering processing, and according to signal condition filtering at
The inclination data of rate of roll, shake the head angular speed and the determining detection beam of transverse acceleration after reason；According to detection beam relative to
The inclination data of the inclination angle of rail and the detection beam determines the horizontal data of rail.
The twist irregularity data of train rail are determined according to the horizontal data.
In addition, the embedding assembly machine equipment, is specifically also used to:
According to the pre-set normal data that transfinites, judge each irregularity geometric parameter with the presence or absence of overrun condition；
Overrun condition if it exists, according to there are the parameter type of the irregularity geometric parameter of overrun condition, numerical values recited with
And the corresponding location of rail information formation of irregularity geometric parameter transfinites and judges data.
A kind of train rail detection method is applied to a kind of train rail detection system, and the system comprises embedded meters
Calculate machine equipment, detection beam, inertia component and the Laser video camera component using integrated transducer；The inertia component is set to
The detection beam center；The detection beam is set at train body chassis；The embedding assembly machine equipment is set to
Inside train body；The Laser video camera component is installed on the detection beam two sides；The inertia component and the Laser video camera
Component and the embedding assembly machine equipment communicate to connect；The embedding assembly machine equipment passes through wireless network and external navigation
Positioning system and central station equipment are separately connected；
The described method includes:
The embedding assembly machine equipment receives the space time information of navigation positioning system, and calculates sampling pulse number；According to
The sampling pulse number generates sampling pulse signal, and sends the sampling pulse to the inertia component and Laser video camera component
Signal；
The Laser video camera component issues Linear Laser and is radiated at left and right respectively after receiving the sampling pulse signal
On the rail profile of two sides, and rail profile image is shot by pre-set sample frequency, and by the rail profile image
It is sent to the embedding assembly machine equipment；
The inertia component measures posture of the detection beam relative to rail after receiving the sampling pulse signal
Parameter, and the attitude parameter is sent to the embedding assembly machine equipment；The attitude parameter includes transverse acceleration, hangs down
To acceleration, inclination angle, rate of roll and angular speed of shaking the head；
The embedding assembly machine equipment determines cross of the detection beam relative to rail according to the rail profile image
To displacement data and vertical deviation data；According to the lateral displacement data, vertical deviation data and the attitude parameter into
Row calculation processing determines the irregularity geometric parameter of train rail；Judgement of transfiniting, shape are carried out according to the irregularity geometric parameter
Data are judged at transfiniting, and generate the Wave data of irregularity geometric parameter；Described transfinite is judged into data and the waveform number
According to being sent to the central station equipment.
Specifically, described generate sampling pulse signal according to the sampling pulse number, comprising:
The embedding assembly machine equipment counts the sampling pulse number, and whether judges the sampling pulse number
Reach pre-set given threshold；
When the sampling pulse number reaches pre-set given threshold, the counting of sampling pulse number is reset, and produces
Rise sampling pulse signal.
Specifically, the inertia component includes three axial gyroscopic apparatus and accelerometer；
Attitude parameter of the measurement detection beam relative to rail, comprising:
The inertia component determines the detection beam relative to the transverse acceleration of rail by the accelerometer and hangs down
To acceleration；By described three axial gyroscopic apparatus determine the detection beam relative to the inclination angle of rail, rate of roll and
It shakes the head angular speed.
Specifically, the embedding assembly machine equipment determines the detection beam relative to steel according to the rail profile image
The lateral displacement data and vertical deviation data of rail, comprising:
The embedded computer establishes global coordinate system according to the rail profile image, and carry out global coordinate system,
Between camera coordinate system and image coordinate system relationship conversion, extract the left and right sides rail unilateral lateral displacement component and
Unilateral vertical deviation component；
According to the unilateral lateral displacement component of the left and right sides rail, lateral displacement of the detection beam relative to rail is determined
Data；
According to the unilateral vertical deviation component of left and right sides rail, vertical deviation number of the detection beam relative to rail is determined
According to.
Specifically, the irregularity geometric parameter include: height data, rail to data, gauge data, horizontal data and
Twist irregularity data；It is described that calculation processing is carried out according to the lateral displacement data, vertical deviation data and the attitude parameter,
Determine the irregularity geometric parameter of train rail, comprising:
The embedding assembly machine equipment determines the gauge data of train rail according to the lateral displacement data；
Attitude rectification is carried out to the vertical acceleration according to pre-set accelerometer attitude rectification amount, and in posture
Digital filtering is carried out after amendment, the height acceleration after determining digital filtering；According to the corresponding vertical deviation of left and right sides rail
Height acceleration after data and the digital filtering determines the corresponding height data of left and right sides rail respectively；
Attitude rectification is carried out to the transverse acceleration according to pre-set accelerometer attitude rectification amount, and in posture
Digital filtering is carried out after amendment, the rail after determining digital filtering is to acceleration；According to the corresponding lateral displacement of left and right sides rail
Rail after data and the digital filtering determines rail corresponding rail in the left and right sides to data respectively to acceleration；
Inclination angle of the detection beam relative to rail is determined according to the corresponding vertical deviation data of left and right sides rail；Respectively to institute
State rate of roll, angular speed and the transverse acceleration of shaking the head carry out signal condition filtering processing, and according to signal condition filtering at
The inclination data of rate of roll, shake the head angular speed and the determining detection beam of transverse acceleration after reason；According to detection beam relative to
The inclination data of the inclination angle of rail and the detection beam determines the horizontal data of rail.
The twist irregularity data of train rail are determined according to the horizontal data.
Specifically, described carry out judgement of transfiniting according to the irregularity geometric parameter, formation, which is transfinited, judges data, comprising:
The embedding assembly machine equipment judges each irregularity geometric parameter according to the pre-set normal data that transfinites
With the presence or absence of overrun condition；
Overrun condition if it exists, according to there are the parameter type of the irregularity geometric parameter of overrun condition, numerical values recited with
And the corresponding location of rail information formation of irregularity geometric parameter transfinites and judges data.
