CN108426601A

CN108426601A - A kind of orbital plane control net node working method and device

Info

Publication number: CN108426601A
Application number: CN201710074787.XA
Authority: CN
Inventors: 钱浙滨
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-02-12
Filing date: 2017-02-12
Publication date: 2018-08-21

Abstract

The present invention provides a kind of orbital plane control net node working method and device, the method includes：It is transmitted by wired or wireless channel and measures at least one of control instruction, measurement data, orbital plane control point identification information, the measurement point coordinates at orbital plane control point and beam steering guidance information；At least one of beam of sound and light beam are sent and/or received by the measurement point at orbital plane control point；Any one of positioning, ranging, object detection and air environment detection information needed is obtained using at least one of the beam of sound and light beam.It can be used for orbital plane control point position measure of the change, at least one of terminal positioning, contact net positioning in railway roadbed region, high certainty of measurement is efficient, and reliability is high.

Description

Working method and device of track surface control network node

Technical Field

The invention relates to the field of automatic detection control, in particular to a working method and a working device of a track surface control network node.

Background

The track surface Control Point (CPIII) is a basic means for detecting track smoothness and track bed position deformation, and in the conventional measurement based on CPIII, CPIII measuring devices, including a measuring prism, a prism connecting bolt and the like, are usually placed on a CPIII control point embedded part.

Along with the expansion of track traffic construction and operation scale, how to improve smooth-going detection efficiency of track and detection precision becomes the problem of industry concern, there is the shortcoming of inefficiency in the current method of placing the prism based on CPIII control point department, and, the position of CPIII control point can lead to based on CPIII control point's measurement to be difficult to guarantee because the ballast bed deformation or the unstable skew that takes place of base, and how to monitor CPIII's displacement and improve the measurement efficiency based on CPIII control point are the problem that needs to solve.

From the perspective of monitoring the deformation of the CPIII control point, a technology capable of accurately monitoring the displacement of the base of the CPIII control point in real time is lacked at present.

From the perspective of improving the measurement efficiency based on the CPIII control point, the measurement efficiency is mainly improved and the measurement precision is ensured in the smooth measurement of the track. The detection items of the new track and the operation track comprise: height difference between two running rails, distance between the running rails and curvature of the rails. These detection items are also summarized as smooth track spacing, smooth direction, smooth vertical direction, and smooth high-low detection between two tracks, and each of these four smoothness items may further include smooth short-wave characteristics, medium-wave characteristics, and long-wave characteristics.

Generally, the four-term smoothness between the two tracks is described by using the relative error between the tracks or in the wavelength interval on the tracks.

The track center line smoothness is usually described in terms of absolute distance from the measurement reference point CPIII.

The prior art for measuring the relative error of the smoothness of the track comprises a measuring method for measuring the irregularity of a multi-measuring-point floating positioning surface, with the application number of CN201110082835, and the invention name is that the measuring method comprises the following steps: the method comprises the steps that a plurality of measuring mechanisms are arranged on an installation reference, a determined relative position relationship exists between the measuring mechanisms, a displacement measuring sensor is arranged on each measuring mechanism, basic irregularity data of a measured object are obtained through the relative position relationship between a plurality of measuring points and the surface of the measured object, and irregularity data of the surface of the measured object with different wavelengths are obtained through calculation.

The existing measurement mode of the track control surface node measurement mark (prism) and the total station has low measurement efficiency, poor timeliness of displacement measurement of the track surface control point, and incapability of realizing contact network positioning, vehicle positioning and obstacle positioning in time.

The invention provides a working method and a working device of a track surface control network node, which are used for overcoming at least one of the defects of low measurement efficiency, poor timeliness of displacement measurement of the track surface control point, incapability of realizing contact network positioning, vehicle positioning and obstacle positioning in time in the prior art.

Disclosure of Invention

The invention provides a working method of a track surface control network node, which comprises the following steps:

transmitting at least one of a measurement control command, measurement data, track plane control point identification information, measurement point coordinates of a track plane control point, and beam steering guidance information through a wired or wireless channel;

transmitting and/or receiving at least one of acoustic and optical beams through a measurement point of a track surface control point;

acquiring information required for any one of positioning, ranging, object detection, and air environment detection using at least one of the acoustic and optical beams.

The invention provides a node device of a track surface control network, which comprises:

the device comprises a communication module, a beam transceiving module and a measurement processing module; wherein,

the communication module is used for transmitting at least one of a measurement control instruction, measurement data, track surface control point identification information, measurement point coordinates of a track surface control point and beam steering guide information through a wired or wireless channel, and comprises a wireless transmission sub-module and/or a wired transmission sub-module;

the beam transceiver module is used for transmitting and/or receiving at least one of an acoustic beam and an optical beam through a measuring point of a track surface control point, and comprises an acoustic wave transmitting submodule, an acoustic wave receiving submodule, an optical wave transmitting submodule, an optical wave receiving submodule and a prism submodule, a direction-adjusting control submodule and a direction-adjusting servo submodule;

and the measurement processing module is used for acquiring information required by any one of positioning, ranging, object detection and air environment detection by using at least one of the sound wave beam and the light wave beam and comprises an information extraction sub-module.

The method and the device provided by the embodiment of the invention can overcome at least one of the defects of low measurement efficiency, poor timeliness of displacement measurement of the control point of the track surface, and incapability of realizing positioning of a contact network, positioning of a vehicle and positioning of an obstacle in time in the prior art. High efficiency, reliable result and practicability.

Additional features and advantages of the invention will be set forth in the description which follows.

Drawings

Fig. 1 is a flowchart of a working method of a track plane control network node according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating a track plane control network node device according to an embodiment of the present invention.

Examples

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The following describes an example of a working method of the track surface control network node and an example of a track surface control network node device provided by the present invention with reference to the accompanying drawings.

First embodiment, example of operation method of track plane control network node

Referring to fig. 1, an embodiment of a method for operating a track plane control network node provided by the present invention includes the following steps:

step S110, transmitting at least one of a measurement control command, measurement data, track surface control point identification information, measurement point coordinates of a track surface control point, and beam steering guidance information through a wired or wireless channel;

step S120, at least one of acoustic wave beam and optical wave beam is sent and/or received through the measuring point of the track surface control point;

and step S130, acquiring information required by any one of positioning, ranging, object detection and air environment detection by using at least one of the acoustic beam and the optical beam.

