CN110595384A - High-speed rail corrugation detection device, system and method based on laser displacement sensor - Google Patents
High-speed rail corrugation detection device, system and method based on laser displacement sensor Download PDFInfo
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- CN110595384A CN110595384A CN201910916576.5A CN201910916576A CN110595384A CN 110595384 A CN110595384 A CN 110595384A CN 201910916576 A CN201910916576 A CN 201910916576A CN 110595384 A CN110595384 A CN 110595384A
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- 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
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides a high-speed rail corrugation detection device, system and method based on a laser displacement sensor, and belongs to the field of railway track detection. The device comprises a mobile trolley, a detection pod and a laser displacement sensor; the laser displacement sensor is used for measuring distance data between the laser displacement sensor and the rail, information of the two high-precision displacement sensors is directly sampled by the data acquisition card, then data processing is carried out, and real-time detection of the rail track corrugation is realized through a LabVIEW data processing program. The detection device and the detection system have simple mechanism and reliable performance, and compared with other methods in the prior art, the detection device and the detection system overcome the defects of other detection methods in the prior art and have price advantage.
Description
Technical Field
The invention relates to a high-speed rail corrugation detection device, system and method based on a laser displacement sensor, and belongs to the field of railway track detection.
Background
The rail wave abrasion (called wave grinding for short) is a common and typical rail disease of urban rail transit. With the enlargement of the scale of the rail transit network and the rapid increase of the passenger flow in China, a new subject is put forward for the research and development of the rail corrugation detection technology.
For rail corrugation detection, the detection method in the prior art is divided into contact type and non-contact type according to whether a detection sensor is in contact with the surface of a steel rail. The contact measurement method mainly comprises a mechanical measurement method; the non-contact measurement method mainly includes a chord measurement method, an inertial reference method, a laser image method, a laser displacement method, and the like. The contact type measuring method is low in cost, and the detection equipment is convenient to carry, but the problems that the single measurement range is too short and the measurement efficiency is low exist. Among non-contact measurement methods, the chord measurement method has the greatest advantage that the measurement result is independent of the vehicle speed and is not influenced by vertical vibration from the rail or the vehicle body. However, there is a relationship between the measured value and the actual value of the corrugation, and the effect cannot be completely eliminated if the transfer function is not 1 but only is reduced. The inertial reference method can detect orbital ripples with any wavelength, but is greatly influenced by speed. The laser measurement method has the advantages of no damage to the measured surface, high measurement efficiency, reliable precision and the like, and is widely applied to track corrugation measurement. Among them, the laser imaging method and the laser displacement method are particularly prominent. The laser image method detection system is formed by combining one or more line lasers and a CCD (charge coupled device) area array camera, and acquires the section outline of the steel rail in an image processing mode, but the laser image method is inevitably influenced by the change of ambient light, the brightness degree of the surface of the steel rail is different, and image deformation caused by rust, oil stain and the like. The laser displacement method is to obtain two-dimensional digital coordinates of each sampling point under a light plane coordinate system by an optical triangulation method measuring principle so as to obtain a section profile. The laser displacement method can obtain the two-dimensional contour coordinates under the current optical plane coordinate system, the data fusion and display algorithm of a plurality of measured contours is quite complex, the cost is high, and the popularization and the application of the method in the steel rail abrasion detection are limited. Therefore, the existing detection technology has a plurality of defects, and a railway track corrugation detection device and a detection system which are simple, reliable, low in cost, high in accuracy and concise in algorithm are needed in the technical field.
Disclosure of Invention
The invention aims to solve the technical problem of the defects of rail corrugation detection in the existing detection technology.