A kind of train rail detection system and method provided in an embodiment of the present invention, which includes that embedded computer is set
Standby, detection beam, inertia component and the Laser video camera component using integrated transducer；The inertia component is set to the inspection
Survey beam center；The detection beam is set at train body chassis；The embedding assembly machine equipment is set to train vehicle
Internal portion；The Laser video camera component is installed on the detection beam two sides；The inertia component and the Laser video camera component with
The embedding assembly machine equipment communication connection；The embedding assembly machine equipment passes through wireless network and external navigation positioning system
System and central station equipment are separately connected；The embedding assembly machine equipment receives the space-time letter of navigation positioning system
Breath, and calculate sampling pulse number；Sampling pulse signal is generated according to the sampling pulse number, and to the inertia component and laser
Camera assembly sends the sampling pulse signal；The Laser video camera component issues after receiving the sampling pulse signal
Linear Laser is radiated at respectively on the rail profile of the left and right sides, and shoots rail profile figure by pre-set sample frequency
Picture, and the rail profile image is sent to the embedding assembly machine equipment；The inertia component is receiving described adopt
After sample pulse signal, the attitude parameter of the detection beam relative to rail is measured, and the attitude parameter is sent to described embedding
Enter formula computer equipment；The attitude parameter includes transverse acceleration, vertical acceleration, inclination angle, rate of roll and shakes the head
Angular speed；The embedding assembly machine equipment determines transverse direction of the detection beam relative to rail according to the rail profile image
Displacement data and vertical deviation data；It is carried out according to the lateral displacement data, vertical deviation data and the attitude parameter
Calculation processing determines the irregularity geometric parameter of train rail；Judgement of transfiniting is carried out according to the irregularity geometric parameter, is formed
It transfinites and judges data, and generate the Wave data of irregularity geometric parameter；Described transfinite is judged into data and the Wave data
It is sent to the central station equipment.It is set at train body chassis as it can be seen that will test beam in the present invention, to peace
Reload request is greatly reduced, and reliability and safety is sharply increased；Embedding assembly machine equipment is used inside train body, is occupied
Space is smaller, can be placed in below train seats and in other small spaces, does not influence car operation；In addition using integrated
Inertia component, be set to detection beam in, without installing the sensors such as various accelerometers and gyro inside and outside train so that
The structure of whole system is simple, and equipment volume is small, light-weight；In addition, Laser video camera component uses integrated transducer, meet with
When failure, without carrying out field calibration, directly can integral replacing, plug and play；In addition, the train rail detection system in the present invention
System carries out spatial sampling triggering using navigation positioning system, without installing encoder, eliminates the complexity of train axle box transformation
Work, also no longer needs to separately maintain；In addition calculated result is directly passed through wireless network by wireless transmission method by the present invention
It is sent at central station equipment, it is no longer necessary to personnel's real-time edition data ON TRAINS.It can be seen that the present invention can be with
It is various caused by overcoming the problems, such as existing rail detection system structure is complicated.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of rail detection system in the prior art；
Fig. 2 is a kind of structural schematic diagram of train rail detection system provided in an embodiment of the present invention；
Fig. 3 is the coordinate system signal of three when handling the rail profile image level in the embodiment of the present invention
Figure；
Fig. 4 is the schematic diagram for the global coordinate system established on rail in the embodiment of the present invention；
Fig. 5 is the processing result image schematic diagram in the embodiment of the present invention；
Fig. 6 is a kind of flow chart one of train rail detection method provided in an embodiment of the present invention；
Fig. 7 is a kind of flowchart 2 of train rail detection method provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Fig. 2, the embodiment of the present invention provides a kind of train rail detection system 20, including embedding assembly machine equipment
201, detect beam 202, inertia component 203 and using integrated transducer Laser video camera component 204 (can by laser and
Photographic device composition).The inertia component 203 is set to the center of the detection beam 202.The detection beam 202 is arranged
At 30 chassis of train body, and no longer installation detection beam and other sensor devices at train bogie and wheel shaft；It is described
Embedding assembly machine equipment 201 is set to inside train body 30；The Laser video camera component 204 is installed on the detection beam
202 two sides；The inertia component 203 and the Laser video camera component 204 and the embedding assembly machine equipment 201 communicate to connect
(wherein, Laser video camera component 204 can be connect by optical fiber with embedding assembly machine equipment 201, and inertia component 203 can be with
Pass through digitial controller Area Network bus, i.e. the digital data transmissions side such as CAN bus or serial ports 422, serial ports 232, serial ports 485
Formula is connect with embedding assembly machine equipment 201)；The embedding assembly machine equipment 201 is fixed by wireless network and external navigation
Position system 40 (can use global positioning system, i.e. GPS can also use Beidou satellite navigation and positioning system, but not only limit to
In this) and central station equipment 50 be separately connected.As it can be seen that above structure is guaranteeing the constant situation of detection accuracy
Under, the structure of system can be greatly simplified, the actual installation demand of various trains is met.
The embedding assembly machine equipment 201 for receiving the space time information of navigation positioning system 40, and calculates sampling arteries and veins
Rush number；Sampling pulse signal is generated according to the sampling pulse number, and to the inertia component 203 and Laser video camera component 204
Send the sampling pulse signal.
The Laser video camera component 204, for after receiving the sampling pulse signal, issue Linear Laser respectively according to
It penetrates on the rail profile of the left and right sides, and shoots rail profile image by pre-set sample frequency, and by the rail
Cross-section image is sent to the embedding assembly machine equipment 201.
The inertia component 203 is opposite for after receiving the sampling pulse signal, measuring the detection beam 202
The embedding assembly machine equipment 201 is sent in the attitude parameter of rail 60, and by the attitude parameter；The attitude parameter
Including transverse acceleration, vertical acceleration, inclination angle, rate of roll and angular speed of shaking the head.