The method of the present embodiment, wherein,

the transmitting of at least one of a measurement control command, measurement data, track plane control point identification information, measurement point coordinates of a track plane control point, and beam steering guidance information through a wired or wireless channel includes at least one of:

transmitting at least one of a measurement control command, measurement data, track plane control point identification information, measurement point coordinates of a track plane control point, and beam steering guidance information between the track plane control point and a network-side node;

transmitting at least one of a measurement control command, measurement data, track surface control point identification information, measurement point coordinates of a track surface control point, and beam steering guidance information between the track surface control point and its adjacent track surface control point;

transmitting at least one of a measurement control command, measurement data, track surface control point identification information, measurement point coordinates of a track surface control point, and beam steering guidance information between the track surface control point and a positioning terminal in a track bed area; and

at least one of a measurement control command, measurement data, track surface control point identification information, and measurement point coordinates of the track surface control point is transmitted between the track surface control point and the measurement control node.

The measurement control node in this embodiment is configured to control a work item or a work mode of a track plane control network node, and includes: and the control terminal is positioned in a measurement control center or a measurement site.

The network side node in this embodiment is configured to store at least one of measurement data, transmit measurement data, process measurement data, store node information of a track plane control network, transmit node information of the track plane control network, and process node information of the track plane control network; the method comprises at least one of a measurement control node, a computer server and a computer terminal.

The method of the present embodiment, wherein,

the transmitting and/or receiving of at least one of the acoustic and optical beams by the measuring point of the track surface control point comprises transmitting and/or receiving at least one of the acoustic and optical beams by the measuring point of the track surface control point by using a local active component, and/or reflecting the incident beam by the measuring point of the track surface control point by using an automatic steering prism; wherein,

the method for transmitting and/or receiving at least one of sound wave beams and light beams by using the local active component through the measuring point of the track surface control point comprises at least one of the following steps:

placing a sound source on the track surface control point measurement mark embedded part or the track surface control point base to enable the center point of the sound source to be superposed with the measurement point position of the track surface control point, and/or placing a light source on the track surface control point measurement mark embedded part or the track surface control point base to enable the center point of the light source to be superposed with the measurement point position of the track surface control point;

placing a reflecting surface on the track surface control point measuring mark embedded part or the track surface control point base, enabling an acoustic beam generated by a local sound source to be reflected by a point which is superposed with the measuring point of the track surface control point on the reflecting surface and an adjacent region thereof and then to be emitted, and/or enabling an optical beam generated by a local light source to be reflected by a point which is superposed with the measuring point of the track surface control point on the reflecting surface and an adjacent region thereof and then to be emitted;

placing an acoustic wave sensor on the track surface control point measurement mark embedded part or the track surface control point base to enable the sensing center point of the acoustic wave sensor to be superposed with the measurement point of the track surface control point, and/or placing an optical wave sensor on the track surface control point measurement mark embedded part or the track surface control point base to enable the sensing center point of the optical wave sensor to be superposed with the measurement point of the track surface control point; and

placing a reflecting surface on the track surface control point measuring mark embedded part or the track surface control point base, enabling the local acoustic wave sensor to receive acoustic wave signals reflected by a point on the reflecting surface, which is coincident with the measuring point of the track surface control point, and an adjacent region thereof, and/or enabling the local optical wave sensor to receive optical wave signals reflected by a point on the reflecting surface, which is coincident with the measuring point of the track surface control point, and an adjacent region thereof;

the coordinate of the measuring point of the track surface control point is the coordinate of the measuring point of the CPIII control point contained in the track surface control network, or the coordinate obtained by correcting one dimension of the three-dimensional coordinates of the measuring points of different CPIII control points contained in the track surface control network by using the same correction amount.

In this embodiment, the measurement point is a point represented by a point location of a prism reflection central point in a CPIII measurement mark in the conventional measurement based on a track surface control point, and in the embodiment of the present invention, the measurement point is a point location for measuring a reference, including a point represented by a point location of a prism reflection central point in a CPIII measurement mark in the conventional measurement based on a track surface control point, or any one of a sound source central point, a light source central point, a sound wave sensor central point, a light wave sensor central point, a prism reflection central point, a specific point on a light reflection surface and a point location of a sound on a specific point on a light reflection surface when a track surface control network node is laid; when the track surface control network node comprises the prism as a measurement mark, the measurement point of the reflection central point of the prism and any one of the sound source central point, the light source central point, the sound wave sensor central point, the light wave sensor central point, the reflection central point of the prism, the specific point on the light reflection surface and the specific point on the sound reflection surface belong to different measurement points at the same track surface control point.

The installation method for the center point coincidence of the acoustic wave sensor and the optical wave sensor comprises the following steps:

the method is characterized in that a circular acoustic wave sensor is used, the central point of the circular acoustic wave sensor is located at the center of a circular sound receiving surface, a light wave sensor is placed at the central point of the circular acoustic wave sensor, and the central point of the light wave sensor is coincided with the central point of the circular acoustic wave sensor.

The installation method for the coincidence of the center point of the sound source and the center point of the light source comprises the following steps:

the method comprises the steps of using a circular sound source, enabling the central point of the circular sound source to be located at the center of a circular sound production surface, placing a light source at the central point of the circular sound source and enabling the central point of the light source to coincide with the central point of the circular sound source.

The method of the present embodiment, wherein,

placing a sound source on the track surface control point survey mark embedded part or the track surface control point base to enable the position of the center point of the sound source to coincide with the position of the measurement point of the track surface control point, and/or placing a light source on the track surface control point survey mark embedded part or the track surface control point base to enable the position of the center point of the light source to coincide with the position of the measurement point of the track surface control point, further comprising:

adjusting the light beam direction of the light source to enable the light beam direction to be directed to any one of the adjacent track surface control points, the track bed area positioning terminal, the track bed area and the overhead line system; and/or

And adjusting the sound beam direction of the sound source to enable the sound beam direction to be directed to any one of the adjacent track surface control points, the positioning terminal in the track bed area, the track bed area and the overhead contact system.