In order to solve the problems, the technical scheme adopted by the invention is to provide a high-speed rail corrugation detection device based on a laser displacement sensor, which is characterized in that: the device comprises a mobile trolley, a detection pod and a laser displacement sensor; the movable trolley is of a square frame structure, the left side and the right side of the movable trolley are respectively provided with a front travelling wheel and a rear travelling wheel which can be clamped on a high-speed rail, and a door frame type detection pod fixed on a front connecting arm and a rear connecting arm of the movable trolley is arranged between the front travelling wheel and the rear travelling wheel; the left side and the right side of the movable trolley are respectively provided with the door frame type detection pod; the door frame type plane of the door frame type detection pod is perpendicular to the front and rear connecting arms of the movable trolley and the high-speed rail to be detected; two opposite laser displacement sensors are correspondingly arranged at the bottoms of two side feet of the door frame type detection nacelle; the two laser displacement sensors are arranged on two sides of a single high-speed rail to be detected, and a connecting line between the two laser displacement sensors is parallel to the ground and perpendicular to the high-speed rail to be detected.
Preferably, an upper panel is arranged on the upper end surface of the moving trolley.
Preferably, the end surfaces of the two sides of the wheel of the front and rear travelling wheels are positioned outside the high-speed rail, the diameter of the end surface is larger than that of the wheel body, and the diameter of the end surface of the other side is the same as that of the wheel body; the two front running wheels are provided with gears; the gear is connected with a trolley moving motor arranged in a moving trolley frame through a transmission gear; the trolley is driven by the trolley moving motor to move on the high-speed rail to be detected.
Preferably, a connecting piece between the door frame type detection pod and the mobile trolley is provided with a regulating device for regulating the height of the door frame type detection pod.
Preferably, the moving trolley is made of aluminum profiles.
The invention also provides a high-speed rail corrugation detection system based on the laser displacement sensor, which is characterized by comprising a computer, a data acquisition card and the high-speed rail corrugation detection device based on the laser displacement sensor; one end of the data acquisition card is connected with the laser displacement sensor, and the other end of the data acquisition card is connected with the computer.
The invention also provides a high-speed rail corrugation detection method based on the laser displacement sensor, which is characterized by comprising the following steps of:
step 1: the laser displacement sensor is rigidly connected with the movable trolley, and the movable trolley runs on the track to be measured.
Step 2: aiming at the same measured track, two laser displacement sensors are arranged and are respectively arranged at two sides of the measured track and positioned on the same straight line.
And step 3: the two laser displacement sensors use the straight line of the rail jaw of the cross section of the rail and the arc line section below the rail as the detected edge, and the detected distance, namely the detected horizontal distance between the measuring head of the laser displacement sensor and the detected edge, is obtained through real-time detection.
And 4, step 4: and calibrating the laser displacement sensor.
And 5: and modeling the section curve of the steel rail.
Step 6: the moving trolley runs on a tested track, detection data are output by the laser displacement sensor and uploaded to the data acquisition card and the computer for data processing, and the corrugation detection is realized through a LabVIEW data processing program, so that the real-time detection of the railway track corrugation is realized.
Compared with the prior art, the invention has the following beneficial effects:
1. the device provided by the invention is simple in mechanism and reliable in performance. Aiming at two tracks, detection can be completed only by four high-precision displacement sensors, a data acquisition card, a computer, corresponding detection software and a mechanical support for carrying.
2. The calculation method provided by the invention has a simple and efficient algorithm. The method has the advantages that the track displacement information is directly acquired, so that the problems that the efficiency of a mechanical measurement method is low, the transfer function of a chord measurement method is not constant to 1, and the corrugation detection is inaccurate due to uncertain integral constants and low speed in an inertial reference method are solved. Compared with the complex algorithm of a laser image method and a laser displacement method, the method has great advantages.
3. The method has low cost, high precision and high efficiency. The invention directly samples the information collected by the high-precision displacement sensor through the data collection card, then processes the data, and has price advantage compared with other methods in the prior art.
Drawings
Fig. 1 is a schematic structural composition diagram of a high-speed rail corrugation detection device based on a laser displacement sensor provided by the invention.
Reference numerals: 1. the mobile trolley 2, the detection pod 3, the laser displacement sensor 4, the front walking wheel 5, the front and rear connecting arms 8, the detection pod connecting piece 9 and the rear walking wheel
Fig. 2 is a schematic diagram of the overall composition of a high-speed rail corrugation detection system based on a laser displacement sensor provided by the invention.