The embedding assembly machine equipment 201 is also used to determine 202 phase of detection beam according to the rail profile image
For the lateral displacement data and vertical deviation data of rail 60；According to the lateral displacement data, vertical deviation data and
The attitude parameter carries out calculation processing, determines the irregularity geometric parameter of train rail；According to the irregularity geometric parameter
Judgement of transfiniting is carried out, the Wave data for judging data, and generating irregularity geometric parameter that transfinites is formed；Described transfinite is judged into number
It is sent to the central station equipment 50 according to the Wave data, so that railway personnel can be in ground number
Data are judged according to checking Wave data at processing center equipment 50 and transfiniting, these data repair railway maintenance and train is transported
Row safety plays a significant role.
In addition, embedding assembly machine equipment 201 generates sampling pulse signal according to the sampling pulse number, can specifically lead to
Under type such as is crossed to realize:
The sampling pulse number is counted, and judges whether the sampling pulse number reaches pre-set setting threshold
Value.
When the sampling pulse number reaches pre-set given threshold, the counting of sampling pulse number is reset, and produces
Rise sampling pulse signal.It can accurately guarantee empty spatial sampling interval by the space time information of navigation positioning system 40, such as often
250mm distance samples are primary.
Specifically, the inertia component 203 may include three axial gyroscopic apparatus and accelerometer (not shown).
In addition, inertia component 203 measures attitude parameter of the detection beam 202 relative to rail 60, can specifically pass through
As under type is realized:
Transverse acceleration and vertical acceleration of the detection beam relative to rail are determined by the accelerometer；Pass through
Described three axial gyroscopic apparatus determine the detection beam relative to the inclination angle of rail, rate of roll and angular speed of shaking the head.
In addition, embedding assembly machine equipment 201 determines the detection beam 202 relative to steel according to the rail profile image
The lateral displacement data and vertical deviation data of rail 60, can specifically be accomplished in that
According to the rail profile image, establish global coordinate system, and carry out global coordinate system, camera coordinate system and
The unilateral lateral displacement component and unilateral vertical deviation point of left and right sides rail are extracted in relationship conversion between image coordinate system
Amount.
According to the unilateral lateral displacement component of the left and right sides rail, lateral displacement of the detection beam relative to rail is determined
Data.
According to the unilateral vertical deviation component of left and right sides rail, vertical deviation number of the detection beam relative to rail is determined
According to.
Herein, it should be noted that the processing to rail profile image is view-based access control model measuring technique, is applied to track and examines
Laser camera shooting type measurement is commonly called as when survey.The technology is to obtain testee image by video camera, passes through global coordinate system, video camera
Relation transformation between coordinate system, image coordinate system obtains the measurement method of rail profile geometric parameter.
The coordinate system of three levels are as follows: global coordinate system, camera coordinate system, image coordinate system, it can be such as Fig. 3 institute
Show.
Wherein, global coordinate system (xw,yw,zw): it is the three-dimensional coordinate system arbitrarily defined by user, it usually will be by
Survey the coordinate system that object and video camera consider as a whole.
Camera coordinate system (xc,yc,zc): its origin is camera optical center, zcThe optical axis coincidence of axis and video camera, and take
Photography direction is positive direction.xc,ycFor axis usually with image physical coordinates system X, Y-axis is parallel.
Image coordinate system is divided into image pixel coordinates system and two kinds of image physical coordinates system, is respectively as follows: image pixel coordinates
It is (u, v): is using the image upper left corner as origin, using pixel as the rectangular coordinate system of coordinate unit, u, v respectively indicate the pixel and exist
Columns and line number in digital picture.Image physical coordinates system (X, Y): be using optical axis with as the intersection point of plane is origin, with milli
Rice is the rectangular coordinate system of unit.Its X, Y-axis are parallel with u, v axis of image pixel coordinates system respectively.
The transformation of point to camera coordinate system in global coordinate system can be flat by an orthogonal rotational transformation matrix R and one
Moving transformation matrix T indicates are as follows:
In formula, r11…r33, it is by lateral tilt ω, longitudinal tiltThe relationship square of the trigonometric function composition of rotation angle κ
Battle array.
Relationship between image coordinate system and camera coordinate system, image physical coordinates and image pixel coordinates can use camera shooting
The inner parameter of machine describes.
Rail is detected, can establish global coordinate system as shown in Figure 4.The laser irradiation that laser issues is in rail
On section, video camera shoots cross-section image, by the coordinate system transformation of three levels by physical coordinate transformation to corresponding image
Coordinate finally extracts the orbit parameter of needs by filtering, binaryzation, refinement, coordinate transform, and final image processing result is as schemed
Shown in 5, the track of available laser irradiation.
Specifically, above-mentioned irregularity geometric parameter include: height data, rail to data, gauge data, horizontal data and
Twist irregularity data.Irregularity geometric parameter herein is properly termed as orbit geometry parameter again, is for describing track geometry form
Parameter.Wherein, height data refer to vertical uneven suitable level data of the rail surface along extending direction；Rail is to data
Refer on the inside of rail, the uneven suitable level data of transverse direction of the gauge point along track-span direction；Gauge data refer to rail
Minimum range under the tyre tread of head within the scope of 16mm between two strands of gage lines；Horizontal data refers to left on same cross section
The difference in height of right rail top surface with respect to the horizontal plane, but without the superelevation value and superelevation slope amount being arranged on curve by regulation；It is described
Twist irregularity data refer to the distortion of two rail top surface relative orbit planes of left and right, are indicated at a distance of the long horizontal algebraic step of certain base.
The particular content of above each irregularity geometric parameter may refer to track inspection car standard GB/T25021-2010, no longer superfluous herein
It states.
The embedding assembly machine equipment 201 is joined according to the lateral displacement data, vertical deviation data and the posture
Number carries out calculation processing, determines the irregularity geometric parameter of train rail, can specifically be accomplished in that
The gauge data of train rail are determined according to the lateral displacement data.Specifically, the variation of lateral displacement data
The variation of the gauge data of train rail can directly be represented.