The method for measuring the track surface control point includes the steps that a reflection surface is placed on a track surface control point embedded part or a track surface control point base, so that an acoustic beam generated by a local sound source is reflected by a point which is coincident with the measuring point of the track surface control point on the reflection surface and an adjacent region thereof and then is emitted, and/or an optical beam generated by a local light source is reflected by a point which is coincident with the measuring point of the track surface control point on the reflection surface and an adjacent region thereof and then is emitted, and the method further includes the following steps:

adjusting the angle of the reflecting surface to enable the reflected light beam to point to any one of the adjacent track surface control points, the track bed area positioning terminal, the track bed area and the contact net; and/or

And adjusting the angle of the reflecting surface to enable the reflected sound wave beam to point to any one of the adjacent track surface control point, the positioning terminal in the track bed area, the track bed area and the overhead contact system.

The method of the present embodiment, wherein,

the adjusting of the light beam direction of the light source and/or the adjusting of the sound beam direction of the sound source to enable the light beam direction to be directed to any one of the adjacent track surface control points, the track bed area positioning terminal, the track bed area and the overhead contact system comprises the following steps:

acquiring position information of any one of adjacent track surface control points, track bed area positioning terminals, track bed areas and overhead contact lines through a wireless channel or a read position database;

determining an angle value or an angle range of the azimuth and/or the pitch angle of any one of the adjacent track surface control points, the track bed area positioning terminal, the track bed area and the overhead contact system relative to the measurement point of the track surface control point where the light source or the sound source is located by using the position information;

adjusting the beam pointing direction of the light source within a predetermined angle range containing the angle value, or within the angle range, and receiving at least one of a reflected signal of the light beam, a feedback signal of the light beam received by the target node, and a feedback signal of a deviation error of the light beam at the target node; and/or adjusting a sonic beam pointing direction of the sound source within an angle range including the angle value, or within the angle range, and receiving at least one of a reflected signal of the sonic beam, a feedback signal of the sonic beam received by the target node, and a feedback signal of a deviation error of the sonic beam at the target node;

the angle of adjustment plane makes its reflected light beam and/or sound wave beam point to any one of adjacent track face control point, railway roadbed regional location terminal, railway roadbed region and contact net, includes:

adjusting the orientation of the optical beam within a predetermined angle range containing the angle value or within the angle range by adjusting the reflecting surface, and receiving at least one of a reflected signal of the optical beam, a feedback signal of the optical beam received by the target node, and a feedback signal of a deviation error of the optical beam at the target node; and/or adjusting the acoustic beam pointing direction by adjusting the reflecting surface within an angle range containing the angle value, or within the angle range, and receiving at least one of a reflected signal of the acoustic beam, a feedback signal that the acoustic beam is received by the target node, and a feedback signal of an offset error of the acoustic beam at the target node.

In this embodiment, as an implementation manner, a method for adjusting the optical beam pointing direction of a light source and receiving at least one of a reflection signal of an optical beam, a feedback signal of the optical beam received by a target node, and a feedback signal of a deviation error of the optical beam at the target node includes the following steps:

the light source is rotated by taking a vertical line passing through the center point of the light source as a rotation center line, so that the azimuth angle adjustment of the light beam pointing direction of the light source is realized, and/or the light source is rotated by taking a horizontal line passing through the center point of the light source as a rotation center line, so that the pitch angle adjustment of the light beam pointing direction of the light source is realized.

In the present embodiment, as one implementation, a method for adjusting a sound beam directivity of a sound source and receiving at least one of a reflection signal of the sound beam, a feedback signal of the sound beam received by a target node, and a feedback signal of a deviation error of the sound beam at the target node, includes the steps of:

the method comprises the following steps of enabling a sound source to rotate by taking a vertical line penetrating through the center point of the sound source as a rotation center line, and realizing the adjustment of an azimuth angle pointed by a sound beam of the sound source, and/or enabling the sound source to rotate by taking a horizontal line penetrating through the center point of the sound source as the rotation center line, and realizing the adjustment of a pitch angle pointed by the sound beam of the sound source.

In this embodiment, as an implementation manner, a method for adjusting the direction of an optical beam by adjusting a reflecting surface and receiving at least one of a reflection signal of the optical beam, a feedback signal of the optical beam received by a target node, and a feedback signal of a deviation error of the optical beam at the target node includes the following steps;

the reflecting surface is rotated by taking a vertical line passing through a reflecting point of the reflecting surface as a rotating center line, so that the directional azimuth angle adjustment of the light beam is realized, and/or the reflecting surface is rotated by taking a horizontal line passing through the reflecting point of the reflecting surface as the rotating center line, so that the directional pitch angle adjustment of the light beam is realized; the reflection point is an incidence point of a central point of a light beam generated by the local light source.

In this embodiment, as an implementation manner, a method for implementing adjustment of the acoustic beam pointing direction by adjusting the reflection surface and receiving at least one of a reflection signal of the acoustic beam, a feedback signal of the acoustic beam received by the target node, and a feedback signal of a deviation error of the acoustic beam at the target node includes:

the reflecting surface is rotated by taking a vertical line passing through a reflecting point of the reflecting surface as a rotating center line, so that the azimuth angle pointed by the sound beam is adjusted, and/or the reflecting surface is rotated by taking a horizontal line passing through the reflecting point of the reflecting surface as the rotating center line, so that the pitch angle pointed by the sound beam is adjusted; the reflection point is the incident point of the central point of the sound beam generated by the local sound source.

In this embodiment, the reflective surface is a reflective surface of a reflector or a reflective film.