Reference numerals: 1. the mobile trolley 2, the detection pod 3, the laser displacement sensor 4, the front traveling wheel 5, the front and rear connecting arms 6, the computer 7, the upper panel 8, the detection pod connecting piece 9, the rear traveling wheel 10, the data acquisition card 10
Fig. 3 is a schematic diagram of the detection of the position of the nacelle by the high-speed rail corrugation detection device based on the laser displacement sensor.
Reference numerals: (a) figure is a schematic diagram of the position of the pod being high, figure is a schematic diagram of the position of the pod being low, figure 2 is a detection pod 3, a laser displacement sensor 8 is a detection pod connector
FIG. 4 is a schematic diagram of track corrugation detection principle based on displacement sensor
Reference numerals: 3. laser displacement sensor 11 wave mill
FIG. 5 shows the calibration data of the HGC-1050 laser displacement sensor.
Reference numerals: the X-axis represents the sensor output voltage value u, in units: and V.
The Y-axis is expressed as the absolute sensor measured distance x, distance unit: mm.
FIG. 6 is a diagram of a partial modeling function.
FIG. 7 is a flowchart of a Labview program.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings: as shown in fig. 1, 2, 3 and 4, the high-speed rail corrugation detection device based on the laser displacement sensor comprises: the device comprises a mobile trolley 1, a detection pod 2 and a laser displacement sensor 3. The movable trolley 1 is of a square frame structure, the left side and the right side of the movable trolley are respectively provided with a front travelling wheel 4 and a rear travelling wheel 9 which can be clamped on a high-speed rail steel rail, the shape of the travelling wheels imitates that of train wheels, the end surfaces of the two sides of the travelling wheels, one side of the end surface is positioned on the outer side of the high-speed rail steel rail, the diameter of the end surface is larger than that of a travelling wheel body, and the diameter of the; the end face with the larger diameter positioned outside the high-speed rail steel rail is used for limiting the position of the movable trolley 1 on the rail in the running process, and the end face with the other side has the same diameter as the walking wheel body and is in contact with the tread of the rail. The two front traveling wheels 4 are provided with gears and are connected with a trolley moving motor arranged in the frame of the moving trolley 1 through transmission gears; the moving trolley is driven by the moving motor to move on the high-speed rail to be detected. A door frame type detection pod 2 fixed on the front and rear connecting arms 5 of the moving trolley is arranged between the front and rear travelling wheels, and a door frame type plane of the door frame type detection pod 2 is vertical to the front and rear connecting arms 5 of the moving trolley 1 and a high-speed rail to be detected; the left and the right of the door frame type detection pod 2 are respectively positioned at the two sides of the movable trolley; the connecting piece 8 of the doorframe-type detection pod 2 is provided with a long groove capable of adjusting the height position of the doorframe-type detection pod 2, and the connecting piece 8 is used for stably connecting the detection pod 2 with the movable trolley 1; the connecting piece 8 is provided with a long groove capable of adjusting the height position, and the long groove is used for adjusting the height position of the detection nacelle 2, so that the longitudinal measurement position of the laser displacement sensor 3 on the steel rail is changed, and the laser displacement sensor 3 works in a measuring range. The bottoms of the two side feet of the doorframe-shaped detection nacelle 2 are correspondingly provided with two opposite laser displacement sensors 3, the two laser displacement sensors 3 are arranged at the two sides of a single high-speed rail to be detected, and the connecting lines of the two laser displacement sensors 3 are parallel to the ground and perpendicular to the high-speed rail to be detected. The entire device has two test pods 2, each for testing a track on one side. The upper end surface of the moving trolley 1 is provided with an upper panel 7, and the upper panel 7 is used for placing a computer 6 and a data acquisition card 10. The moving trolley 1 is made of aluminum profiles and is formed by processing 4040 standard aluminum profiles, and the overall strength of the trolley is guaranteed. 4080 standard corner fittings are used for various connecting pieces to ensure the overall stability of the trolley, and the connecting pieces comprise T-shaped screws, screw caps and main body corner fitting parts.