Attitude rectification is carried out to the vertical acceleration according to pre-set accelerometer attitude rectification amount, and in posture
Digital filtering is carried out after amendment, the height acceleration after determining digital filtering；According to the corresponding vertical deviation of left and right sides rail
Height acceleration after data and the digital filtering determines the corresponding height data of left and right sides rail respectively.
Attitude rectification is carried out to the transverse acceleration according to pre-set accelerometer attitude rectification amount, and in posture
Digital filtering is carried out after amendment, the rail after determining digital filtering is to acceleration；According to the corresponding lateral displacement of left and right sides rail
Rail after data and the digital filtering determines rail corresponding rail in the left and right sides to data respectively to acceleration.
Inclination angle of the detection beam relative to rail is determined according to the corresponding vertical deviation data of left and right sides rail；Respectively to institute
State rate of roll, angular speed and the transverse acceleration of shaking the head carry out signal condition filtering processing, and according to signal condition filtering at
The inclination data of rate of roll, shake the head angular speed and the determining detection beam of transverse acceleration after reason；According to detection beam relative to
The inclination data of the inclination angle of rail and the detection beam determines the horizontal data of rail.
The twist irregularity data of train rail are determined according to the horizontal data.Likewise, the variation of the horizontal data can
The case where directly representing the twist irregularity data of train rail.
In addition, embedding assembly machine equipment 201 carries out judgement of transfiniting according to the irregularity geometric parameter, formation, which is transfinited, to be sentenced
Disconnected data, can specifically be accomplished in that
According to the pre-set normal data that transfinites, judge each irregularity geometric parameter with the presence or absence of overrun condition.Herein
The normal data that transfinites can be using interior in " track geometry status dynamic detection and evaluation " (TB/T3355-2014) standard
Hold.
Overrun condition if it exists, according to there are the parameter type of the irregularity geometric parameter of overrun condition, numerical values recited with
And the corresponding location of rail information formation of irregularity geometric parameter transfinites and judges data.
A kind of train rail detection system provided in an embodiment of the present invention, will test beam and is set to train body chassis
Place, is greatly reduced installation requirement, reliability and safety is sharply increased；It is set inside train body using embedded computer
Standby, occupied space is smaller, can be placed in below train seats and in other small spaces, does not influence car operation；In addition it adopts
It with integrated inertia component, is set in detection beam, is passed without installing various accelerometers and gyro etc. inside and outside train
Sensor, so that the structure of whole system is simple, equipment volume is small, light-weight；In addition, Laser video camera component uses integrated sensing
Device, when meeting with failure, without carrying out field calibration, directly can integral replacing, plug and play；In addition, the train in the present invention
Rail detection system carries out spatial sampling triggering using navigation positioning system, without installing encoder, eliminates train axle box
The complex work of transformation also no longer needs to separately maintain；In addition the present invention is directly logical by calculated result by wireless transmission method
It crosses wireless network to be sent at central station equipment, it is no longer necessary to personnel's real-time edition data ON TRAINS.It can be seen that
The present invention is various caused by can overcoming the problems, such as existing rail detection system structure is complicated.
Corresponding to above-mentioned system embodiment, as shown in fig. 6, the embodiment of the present invention provides a kind of train rail detection side
Method can be applied to a kind of corresponding train rail detection system of above-mentioned Fig. 2, which comprises
Step 301, the embedding assembly machine equipment receive the space time information of navigation positioning system, and calculate sampling pulse
Number；Sampling pulse signal is generated according to the sampling pulse number, and to described in the inertia component and the transmission of Laser video camera component
Sampling pulse signal.
Step 302, the Laser video camera component after receiving the sampling pulse signal, issue Linear Laser respectively according to
It penetrates on the rail profile of the left and right sides, and shoots rail profile image by pre-set sample frequency, and by the rail
Cross-section image is sent to the embedding assembly machine equipment.
Step 303, the inertia component measure the detection beam relative to steel after receiving the sampling pulse signal
The attitude parameter of rail, and the attitude parameter is sent to the embedding assembly machine equipment；The attitude parameter includes laterally
Acceleration, vertical acceleration, inclination angle, rate of roll and angular speed of shaking the head.
Step 304, the embedding assembly machine equipment according to the rail profile image determine the detection beam relative to
The lateral displacement data and vertical deviation data of rail；According to the lateral displacement data, vertical deviation data and the appearance
State parameter carries out calculation processing, determines the irregularity geometric parameter of train rail；Surpassed according to the irregularity geometric parameter
Limit judgement, forms the Wave data for judging data, and generating irregularity geometric parameter that transfinites；Described transfinite is judged into data and institute
It states Wave data and is sent to the central station equipment.
Further, in order to make those skilled in the art be better understood by the present invention, it is set forth below one specifically
Embodiment of the method, as shown in fig. 7, the embodiment of the present invention provides a kind of train rail detection method, comprising:
Step 401, embedding assembly machine equipment receive the space time information of navigation positioning system, and calculate sampling pulse number.
Step 402, embedding assembly machine equipment count the sampling pulse number, and judge the sampling pulse number
Whether pre-set given threshold is reached.
Step 403, when the sampling pulse number reaches pre-set given threshold, by the counting weight of sampling pulse number
It sets, and produces a liter sampling pulse signal, send the sampling pulse signal to the inertia component and Laser video camera component.
Step 404 and step 405 are executed after step 403.
Step 404, Laser video camera component issue Linear Laser and are radiated at respectively after receiving the sampling pulse signal
On the rail profile of the left and right sides, and rail profile image is shot by pre-set sample frequency, and by the rail profile
Image is sent to the embedding assembly machine equipment.
After step 404, step 406 is executed to step 408.
In addition, the inertia component may include three axial gyroscopic apparatus and accelerometer.