The method of the present embodiment, wherein,

the method comprises the following steps that a sound wave sensor is placed on a track surface control point measurement mark embedded part or a track surface control point base to enable the sensing center point of the sound wave sensor to be coincident with the measuring point of a track surface control point, and/or an optical wave sensor is placed on a track surface control point measurement mark embedded part or a track surface control point base to enable the sensing center point of the optical wave sensor to be coincident with the measuring point of the track surface control point, and the method further comprises at least one of the following steps:

receiving a reflected beam of the locally transmitted acoustic beam, and/or receiving a reflected beam of the locally transmitted optical beam;

receiving a retransmitted beam of a locally transmitted acoustic beam and/or receiving a retransmitted beam of a locally transmitted optical beam;

receiving acoustic beams transmitted by adjacent track surface control points and/or receiving optical beams transmitted by track surface control points; and

receiving sound wave beams sent by a positioning terminal in a track bed area and/or receiving light wave beams sent by the positioning terminal in the track bed area;

the method comprises the following steps that a reflection surface is arranged on a track surface control point measurement mark embedded part or a track surface control point base, so that a local acoustic wave sensor receives acoustic wave signals reflected by a point on the reflection surface, which is coincident with the measurement point of a track surface control point, and an adjacent area of the reflection surface, and/or a local optical wave sensor receives optical wave signals reflected by a point on the reflection surface, which is coincident with the measurement point of the track surface control point, and an adjacent area of the reflection surface, and further comprises at least one of the following steps:

the method comprises the steps of receiving sound wave beams sent by positioning terminals in a track bed area and/or receiving light wave beams sent by the positioning terminals in the track bed area.

The method of the present embodiment, wherein,

the method for receiving the acoustic wave beam by using the acoustic wave sensor with the sensing center point coincident with the measuring point of the track surface control point or receiving the optical wave beam by using the optical wave sensor with the sensing center point coincident with the measuring point of the track surface control point comprises the following steps:

determining an angle value or an angle range of any one of an adjacent track surface control point, a track bed area positioning terminal, a track bed area and a contact net relative to the azimuth and/or the pitch angle of the measurement point of the track surface control point where the sensor is located by using the position information;

within a predetermined angle range containing the angle value or within the angle range, adjusting the direction of a receiving directional diagram of the sensor to enable the receiving directional diagram to be directed to a transmitting or reflecting node of the signal; and/or obtaining the position or angle offset of the received signal, and adjusting the receiving directional diagram of the sensor to reduce the offset to be within the incident beam offset error threshold;

the receiving of the sound wave beam by using the reflecting surface or the receiving of the light wave beam by using the reflecting surface comprises the following steps:

determining an angle value or an angle range of the azimuth and/or the pitch angle of any one of the adjacent track surface control points, the track bed area positioning terminal, the track bed area and the overhead contact system relative to the measurement point of the track surface control point where the reflecting surface is located by using the position information;

adjusting the direction of a receiving directional diagram of the sensor to enable the receiving directional diagram to be directed to a transmitting or reflecting node of a signal within a preset angle range containing the angle value or within the angle range by adjusting the reflecting surface; and/or acquiring the position or angle offset of the arrival signal, and adjusting the reflecting surface to realize the adjustment of the direction of the reception directional diagram, so that the position or angle offset of the arrival signal is reduced to be within the deviation error threshold of the incident beam.

In this embodiment, as an implementation manner, the method for adjusting the direction of the receiving directional diagram of the sensor includes the following steps:

the sound wave or light wave sensor is enabled to rotate by taking a vertical line passing through the center point of the sensor as a rotation center line, so that the azimuth angle pointed by the direction of the receiving part of the sensor is adjusted, and/or the sound wave or light wave sensor is enabled to rotate by taking a horizontal line passing through the center point of the sensor as a rotation center line, so that the pitch angle pointed by the direction of the receiving part of the sensor is adjusted.

In this embodiment, as an implementation manner, the direction of the receiving directional diagram of the sensor is adjusted by adjusting the reflecting surface, which includes the following steps;

the reflecting surface is rotated by taking a vertical line passing through a reflecting point of the reflecting surface as a rotating center line, so that the azimuth angle pointed by a receiving directional diagram of the sensor is adjusted, and/or the reflecting surface is rotated by taking a horizontal line passing through the reflecting point of the reflecting surface as the rotating center line, so that the pitch angle pointed by the receiving directional diagram of the sensor is adjusted; the reflection point is an incidence point of the central point of the light beam or the sound beam.

The method of the present embodiment, wherein,

the obtaining information required by any one of positioning, ranging, object detection and air environment detection by using at least one of the acoustic and optical beams comprises at least one of the following steps:

measuring the sound wave round-trip propagation time delay between the measurement points of the track surface control points to determine the sound wave propagation time delay between the track surface control points, and/or measuring the light wave round-trip propagation time delay between the measurement points of the track surface control points to determine the light wave propagation time delay between the track surface control points;

measuring the sound wave back-and-forth propagation delay between the measuring point of the track surface control point and the positioning terminal in the track bed area to determine the sound wave propagation delay between the track surface control point, and/or measuring the light wave back-and-forth propagation delay between the measuring point of the track surface control point and the positioning terminal in the track bed area to determine the light wave propagation delay between the track surface control point and the positioning terminal in the track bed area;

measuring the sound wave back-and-forth propagation delay between the measuring point of the track surface control point and the contact network to determine the sound wave propagation delay between the track surface control point and the contact network, and/or measuring the light wave back-and-forth propagation delay between the track surface control point and the contact network to determine the light wave propagation delay between the track surface control point and the contact network;

measuring the acoustic wave back-and-forth propagation time delay between the measurement point of the track surface control point and the train workshop to determine the acoustic wave propagation time delay between the track surface control point and the train workshop, and/or measuring the optical wave back-and-forth propagation time delay between the track surface control point and the train workshop to determine the optical wave propagation time delay between the track surface control point and the train workshop;

measuring the sound wave back-and-forth propagation delay between the measuring point of the track surface control point and the abnormal object to determine the sound wave propagation delay between the track surface control point and the abnormal object, and/or measuring the light wave back-and-forth propagation delay between the track surface control point and the abnormal object to determine the light wave propagation delay between the track surface control point and the abnormal object;

acquiring the position of a track surface control network node of which the received light beam is shielded by a train or an abnormal object; and

and acquiring the measurement data of the track surface control point on the light wave intensity.