The invention provides a high-speed rail corrugation detection system based on a laser displacement sensor, which comprises a computer 6, a data acquisition card 10 and the high-speed rail corrugation detection device based on the laser displacement sensor. The detection system part comprises four laser displacement sensors 3, a computer 6 and a data acquisition card 10. Four laser displacement sensors 3 are respectively arranged on two sides of the two hanging cages. The laser displacement sensor is used for measuring distance data between the laser displacement sensor and the track, the data acquisition card part and the computer part are used for respectively acquiring and processing the data, and finally, a detection result is output.
In the embodiment, a national standard 60KG steel rail is used as a detection object, a laser displacement sensor with the model of loose HG-C1050 is selected as the displacement sensor, and a data acquisition card with the model of Linghua AD-Link1902 is selected as the displacement sensor.
The displacement sensor 3 is rigidly connected with the movable trolley 1, the movable trolley 1 runs on a measured track, the displacement sensor 3 outputs detection data and uploads the detection data to the data processing system, and real-time detection of the rail track corrugation is realized; the rigid connection of the displacement sensor 3 and the detection moving trolley 1 means that: the moving trolley and the sensor keep the same motion state, and the phenomena of motion time delay or motion amplitude change and the like do not exist.
As shown in fig. 4, the schematic diagram of the detection principle of the track corrugation based on the displacement sensor.
Aiming at a measured cross section of a measured rail, establishing a rectangular coordinate system by taking a steel rail neutral axis as an X axis and a central symmetry line as a Y axis, wherein a straight line of an X-axis positive rail on the cross section of the measured rail and three arc line sections below the straight line exist in the rectangular coordinate system, and a standard rail function relation Y exists in the rectangular coordinate system, wherein Y is f (X); in order to eliminate invalid measurement values caused by the fact that the movable trolley 1 shakes left and right in the running process, two laser displacement sensors 3 are arranged on the same measured track in the same mode, and the two laser displacement sensors 3 are respectively arranged on two sides of the measured track and are positioned on the same straight line;
the two displacement sensors use a rail jaw straight line and a lower arc line section on the cross section of the rail as a detected edge, and detected distances L1 and L2 are obtained through real-time detection, wherein the detected distances L1 and L2 respectively refer to the detected horizontal distances between a measuring head of the X-axis positive displacement sensor and a measuring head of the X-axis negative displacement sensor and the detected edge;
according to the standard orbit function relation y, calculating to obtain the distance L1 corresponding to the measured distanceThe horizontal distance of the measuring head of the two displacement sensors is L, so that the rail surface abrasion value on the measured cross section is obtained, and the detection of the corrugation 11 of the railway track is obtained;
in the length direction of the railway track, the rail surface abrasion values on the measured cross sections are obtained by the displacement sensors in a one-to-one correspondence mode, and therefore the detection of the corrugation 11 of the railway track is achieved.
The detection method comprises the following specific steps:
step 1: the laser displacement sensor 3 is rigidly connected with the movable trolley 1, and the movable trolley 1 runs on a measured track.
Step 2: aiming at the same measured track, two laser displacement sensors 3 are arranged, and the two laser displacement sensors 3 are respectively arranged on two sides of the measured track and are positioned on the same straight line.
And step 3: the two laser displacement sensors use the straight line of the rail jaw of the cross section of the rail and the arc line section below the rail as the detected edge, and the detected distance, namely the detected horizontal distance between the measuring head of the laser displacement sensor and the detected edge, is obtained through real-time detection.
And 4, step 4: and calibrating the laser displacement sensor.
FIG. 5 shows the calibration data of HGC-1050 laser displacement sensor;
the loose HGC-1050 type laser displacement sensor is used for calibration, and calibration data of input displacement and output voltage of the sensor are shown in figure 5.