Step 405, inertia component determine the detection beam after receiving the sampling pulse signal, through accelerometer
Transverse acceleration and vertical acceleration relative to rail；Determine the detection beam relative to rail by three axial gyroscopic apparatus
Inclination angle, rate of roll and angular speed of shaking the head；The attitude parameter is sent to the embedding assembly machine equipment.
Wherein, the attitude parameter includes transverse acceleration, vertical acceleration, inclination angle, rate of roll and angle of shaking the head
Speed.
Step 406, embedded computer establish global coordinate system according to the rail profile image, and carry out global seat
Relationship conversion between mark system, camera coordinate system and image coordinate system, extracts the unilateral lateral displacement of left and right sides rail
Component and unilateral vertical deviation component.
Step 407, the unilateral lateral displacement component according to the left and right sides rail determine detection beam relative to rail
Lateral displacement data.
Step 408, the unilateral vertical deviation component according to left and right sides rail determine detection beam relative to the vertical of rail
Displacement data.
After step 405 and step 408, step 409 is executed to step 416.
Specifically, following irregularity geometric parameter include: height data, rail to data, gauge data, horizontal data and
Twist irregularity data.
Step 409, embedding assembly machine equipment determine the gauge data of train rail according to the lateral displacement data.
Step 410 carries out attitude rectification to the vertical acceleration according to pre-set accelerometer attitude rectification amount,
And digital filtering is carried out after attitude rectification, the height acceleration after determining digital filtering；It is corresponding according to left and right sides rail
Height acceleration after vertical deviation data and the digital filtering determines the corresponding height number of left and right sides rail respectively
According to.
Step 411 carries out attitude rectification to the transverse acceleration according to pre-set accelerometer attitude rectification amount,
And digital filtering is carried out after attitude rectification, the rail after determining digital filtering is to acceleration；It is corresponding according to left and right sides rail
Rail after lateral displacement data and the digital filtering determines rail corresponding rail in the left and right sides to number respectively to acceleration
According to.
Step 412 determines inclination angle of the detection beam relative to rail according to the corresponding vertical deviation data of left and right sides rail；
Respectively to the rate of roll, shake the head angular speed and transverse acceleration progress signal condition filtering processing, and according to signal tune
The inclination data of rate of roll, shake the head angular speed and the determining detection beam of transverse acceleration after reason filtering processing；According to detection
Beam determines the horizontal data of rail relative to the inclination angle of rail and the inclination data of the detection beam.
Step 413, the twist irregularity data that train rail is determined according to the horizontal data.
Step 414, embedding assembly machine equipment judge each irregularity geometry according to the pre-set normal data that transfinites
Parameter whether there is overrun condition.
Step 415, if it exists overrun condition, according to there are parameter type, the numbers of the irregularity geometric parameter of overrun condition
Value size and the corresponding location of rail information formation of irregularity geometric parameter transfinite and judge data.
Step 416, the Wave data for generating irregularity geometric parameter, judge data and the Wave data for described transfinite
It is sent to the central station equipment.
It is worth noting that a kind of specific implementation of train rail detection method provided in an embodiment of the present invention can be with
Referring to the corresponding system embodiment of above-mentioned Fig. 2, details are not described herein again.
A kind of train rail detection method provided in an embodiment of the present invention, wherein will test beam is set to train body chassis
Place, is greatly reduced installation requirement, reliability and safety is sharply increased；It is set inside train body using embedded computer
Standby, occupied space is smaller, can be placed in below train seats and in other small spaces, does not influence car operation；In addition it adopts
It with integrated inertia component, is set in detection beam, is passed without installing various accelerometers and gyro etc. inside and outside train
Sensor, so that the structure of whole system is simple, equipment volume is small, light-weight；In addition, Laser video camera component uses integrated sensing
Device, when meeting with failure, without carrying out field calibration, directly can integral replacing, plug and play；In addition, the train in the present invention
Rail detection system carries out spatial sampling triggering using navigation positioning system, without installing encoder, eliminates train axle box
The complex work of transformation also no longer needs to separately maintain；In addition the present invention is directly logical by calculated result by wireless transmission method
It crosses wireless network to be sent at central station equipment, it is no longer necessary to personnel's real-time edition data ON TRAINS.It can be seen that
The present invention is various caused by can overcoming the problems, such as existing rail detection system structure is complicated.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Specific embodiment is applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of train rail detection system, which is characterized in that including embedding assembly machine equipment, detection beam, inertia component with
And the Laser video camera component using integrated transducer；The inertia component is set to the detection beam center；The inspection
Beam is surveyed to be set at train body chassis；The embedding assembly machine equipment is set to inside train body；The Laser video camera
Component is installed on the detection beam two sides；The inertia component and the Laser video camera component and the embedding assembly machine equipment
Communication connection；The embedding assembly machine equipment passes through wireless network and external navigation positioning system and central station
Equipment is separately connected；
The embedding assembly machine equipment for receiving the space time information of navigation positioning system, and calculates sampling pulse number；According to
The sampling pulse number generates sampling pulse signal, and sends the sampling pulse to the inertia component and Laser video camera component
Signal；
The Laser video camera component is radiated at a left side for after receiving the sampling pulse signal, issuing Linear Laser respectively
On the rail profile of right two sides, and rail profile image is shot by pre-set sample frequency, and by the rail profile figure
As being sent to the embedding assembly machine equipment；
The inertia component, for after receiving the sampling pulse signal, measuring appearance of the detection beam relative to rail
State parameter, and the attitude parameter is sent to the embedding assembly machine equipment；The attitude parameter include transverse acceleration,
Vertical acceleration, inclination angle, rate of roll and angular speed of shaking the head；
The embedding assembly machine equipment is also used to be determined the detection beam relative to rail according to the rail profile image
Lateral displacement data and vertical deviation data；According to the lateral displacement data, vertical deviation data and the attitude parameter
Calculation processing is carried out, determines the irregularity geometric parameter of train rail；Judgement of transfiniting is carried out according to the irregularity geometric parameter,
Formation is transfinited the Wave data for judging data, and generating irregularity geometric parameter；Described transfinite is judged into data and the waveform
Data are sent to the central station equipment；
Wherein, the irregularity geometric parameter includes: height data, rail to data, gauge data, horizontal data and twist irregularity
Data；
The embedding assembly machine equipment, is also used to:
The gauge data of train rail are determined according to the lateral displacement data；
Attitude rectification is carried out to the vertical acceleration according to pre-set accelerometer attitude rectification amount, and in attitude rectification
After carry out digital filtering, the height acceleration after determining digital filtering；According to the corresponding vertical deviation data of left and right sides rail
And the height acceleration after the digital filtering, the corresponding height data of left and right sides rail are determined respectively；
Attitude rectification is carried out to the transverse acceleration according to pre-set accelerometer attitude rectification amount, and in attitude rectification
After carry out digital filtering, the rail after determining digital filtering is to acceleration；According to the corresponding lateral displacement data of left and right sides rail
And the rail after the digital filtering determines rail corresponding rail in the left and right sides to data respectively to acceleration；
Inclination angle of the detection beam relative to rail is determined according to the corresponding vertical deviation data of left and right sides rail；Respectively to the rolling
Dynamic angular speed shakes the head angular speed and transverse acceleration carries out signal condition filtering processing, and after being filtered according to signal condition
Rate of roll, angular speed and the transverse acceleration of shaking the head determine the inclination data of detection beam；According to detection beam relative to rail
Inclination angle and the inclination data of the detection beam determine the horizontal data of rail；
The twist irregularity data of train rail are determined according to the horizontal data.