As an implementation manner, in this embodiment, the measuring the round trip propagation delay of the acoustic wave between the measurement points of the track surface control points to determine the acoustic wave propagation delay between the track surface control points, and/or measuring the round trip propagation delay of the optical wave between the measurement points of the track surface control points to determine the optical wave propagation delay between the track surface control points specifically includes:

the method comprises the steps that sine or cosine signals are used as modulation signals to carry out amplitude or phase modulation on at least one of optical waves and sound waves, and the modulated signals are sent to a target; the target is any one of a road surface control network node, a positioning terminal node, a contact network, a train and an object in a track bed; and/or

And detecting the phase difference between the local coupled signal and the reflected signal of the signal modulated by using the sine or cosine signal as the modulation signal by using a phase discriminator, and determining the time corresponding to the phase difference by using the phase difference and the frequency of the sine or cosine signal as the modulation signal, wherein half of the time is the optical wave propagation delay or the acoustic wave propagation delay.

In this embodiment, the measuring the acoustic wave round trip propagation delay between the measurement points of the track surface control point to determine the acoustic wave propagation delay between the track surface control points, and/or measuring the optical wave round trip propagation delay between the measurement points of the track surface control point to determine the optical wave propagation delay between the track surface control points specifically includes:

when the light wave or sound wave propagation path comprises a reflection point on the reflection surface, the propagation delay generated by the distance from a point corresponding to the measurement point on the reflection surface to at least one of the sound source central point, the light source central point, the sound wave sensor central point and the light wave sensor central point is subtracted from the measured sound wave propagation delay or light wave propagation delay.

The method of this embodiment further includes at least one of the following steps:

estimating the position of a measuring point of the track surface control point by using the propagation delay of sound waves and/or light waves between the track surface control points, and determining the position offset of the track surface control point by using the estimated position of the measuring point of the track surface control point;

estimating the position of the positioning terminal in the track bed area by using the sound wave and/or light wave propagation delay between the measuring point of the track surface control point and the positioning terminal in the track bed area;

estimating the position of the contact net by using the sound wave and/or light wave propagation delay between the measurement point of the track surface control point and the contact net;

estimating the train position by using the sound wave and/or light wave propagation time delay between the measuring point of the track surface control point and the train workshop; or acquiring the position of the track surface control network node of which the received light beam is shielded by the train, and taking the position of the track surface control network node as the position of the train;

estimating the position of the abnormal object by using the sound wave and/or light wave propagation delay between the measuring point of the track surface control point and the abnormal object; or acquiring the position of the track surface control network node of which the received light beam is shielded by the abnormal object, and taking the position of the track surface control network node as the position of the abnormal object;

measuring data of the sound wave propagation time delay by using the measuring points of the track surface control points, acquiring sound wave propagation speed under specific air pressure, air concentration, air temperature and air speed, eliminating the influence of the air pressure, the air concentration and the air temperature, and estimating real air speed and wind direction by using the sound wave propagation speed; and

the visibility of air is estimated using the measurement data of the light wave intensity by the track surface control points.

In this embodiment, estimating a position of a measurement point of a track surface control point by using a propagation delay of a sound wave and/or a light wave between the track surface control points, and determining a position offset of the track surface control point by using the estimated position of the measurement point of the track surface control point specifically include:

acquiring acoustic wave and/or optical wave propagation delay estimation values between a first track surface control point and three or more track surface control points adjacent to the first track surface control point, determining the position coordinate of the first track surface control point by using the delay estimation values, and comparing the position coordinate of the first track surface control point with the set position coordinate of the first track surface control point to acquire the position coordinate offset of the first track surface control point; or

Acquiring acoustic wave and/or optical wave propagation delay estimated values between a first track surface control point and one or more track surface control points adjacent to the first track surface control point to determine the distance from the first track surface control point to the track surface control point adjacent to the first track surface control point, and comparing the acquired distance with a preset distance value or a distance value acquired through previous measurement to determine the distance offset between the first track surface control point and the one or more track surface control points adjacent to the first track surface control point;

the method for estimating the position of the positioning terminal in the track bed area by using the sound wave and/or the light wave propagation delay between the measuring point of the track surface control point and the positioning terminal in the track bed area comprises the following steps:

acquiring acoustic wave and/or optical wave propagation delay estimation values between the positioning terminal and three or more than three adjacent track surface control points, performing propagation delay (TOA) based position estimation by using the delay estimation values, and determining the position coordinate of the positioning terminal by using the position estimation result.

The method of the present embodiment, wherein,

the reflection of incident beams through a measurement point of a control point of a track surface by using an automatic steering prism comprises the following steps:

setting the reflection center point of the prism to coincide with the measurement point of the control point of the track surface;

acquiring position information of any one of adjacent track surface control points, a track bed area positioning terminal and a total station through a wireless channel or a read position database;

determining the azimuth and/or the angle of the pitch angle of any one of an adjacent track surface control point, a track bed area positioning terminal and a total station relative to the measuring point of the track surface control point where the prism is located by using the position information;

adjusting the orientation of an entrance surface of the prism to enable the entrance surface to face the direction of any one of the adjacent track surface control point, the track bed area positioning terminal and the total station; and/or acquiring the position or angle offset of the arrival signal on the incident surface of the prism, and adjusting the orientation of the incident surface of the prism to reduce the position or angle offset of the arrival signal on the incident surface of the prism to be within an incident beam offset error threshold;

wherein,

the method comprises the steps of setting a reflection center point of a prism to coincide with a measurement point of a track surface control point, and when the prism is arranged with at least one of a sound source, a light source, a sound wave sensor, a light reflection surface and a sound reflection surface at the same track surface control point, arranging the measurement point which coincides with the reflection center point of the prism and the coincident measurement point which is located at the sound source center point, the light source center point, the sound wave sensor center point, the light wave sensor center point, the prism reflection center point, the light reflection surface reflection point or the sound reflection surface reflection point at the same track surface control point at the same time, wherein the two measurement points are two point locations with different point locations on the same vertical line and different.