The calibration curve equation is:
x＝-5.988*u+65.245
in fig. 5:
reference numerals:
the X-axis represents the sensor output voltage value u, in units: and V.
The Y-axis is expressed as the absolute sensor measured distance x, distance unit: mm.
And 5: and modeling the national standard 60KG steel rail section curve.
And establishing a standard track section rectangular coordinate system by taking the neutral axis of the standard track section as an X axis, the central line of the standard track section as a Y axis and the intersection point as an origin O. And if the measuring point is positioned on the positive half axis of the X axis, only modeling a positive half axis equation.
(1) X is more than or equal to 8.25<At 10.4, the profile line of the side surface of the rail is a part of a circle with the radius of 400mm, and the circle O1The center of the circle is a point on the X axis, and the equation of the circle is as follows:
(X-408.25)2+Y2＝4002
namely:
(2) when X is more than or equal to 10.4<13.3, the profile line of the rail side surface is a circle O with a radius of 25mm2Is a part of a circular arc, marked as a circle O2Two points (10.4,41.4171), (13.3, y)2)，
And (13.3, y)2) Into (3), circle O3Can be solved by the analytical equation of (a)2＝48.4308
Let a circle O2The equation is (X-X)0)2+(Y-Y0)2＝625
Substituting the coordinates of two points into a circular equation to obtain X0＝34.6853，Y035.4821, so the available equation for a circle is (X-34.6853)2+(Y-35.4821)2＝625
(3) When X is more than or equal to 13.3<17.8, the profile line of the side face of the rail is a circle O with a radius of 8mm3A part of a circular arc, circle O3C for0(17.8，52.2)。
Let a circle O3Equation (X-X)0)2+(Y-Y0)2＝64
As shown in the partial modeling function diagram of FIG. 6, the straight line segment L can be known1Tangent to the arc at C0C, passing through0Making a horizontal line and connecting C0 O3O, O3Making a vertical line perpendicular to the horizontal line and crossing at C1And (4) point. It can be known that tan & lt B0COC1＝1/3。
Due to the fact thatSo < B0COC1＝∠COO3C1I.e. tan < COO3C1＝1/3
The system of equations can be found:
obtaining by solution:
so O3The horizontal axis of the point isO3The ordinate isI.e. O3The coordinates are (20.3298, 44.6105).
Known circle O3Is (X-20.3298)2+(Y-44.6105)2＝64
I.e. the ordinate at that time
(4) When X is more than or equal to 17.8<35.4, the profile line of the rail side surface is a straight line segment L with a slope of 1/31. Marking straight line segment L1One point near the upper end is denoted as B0Inscribing straight line segment L1A point near the lower end is denoted as C0。
B0Abscissa B of0x＝73/2＝36.5
B0Ordinate B0y＝176-81.2-55.7+(55.7-36.3)＝58.5
I.e. straight line segment L1One point near the upper end is (36.5, 58.5).
C0Abscissa C of0x＝17.8，
C0Ordinate C0y＝58.5-(42.6-36.3)＝52.2mm
I.e. straight line segment L1One point close to the upper end has coordinates of (17.8,52.2),
the equation for this straight line segment is: 0.3369X +46.2032
In summary,
step 6: the moving trolley runs on a tested track, detection data are output by the laser displacement sensor and uploaded to the data acquisition card and the computer for data processing, and the corrugation detection is realized through a LabVIEW data processing program, so that the real-time detection of the railway track corrugation is realized.
The LabVIEW program flow chart is shown in FIG. 7.
It will be understood that, although the terms "front", "back", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a front element may be referred to as a back element, and similarly a back element may be referred to as a front element, without departing from the scope of the exemplary embodiments.