2. train rail detection system according to claim 1, which is characterized in that the embedding assembly machine equipment, tool
Body is used for:
The sampling pulse number is counted, and judges whether the sampling pulse number reaches pre-set given threshold；
When the sampling pulse number reaches pre-set given threshold, the counting of sampling pulse number is reset, and produces to rise and adopt
Sample pulse signal.
3. train rail detection system according to claim 2, which is characterized in that the inertia component includes three axial tops
Spiral shell device and accelerometer；
The inertia component, specifically for determining transverse acceleration of the detection beam relative to rail by the accelerometer
And vertical acceleration；The inclination angle for detecting beam relative to rail, rate of roll are determined by described three axial gyroscopic apparatus
And angular speed of shaking the head.
4. train rail detection system according to claim 3, which is characterized in that the embedding assembly machine equipment, tool
Body is used for:
According to the rail profile image, global coordinate system is established, and carries out global coordinate system, camera coordinate system and image
Relationship conversion between coordinate system, extracts the unilateral lateral displacement component and unilateral vertical deviation component of left and right sides rail；
According to the unilateral lateral displacement component of the left and right sides rail, lateral displacement number of the detection beam relative to rail is determined
According to；
According to the unilateral vertical deviation component of left and right sides rail, vertical deviation data of the detection beam relative to rail are determined.
5. train rail detection system according to claim 4, which is characterized in that the embedding assembly machine equipment, tool
Body is also used to:
According to the pre-set normal data that transfinites, judge each irregularity geometric parameter with the presence or absence of overrun condition；
Overrun condition if it exists, according to there are the parameter types of the irregularity geometric parameter of overrun condition, numerical values recited and not
Smoothly the corresponding location of rail information formation of geometric parameter, which is transfinited, judges data.
6. a kind of train rail detection method, which is characterized in that it is applied to a kind of train rail detection system, the system comprises
Embedding assembly machine equipment, detection beam, inertia component and the Laser video camera component using integrated transducer；The inertia group
Part is set to the detection beam center；The detection beam is set at train body chassis；The embedded computer is set
It is standby to be set to inside train body；The Laser video camera component is installed on the detection beam two sides；The inertia component and described
Laser video camera component and the embedding assembly machine equipment communicate to connect；The embedding assembly machine equipment by wireless network with
External navigation positioning system and central station equipment are separately connected；
The described method includes:
The embedding assembly machine equipment receives the space time information of navigation positioning system, and calculates sampling pulse number；According to described
Sampling pulse number generates sampling pulse signal, and sends the sampling pulse letter to the inertia component and Laser video camera component
Number；
The Laser video camera component issues Linear Laser and is radiated at the left and right sides respectively after receiving the sampling pulse signal
Rail profile on, and by pre-set sample frequency shoot rail profile image, and by the rail profile image send
To the embedding assembly machine equipment；
The inertia component after receiving the sampling pulse signal, join by the posture for measuring the detection beam relative to rail
Number, and the attitude parameter is sent to the embedding assembly machine equipment；The attitude parameter includes transverse acceleration, vertical
Acceleration, inclination angle, rate of roll and angular speed of shaking the head；
The embedding assembly machine equipment determines lateral position of the detection beam relative to rail according to the rail profile image
Move data and vertical deviation data；It is counted according to the lateral displacement data, vertical deviation data and the attitude parameter
Calculation processing, determines the irregularity geometric parameter of train rail；Judgement of transfiniting is carried out according to the irregularity geometric parameter, is formed super
Limit judges data, and generates the Wave data of irregularity geometric parameter；Described transfinite is judged into data and Wave data hair
It send to the central station equipment；
Wherein, the irregularity geometric parameter includes: height data, rail to data, gauge data, horizontal data and twist irregularity
Data；It is described that calculation processing is carried out according to the lateral displacement data, vertical deviation data and the attitude parameter, determine column
The irregularity geometric parameter in track road, comprising:
The embedding assembly machine equipment determines the gauge data of train rail according to the lateral displacement data；
Attitude rectification is carried out to the vertical acceleration according to pre-set accelerometer attitude rectification amount, and in attitude rectification
After carry out digital filtering, the height acceleration after determining digital filtering；According to the corresponding vertical deviation data of left and right sides rail
And the height acceleration after the digital filtering, the corresponding height data of left and right sides rail are determined respectively；
Attitude rectification is carried out to the transverse acceleration according to pre-set accelerometer attitude rectification amount, and in attitude rectification
After carry out digital filtering, the rail after determining digital filtering is to acceleration；According to the corresponding lateral displacement data of left and right sides rail
And the rail after the digital filtering determines rail corresponding rail in the left and right sides to data respectively to acceleration；
Inclination angle of the detection beam relative to rail is determined according to the corresponding vertical deviation data of left and right sides rail；Respectively to the rolling
Dynamic angular speed shakes the head angular speed and transverse acceleration carries out signal condition filtering processing, and after being filtered according to signal condition
Rate of roll, angular speed and the transverse acceleration of shaking the head determine the inclination data of detection beam；According to detection beam relative to rail
Inclination angle and the inclination data of the detection beam determine the horizontal data of rail；
The twist irregularity data of train rail are determined according to the horizontal data.