The method comprises the steps of setting a central point mark of the prism opening surface on the entrance surface of the prism, monitoring the position of a scattering light spot generated by incident light on the entrance surface of the prism and the position of the central point mark by using a photoelectric image sensor, determining the position offset of the scattering light spot relative to the central point mark of the prism opening surface, and adjusting the pointing direction of the normal line of the entrance surface of the prism by using the offset.

The method of this embodiment further includes an environmental protection method, which specifically includes:

in a first time interval, using a servo mechanism to move at least part of components contained in the track surface control network nodes so that the components are in rigid connection with the track surface control point embedded parts and/or the track surface control point base; in a second time interval, at least part of components contained in the track surface control network node are moved by using a servo mechanism to enable the components to be in an environment protection state;

wherein,

the method for moving at least part of components contained in the track surface control network node by using the servo mechanism to enable the components to be in a rigid connection state with the track surface control point embedded part and/or the track surface control point base comprises the following steps: at least one of a sound source central point, a light source central point, a sound wave sensor central point, a light wave sensor central point, a prism reflection central point, a specific point on a light reflection surface and a specific point on a sound reflection surface is in a superposition state with a measurement point corresponding to the track surface control point;

the system is characterized in that at least part of components contained in the nodes of the track surface control network are moved by the servo mechanism to be in an environment protection state, and the components comprise at least one of a moving sound source, a light source, a sound wave sensor, a light wave sensor, a prism, a light reflection surface and a sound reflection surface to be in the environment protection state, wherein the environment protection state comprises at least one of vibration reduction, impact resistance, dust prevention, moisture prevention, rain prevention, snow prevention, salt mist prevention and high and low temperature resistance.

Example of a node device of a track plane control network

The device provided by the embodiment, as shown in fig. 2, includes:

a communication module 210, a beam transceiver module 220, and a measurement processing module 230; wherein,

a communication module 210, configured to transmit at least one of a measurement control command, measurement data, track plane control point identification information, measurement point coordinates of a track plane control point, and beam steering guidance information through a wired or wireless channel, and including a wireless transmission sub-module and/or a wired transmission sub-module;

the beam transceiver module 220 is used for transmitting and/or receiving at least one of an acoustic beam and an optical beam through a measuring point of a track surface control point, and comprises a beam transmitting and/or receiving sub-module 221, a direction-adjusting control sub-module 222 and a direction-adjusting servo sub-module 223; the beam transmitting and/or receiving sub-module 221 includes at least one of an acoustic wave transmitting sub-module, an acoustic wave receiving sub-module, a light wave transmitting sub-module, a light wave receiving sub-module, and a prism sub-module;

a measurement processing module 230 for acquiring information required for any one of positioning, ranging, object detection and air environment detection using at least one of the acoustic and optical beams, including an information extraction sub-module.

The apparatus of the present embodiment, wherein,

the communication module 210 is configured to perform at least one of the following steps:

In this embodiment, the measurement control node is configured to control a work item or a work mode of a track plane control network node, and includes: and the control terminal is positioned in a measurement control center or a measurement site.

In this embodiment, the network side node is configured to store at least one of measurement data, transmit measurement data, process measurement data, store node information of a track plane control network, transmit node information of the track plane control network, and process node information of the track plane control network; the method comprises at least one of a measurement control node, a computer server and a computer terminal.

The apparatus of the present embodiment, wherein,

the beam transceiver module 220 is configured to transmit and/or receive at least one of an acoustic beam and an optical beam through a measurement point of a track surface control point, and specifically includes using a local active device included in the beam transmitting and/or receiving sub-module 221 to transmit and/or receive at least one of an acoustic beam and an optical beam through a measurement point of a track surface control point, and/or using an automatic steering prism included in the beam transmitting and/or receiving sub-module 221 to reflect an incident beam through a measurement point of a track surface control point; wherein,

The direction of the automatic direction-adjusting prism in this embodiment is automatically adjusted under the driving of the direction-adjusting servo sub-module 223.

In the present embodiment, the measurement point is a point represented by a point location of a prism reflection center point in the CPIII measurement mark in the conventional measurement based on the track surface control point.

In this embodiment, as an implementation manner, an installation method for overlapping center points of an acoustic wave sensor and an optical wave sensor includes:

In this embodiment, as an implementation manner, an installation method for overlapping a center point of a sound source and a center point of a light source includes:

The apparatus of the present embodiment, wherein,

the operation executed by the beam transceiver module 220 of placing a sound source on the track surface control point measurement mark embedded part or the track surface control point base to make the center point of the sound source coincide with the measurement point position of the track surface control point, and/or placing a light source on the track surface control point measurement mark embedded part or the track surface control point base to make the center point of the light source coincide with the measurement point position of the track surface control point further includes the following operations executed by the direction-adjusting control submodule 222 and the direction-adjusting servo submodule 223 included in the beam transceiver module:

The method is characterized in that a reflecting surface is placed on the track surface control point measurement mark embedded part or the track surface control point base, so that an acoustic beam generated by a local sound source is reflected by a point which is superposed with the measurement point of the track surface control point on the reflecting surface and an adjacent region thereof and then is emitted, and/or an optical beam generated by a local light source is reflected by a point which is superposed with the measurement point of the track surface control point on the reflecting surface and an adjacent region thereof and then is emitted, and further comprises a direction-adjusting control submodule 222 and a direction-adjusting servo submodule 223 which are contained in the beam transceiver module 220 for executing the following operations:

In this embodiment, as an implementation manner, the direction-adjusting control sub-module 222 obtains direction-adjusting information from the measurement processing module 230 or the communication module 210, and uses the direction-adjusting information to control the direction-adjusting servo sub-module 223 to perform a direction-adjusting action, and the direction-adjusting servo sub-module 223 transmits the direction-adjusting acting force 224 to the beam transmitting and/or receiving sub-module 221 by performing the direction-adjusting action.