While the invention has been described with respect to a preferred embodiment, 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. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a high-speed railway rail corrugation detection device based on laser displacement sensor which characterized in that: comprises a mobile trolley (1), a detection nacelle (2) and a laser displacement sensor (3); the movable trolley (1) is of a square frame structure, the left side and the right side of the movable trolley are respectively provided with a front travelling wheel (4) and a rear travelling wheel (9) which can be clamped on a high-speed rail steel rail, and a door frame type detection nacelle (2) fixed on a front connecting arm (5) and a rear connecting arm (5) of the movable trolley (1) is arranged between the front travelling wheel and the rear travelling wheel; the left side and the right side of the mobile trolley (1) are respectively provided with the door frame type detection pod (2), and the door frame type plane of the door frame type detection pod (2) is vertical to the front connecting arm and the rear connecting arm (5) of the mobile trolley (1) and the high-speed rail to be detected; the two sides foot bottoms of door frame type detection nacelle (2) correspond and are equipped with two relative laser displacement sensor (3), two laser displacement sensor (3) locate the both sides of treating the single high-speed railway rail that waits, the connecting wire between two laser displacement sensor (3) is on a parallel with ground and the perpendicular to high-speed railway rail that waits to detect.
2. The high-speed rail corrugation detection device based on the laser displacement sensor as claimed in claim 1, wherein: an upper panel (7) is arranged on the upper end surface of the movable trolley (1).
3. The high-speed rail corrugation detection device based on the laser displacement sensor as claimed in claim 1, wherein: the end surfaces of the two sides of the wheel of the front and rear travelling wheels are positioned at the outer side of the high-speed rail, the diameter of the end surface of the front and rear travelling wheels is larger than that of the wheel body, and the diameter of the end surface of the other side of the front and rear travelling wheels is the same as that of the wheel body; the two front traveling wheels (4) are provided with gears, and the gears are connected with a trolley moving motor arranged in a frame of the moving trolley (1) through transmission gears; the trolley (1) moves on the high-speed rail to be detected through the driving of the trolley moving motor.
4. The high-speed rail corrugation detection device based on the laser displacement sensor as claimed in claim 1, wherein: and a connecting piece (8) between the door frame type detection nacelle (2) and the mobile trolley (1) is provided with an adjusting device for adjusting the height of the door frame type detection nacelle (2).
5. The high-speed rail corrugation detection device based on the laser displacement sensor as claimed in claim 1, wherein: the moving trolley (1) is made of aluminum profiles.
6. The utility model provides a high-speed railway rail corrugation detecting system based on laser displacement sensor which characterized in that: comprising a computer (6), a data acquisition card and a detection device according to any one of claims 1 to 5; one end of the data acquisition card is connected with the laser displacement sensor (3), and the other end of the data acquisition card is connected with the computer (6).
7. A high-speed rail corrugation detection method based on a laser displacement sensor is characterized by comprising the following steps:
step 1: the laser displacement sensor (3) is rigidly connected with the mobile trolley (1), and the mobile trolley (1) runs on a measured track.
Step 2: aiming at the same measured track, two laser displacement sensors (3) are arranged, and the two laser displacement sensors (3) are respectively arranged on two sides of the measured track and are positioned on the same straight line;
and step 3: the two laser displacement sensors (3) take the rail jaw straight line and the lower arc line segment of the cross section of the rail as the measured edge, and obtain the measured distance, namely the measured horizontal distance between the measuring head of the laser displacement sensor and the measured edge through real-time detection;
and 4, step 4: and calibrating the laser displacement sensor.
And 5: and modeling the section curve of the steel rail.
Step 6: the movable trolley (1) runs on a tested track, detection data are output by the laser displacement sensor (3) and uploaded to the data acquisition card and the computer for data processing, and the corrugation detection is realized through a LabVIEW data processing program, so that the real-time detection of the railway track corrugation is realized.
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| CN201910916576.5A Pending CN110595384A (en) | 2019-09-26 | 2019-09-26 | High-speed rail corrugation detection device, system and method based on laser displacement sensor |
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| CN115523869A (en) * | 2022-11-02 | 2022-12-27 | 湖南科天健光电技术有限公司 | Laser measurement system, corrugation measurement vehicle and operation train |
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