7. train rail detection method according to claim 6, which is characterized in that described to be produced according to the sampling pulse number
Raw sampling pulse signal, comprising:
The embedding assembly machine equipment counts the sampling pulse number, and judges whether the sampling pulse number reaches
Pre-set given threshold；
When the sampling pulse number reaches pre-set given threshold, the counting of sampling pulse number is reset, and produces to rise and adopt
Sample pulse signal.
8. train rail detection method according to claim 7, which is characterized in that the inertia component includes three axial tops
Spiral shell device and accelerometer；
Attitude parameter of the measurement detection beam relative to rail, comprising:
The inertia component by the accelerometer determine it is described detection beam relative to rail transverse acceleration and it is vertical plus
Speed；The detection beam is determined relative to the inclination angle of rail, rate of roll by described three axial gyroscopic apparatus and is shaken the head
Angular speed.
9. train rail detection method according to claim 8, which is characterized in that the embedding assembly machine equipment according to
The rail profile image determines lateral displacement data and vertical deviation data of the detection beam relative to rail, comprising:
The embedded computer establishes global coordinate system according to the rail profile image, and carries out global coordinate system, camera shooting
The left and right sides unilateral lateral displacement component of rail and unilateral is extracted in relationship conversion between machine coordinate system and image coordinate system
Vertical deviation component；
According to the unilateral lateral displacement component of the left and right sides rail, lateral displacement number of the detection beam relative to rail is determined
According to；
According to the unilateral vertical deviation component of left and right sides rail, vertical deviation data of the detection beam relative to rail are determined.
10. train rail detection method according to claim 9, which is characterized in that described according to the irregularity geometry
Parameter carries out judgement of transfiniting, and formation, which is transfinited, judges data, comprising:
Whether the embedding assembly machine equipment judges each irregularity geometric parameter according to the pre-set normal data that transfinites
There are overrun conditions；
Overrun condition if it exists, according to there are the parameter types of the irregularity geometric parameter of overrun condition, numerical values recited and not
Smoothly the corresponding location of rail information formation of geometric parameter, which is transfinited, judges data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711233863.3A CN108032868B (en) | 2017-11-30 | 2017-11-30 | A kind of train rail detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711233863.3A CN108032868B (en) | 2017-11-30 | 2017-11-30 | A kind of train rail detection system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032868A CN108032868A (en) | 2018-05-15 |
| CN108032868B true CN108032868B (en) | 2019-02-19 |
Family
ID=62094482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711233863.3A Active CN108032868B (en) | 2017-11-30 | 2017-11-30 | A kind of train rail detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032868B (en) |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109061669B (en) * | 2018-07-05 | 2023-08-29 | 中铁电气化局集团有限公司 | Limit detection system and method thereof |
| CN109910947B (en) * | 2019-01-28 | 2020-12-01 | 北京城建设计发展集团股份有限公司 | System and method for dynamically monitoring and intelligently analyzing health state of loaded track |
| CN109878550A (en) * | 2019-03-08 | 2019-06-14 | 哈尔滨工程大学 | A kind of sound state rail detection system and implementation method based on Beidou positioning device |
| CN109798862B (en) * | 2019-03-19 | 2020-10-02 | 西安研硕信息技术有限公司 | Rail height irregularity measuring method based on single-axis gyroscope |
| CN110174089A (en) * | 2019-05-21 | 2019-08-27 | 中国铁道科学研究院集团有限公司 | High-speed railway rail level locally settles detection method and system |
| CN110143218B (en) * | 2019-06-27 | 2020-07-31 | 合肥工业大学 | Method and device for detecting straightness and torsion angle of high-speed railway turnout |
| CN112240752B (en) * | 2019-07-17 | 2022-06-07 | 中车长春轨道客车股份有限公司 | Test device and test method for vehicle-mounted inspection of dynamic envelope line of rail vehicle |
| CN110588709A (en) * | 2019-09-10 | 2019-12-20 | 中国铁道科学研究院集团有限公司 | Railway infrastructure detection system |
| CN110926541A (en) * | 2019-12-12 | 2020-03-27 | 同济大学 | Straddle type monorail PC track beam detection device |
| ES2881448B2 (en) * | 2020-05-25 | 2022-07-19 | Univ Sevilla | SYSTEM AND METHOD OF MEASUREMENT OF ROADS GEOMETRY |
| CN112064433A (en) * | 2020-08-07 | 2020-12-11 | 苏州天麓智能科技有限责任公司 | Remote control type track geometric parameter and limit integrated detection device and detection system |
| CN112683196B (en) * | 2020-12-07 | 2022-10-25 | 中国铁道科学研究院集团有限公司基础设施检测研究所 | Method and device for measuring steel rail profile |
| CN112683195B (en) * | 2020-12-07 | 2022-10-25 | 中国铁道科学研究院集团有限公司基础设施检测研究所 | Steel rail longitudinal calibration method and device |
| CN113358053B (en) * | 2021-04-27 | 2023-02-24 | 中车青岛四方机车车辆股份有限公司 | Track irregularity detection and evaluation system and method, electronic equipment and track vehicle |
| CN113446982B (en) * | 2021-06-24 | 2023-01-24 | 中国铁道科学研究院集团有限公司 | Dynamic calibration method and device for track geometry detection system |