The apparatus of the present embodiment, wherein,

the operation of adjusting the optical beam pointing direction of the light source and/or adjusting the acoustic beam pointing direction of the sound source to be directed to any one of the adjacent track surface control point, the track bed area positioning terminal, the track bed area and the overhead contact system, which is performed by the beam transceiver module 220, includes the following operations:

the operation performed by the beam transceiver module 220 to adjust the angle of the reflecting surface so that the reflected optical beam and/or acoustic beam is directed to any one of the adjacent track surface control point, the track bed area positioning terminal, the track bed area and the overhead contact system includes the following operations:

the direction-adjusting servo sub-module 223 makes the light source rotate with the vertical line passing through the center point of the light source as the rotation center line, so as to realize the adjustment of the azimuth angle pointed by the light beam of the light source, and/or makes the light source rotate with the horizontal line passing through the center point of the light source as the rotation center line, so as to realize the adjustment of the pitch angle pointed by the light beam of the light source.

the direction-adjusting servo sub-module 223 rotates the sound source with a vertical line passing through the center point of the sound source as a rotation center line to realize the adjustment of the azimuth angle pointed by the sound beam of the sound source, and/or rotates the sound source with a horizontal line passing through the center point of the sound source as a rotation center line to realize the adjustment of the pitch angle pointed by the sound beam of the sound source.

the direction-adjusting servo submodule 223 enables the reflecting surface to rotate by taking a vertical line passing through a reflecting point of the reflecting surface as a rotating center line, so as to realize the azimuth angle adjustment of the light beam direction, and/or enables the reflecting surface to rotate by taking a horizontal line passing through the reflecting point of the reflecting surface as the rotating center line, so as to realize the pitch angle adjustment of the light beam direction; the reflection point is an incidence point of a central point of a light beam generated by the local light source.

the direction-adjusting servo submodule 223 enables the reflecting surface to rotate by taking a vertical line passing through a reflecting point of the reflecting surface as a rotating center line, so as to realize the azimuth angle adjustment pointed by the sound beam, and/or enables the reflecting surface to rotate by taking a horizontal line passing through the reflecting point of the reflecting surface as the rotating center line, so as to realize the pitch angle adjustment pointed by the sound beam; the reflection point is the incident point of the central point of the sound beam generated by the local sound source.

The apparatus of the present embodiment, wherein,

the operation executed by the beam transceiver module 220 to place the acoustic wave sensor on the track surface control point measurement mark embedded part or the track surface control point base to make the sensing center point coincide with the measurement point of the track surface control point, and/or to place the optical wave sensor on the track surface control point measurement mark embedded part or the track surface control point base to make the sensing center point coincide with the measurement point of the track surface control point further includes at least one of the following operations:

the operation of placing the reflection surface on the track surface control point measurement mark embedded part or the track surface control point base, which is executed by the beam transceiver module 220, so that the local acoustic wave sensor receives the acoustic wave signals reflected by the point on the reflection surface which is coincident with the measurement point of the track surface control point and the adjacent area thereof, and/or the local optical wave sensor receives the optical wave signals reflected by the point on the reflection surface which is coincident with the measurement point of the track surface control point and the adjacent area thereof, further comprises at least one of the following operations:

The apparatus of the present embodiment, wherein,

the operation of the beam transceiver module 220 to receive the acoustic beam by using the acoustic wave sensor whose sensing center point coincides with the measuring point of the track surface control point, or to receive the optical beam by using the optical wave sensor whose sensing center point coincides with the measuring point of the track surface control point, includes the following operations:

within a predetermined range of angles containing the angle value, or within the range of angles, the direction-adjusting servo sub-module 223 is used to adjust the direction of the receiving directional diagram of the sensor to point to the transmitting or reflecting node of the signal; and/or obtaining the position or angle offset of the received signal, and using the direction-adjusting servo sub-module 223 to adjust the receiving directional diagram pointing direction of the sensor to reduce the offset to be within the incident beam offset error threshold;

the operation of the beam transceiver module 220 to receive the sound beam using the reflection surface or to receive the light beam using the reflection surface includes the following operations:

the reflection surface is adjusted by the direction-adjusting servo submodule 223 to be within a preset angle range containing the angle value, or the direction of a receiving directional diagram of the sensor is adjusted by the direction-adjusting servo submodule 223 to be directed to a transmitting or reflecting node of a signal in the angle range; and/or obtaining the position or angle offset of the arrival signal, and adjusting the direction of the receiving directional diagram by adjusting the reflection surface through the direction-adjusting servo sub-module 223, so that the position or angle offset of the arrival signal is reduced to be within the deviation error threshold of the incident beam.

In this embodiment, as an implementation manner, the method for adjusting the direction of the receiving directional diagram of the sensor by the direction-adjusting servo sub-module 223 includes the following operations:

In this embodiment, as an implementation manner, the direction-adjusting servo sub-module 223 adjusts the direction of the sensor receiving direction diagram by adjusting the reflection surface, which includes the following operations;

The apparatus of the present embodiment, wherein,

the measurement processing module 230 performs at least one of the following operations:

In this embodiment, as an implementation manner, the measuring a round trip propagation delay of an acoustic wave between measurement points of the track surface control points to determine a propagation delay of an acoustic wave between the track surface control points, and/or measuring a round trip propagation delay of an optical wave between measurement points of the track surface control points to determine a propagation delay of an optical wave between the track surface control points specifically includes:

The apparatus of the present embodiment, wherein,

the measurement processing module 230 further performs at least one of:

In this embodiment, as an implementation manner, the estimating a position of a measurement point of a track surface control point by using a propagation delay of a sound wave and/or a light wave between track surface control points, and determining a position offset of the track surface control point by using the estimated position of the measurement point of the track surface control point specifically includes:

in this embodiment, as an implementation manner, the estimating a position of the positioning terminal in the track bed region by using a sound wave and/or a light wave propagation delay between the measurement point of the track surface control point and the positioning terminal in the track bed region includes:

and acquiring acoustic wave and/or optical wave propagation delay estimated values between the positioning terminal and three or more than three adjacent track surface control points, and determining the position coordinate of the positioning terminal by using the delay estimated values.

The apparatus of the present embodiment, wherein,

the beam transceiver module 220 performs the following operations of reflecting an incident beam through a measurement point of a control point of a track plane using an automatic steering prism:

the orientation of the incident surface of the prism is adjusted by the direction-adjusting servo submodule 223 to enable the incident surface to face the direction of any one of the adjacent track surface control point, the track bed area positioning terminal and the total station; and/or acquiring the position or angle offset of the arrival signal on the entrance surface of the prism, and adjusting the orientation of the entrance surface of the prism through the direction-adjusting servo sub-module 223 to reduce the position or angle offset of the arrival signal on the entrance surface of the prism to be within an incident beam offset error threshold;

wherein,

In this embodiment, as an implementation manner, the adjusting the orientation of the prism includes:

the method comprises the steps of setting a prism mouth surface center point mark on an entrance surface of a prism, monitoring the position of a scattering light spot generated by incident light on the entrance surface of the prism and the position of the center point mark by using a photoelectric image sensor, determining the position offset of the scattering light spot relative to the prism mouth surface center point mark, and adjusting the direction of a normal line of the entrance surface of the prism by using the offset.

The apparatus of this embodiment further includes an environmental protection module 240, which includes an environmental protection control sub-module 241 and an environmental protection servo sub-module 242, and is configured to perform the following operations:

in a first time interval, the environmental protection servo submodule 242 is used for moving at least part of components contained in the track surface control network node to enable the components to be in a rigid connection state with the track surface control point embedded part and/or the track surface control point base; in a second time interval, the environmental protection servo submodule 242 is used for moving at least part of components contained in the track surface control network node to enable the components to be in an environmental protection state;

wherein,

the use environment protection servo submodule moves at least part of components contained in the rail surface control network node to enable the components to be in a rigid connection state with the rail surface control point embedded part and/or the rail surface control point base, and the method comprises the following steps: at least one of a sound source central point, a light source central point, a sound wave sensor central point, a light wave sensor central point, a prism reflection central point, a specific point on a light reflection surface and a specific point on a sound reflection surface is in a superposition state with a measurement point corresponding to the track surface control point;

the environment protection servo submodule is used for moving at least part of components contained in the rail surface control network node to enable the components to be in an environment protection state, the components comprise at least one of a moving sound source, a light source, a sound wave sensor, a light wave sensor, a prism, a light reflection surface and a sound reflection surface to enable the components to be in the environment protection state, and the environment protection state comprises at least one of vibration reduction, impact resistance, dust prevention, moisture prevention, rain prevention, snow prevention, salt mist prevention and high and low temperature resistance.

As an implementation manner, the environmental protection control submodule 241 obtains environmental protection operation information or measurement operation information from the communication module 210, and uses the measurement operation information to control the environmental protection servo submodule 242 to generate a displacement driving force 243, and the displacement driving force 243 moves at least part of components included in the track surface control network node to enable the components to be in a rigid connection state with the track surface control point embedded part and/or the track surface control point base; or the environment protection operation information is used for controlling the environment protection servo submodule 242 to generate a displacement driving force 243, and the displacement driving force 243 moves at least part of components contained in the track surface control network node to enable the components to be in an environment protection state.

As one implementation, the environmental protection state includes a vibration-damping, impact-resistant state comprising: in a state of being supported by at least one of the damping pad and the damping plate and/or in a state of being suspended by at least one of the damping spring and the damping wire.

As one implementation manner, the environment protection state includes dust-proof, moisture-proof, rain-proof, snow-proof, and salt fog-proof states including: in an airtight and watertight state; or in a gas-tight state protected by a protective gas;

in one implementation, the environmental protection state includes a high and low temperature resistant state, including a constant temperature cabin state.

The method and the device provided by the embodiment of the invention can overcome at least one of the defects of low measurement efficiency, poor timeliness of displacement measurement of the control point of the track surface, and incapability of realizing positioning of a contact network, positioning of a vehicle and positioning of an obstacle in time in the prior art. High efficiency, reliable operation and practicability.

The method and the device provided by the embodiment of the invention can be wholly or partially realized by using an electronic technology, a photoelectric distance measurement technology and an automatic control technology; the method provided by the embodiment of the invention can be wholly or partially realized by software instructions and/or hardware circuits; the module or unit included in the device provided by the embodiment of the invention can be realized by adopting electronic components, an optical-electric/electric-magnetic conversion device and a driving/dragging motor.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A working method of a track surface control network node is used for a track surface control point and comprises the following steps:

2. The method of claim 1, wherein,

3. The method of claim 1, wherein,

4. The method of claim 3, wherein,

Adjusting the sound beam direction of the sound source to enable the sound beam direction to point to any one of the adjacent track surface control points, the positioning terminal in the track bed area, the track bed area and the overhead contact system;

5. The method of claim 4, wherein,

6. The method of claim 3, wherein,

7. The method of claim 1, wherein,

8. The method according to any one of claims 1 to 7, further comprising an environmental protection method, in particular comprising:

wherein,

9. A track surface control network node apparatus for a track surface control point, comprising:

the beam transceiver module is used for transmitting and/or receiving at least one of an acoustic beam and an optical beam through a measuring point of a track surface control point and comprises a beam transmitting and/or receiving sub-module, a direction-adjusting control sub-module and a direction-adjusting servo sub-module; the wave beam transmitting and/or receiving sub-module comprises at least one of an acoustic wave transmitting sub-module, an acoustic wave receiving sub-module, a light wave transmitting sub-module, a light wave receiving sub-module and a prism sub-module;

10. The apparatus of claim 9, wherein,

the communication module is configured to perform at least one of the following steps:

11. The apparatus of claim 9, wherein,

the beam transceiver module is used for transmitting and/or receiving at least one of the acoustic beam and the optical beam through a measuring point of a track surface control point, and the specific operation comprises the steps of using a local active component to transmit and/or receive at least one of the acoustic beam and the optical beam through the measuring point of the track surface control point, and/or using an automatic steering prism to reflect an incident beam through the measuring point of the track surface control point; wherein,

12. The apparatus of any of claims 9 to 11, further comprising an environmental protection module to:

in a first time interval, using the environment protection servo submodule to move at least part of components contained in the track surface control network node to enable the components to be in a rigid connection state with the track surface control point embedded part and/or the track surface control point base; in a second time interval, using the environment protection servo submodule to move at least part of components contained in the rail surface control network node to enable the components to be in an environment protection state;

wherein,