| CN113466247B (en) * | 2021-06-30 | 2023-09-12 | 中国铁道科学研究院集团有限公司 | Rail weld detection method and system based on inertial technology and machine vision fusion |
| CN113895477A (en) * | 2021-08-25 | 2022-01-07 | 陈春 | Tram cell type rail track geometric parameters test system |
| CN114162170B (en) * | 2021-10-29 | 2023-09-12 | 北京自动化控制设备研究所 | Track measurement system and measurement method |
| CN114088434A (en) * | 2021-11-18 | 2022-02-25 | 南京铁道职业技术学院 | System and method for detecting wheel axle vibration of urban rail vehicle based on laser ranging |
| CN114670898A (en) * | 2022-04-19 | 2022-06-28 | 北京运达华开科技有限公司 | Multifunctional track detection system |
| CN115143933B (en) * | 2022-06-14 | 2023-12-05 | 中国铁道科学研究院集团有限公司 | Track line height irregularity detection method and device and vehicle-mounted track detection system |
| CN114964046B (en) * | 2022-06-21 | 2023-06-02 | 湖南科天健光电技术有限公司 | Method, device, equipment and medium for measuring rail profile |
| CN115257857B (en) * | 2022-09-28 | 2022-12-16 | 西南交通大学 | Rail surface triangular pit identification method based on inertia principle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202180835U (en) * | 2011-08-16 | 2012-04-04 | 成都唐源电气有限责任公司 | Non-contact type track safety state detecting device |
| CN205706704U (en) * | 2016-06-20 | 2016-11-23 | 石家庄铁道大学 | A kind of railroad track Geometric irregularity is dynamical characteristic test bed |
| CN106192632A (en) * | 2016-08-22 | 2016-12-07 | 合肥德泰科通测控技术有限公司 | The detection method of track flatness |
| CN206437013U (en) * | 2017-02-09 | 2017-08-25 | 中国铁道科学研究院 | Track detecting beam for high-speed integrated detection car |
| CN107284473A (en) * | 2017-06-21 | 2017-10-24 | 北京铁科英迈技术有限公司 | Rail detection system and method |
-
2017
- 2017-11-30 CN CN201711233863.3A patent/CN108032868B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202180835U (en) * | 2011-08-16 | 2012-04-04 | 成都唐源电气有限责任公司 | Non-contact type track safety state detecting device |
| CN205706704U (en) * | 2016-06-20 | 2016-11-23 | 石家庄铁道大学 | A kind of railroad track Geometric irregularity is dynamical characteristic test bed |
| CN106192632A (en) * | 2016-08-22 | 2016-12-07 | 合肥德泰科通测控技术有限公司 | The detection method of track flatness |
| CN206437013U (en) * | 2017-02-09 | 2017-08-25 | 中国铁道科学研究院 | Track detecting beam for high-speed integrated detection car |
| CN107284473A (en) * | 2017-06-21 | 2017-10-24 | 北京铁科英迈技术有限公司 | Rail detection system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108032868A (en) | 2018-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108032868B (en) | A kind of train rail detection system and method | |
| CN107284473A (en) | Rail detection system and method | |
| CN105136115B (en) | A kind of method and apparatus of automatic measurement tunnel cross-section deformation | |
| CN108106562B (en) | Contact net measuring method and device | |
| US20140336928A1 (en) | System and Method of Automated Civil Infrastructure Metrology for Inspection, Analysis, and Information Modeling | |
| CN101314932B (en) | Camera shooting measuring method for track geometric parameter | |
| CN101493318B (en) | Rudder deflection angle synchronization dynamic measurement system and implementing method thereof | |
| CN107299568A (en) | A kind of track dynamic measuring system and method | |
| CN110007354B (en) | Device and method for measuring flight parameters of semi-aviation transient electromagnetic receiving coil of unmanned aerial vehicle | |
| CN104315346B (en) | A kind of in-pipeline detector moves towards measurement method of parameters with channel bend | |
| CN109664797A (en) | Rail net detection system and detection vehicle | |
| CN110174089A (en) | High-speed railway rail level locally settles detection method and system | |
| CN106524924B (en) | Optical inertia combination-based rail inspection vehicle position and attitude measurement system and method | |
| CN104182614A (en) | System and method for monitoring attitude of mechanical arm with six degrees of freedom | |
| CN206781779U (en) | Laser scanning rail gauge measuring apparatus under a kind of track checking car | |
| CN110108255A (en) | Universal mobile data acquisition and processing tunnel detection system for multiple scanners | |
| CN108286944A (en) | Award streaming contact rail detection system in train lower part | |
| CN114993263B (en) | High-precision unmanned aerial vehicle mapping system for building based on level point positioning | |
| CN111895996A (en) | High-speed track detection system and method | |
| RU116862U1 (en) | DEVICE FOR DETERMINING SPATIAL PARAMETERS OF OBJECTS OF RAILWAY INFRASTRUCTURE | |
| CN108318011A (en) | A method of construction site periphery displacement is monitored by UAV flight's total powerstation | |
| CN109506677A (en) | High precision measurement based on small rail car verifies system and method | |
| CN112067058A (en) | Automatic monitoring equipment for detecting karst channel and use method | |
| CN106323335B (en) | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof | |
| CN104655133B (en) | A kind of vehicle-mounted lifting mast platform stance dynamic measurement method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 2, Da Liu Shu Road, Haidian District, Beijing Applicant after: China Railway Scientific Research Institute Group Co., Ltd. Applicant after: Institute of infrastructure inspection, China Railway Research Institute Group Co., Ltd. Applicant after: Beijing IMAP Technology Co., Ltd. Address before: No. 2, Da Liu Shu Road, Haidian District, Beijing Applicant before: China Academy of Railway Sciences Applicant before: Infrastructure Testing Institute of China Academy of Railway Sciences Applicant before: Beijing IMAP Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |