CN111186461B - High-speed railway platform clearance measurement system - Google Patents
High-speed railway platform clearance measurement system Download PDFInfo
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- CN111186461B CN111186461B CN202010014843.2A CN202010014843A CN111186461B CN 111186461 B CN111186461 B CN 111186461B CN 202010014843 A CN202010014843 A CN 202010014843A CN 111186461 B CN111186461 B CN 111186461B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention relates to the technical field of platform clearance measurement, in particular to a high-speed rail platform clearance measurement system which comprises a measurement robot and a robot system carried on the measurement robot, wherein the measurement robot comprises a measuring instrument and a gyroscope, the measuring instrument is used for measuring the distance from a platform to the measuring instrument, and the measuring instrument is used for sequentially acquiring measurement data; the gyroscope is fixedly connected with the measuring instrument and used for detecting the inclination angle of the measuring instrument; the robot system is used for acquiring and storing the measurement data, the inclination angle and the associated data, and generating limit data according to the measurement data, the inclination angle and the associated data; and the method is also used for judging whether the measured data is abnormal data or not and marking the abnormal data. This scheme of adoption can realize the accurate measurement to the platform limit, reduces because of measuring robot rocks the error that causes in the motion process to when discovering platform limit abnormal data, the automatic unusual data of mark, the staff of being convenient for looks over the unusual data fast.
Description
Technical Field
The invention relates to the technical field of platform clearance measurement, in particular to a high-speed rail platform clearance measurement system.
Background
The railway platform limit is the space size required for the safety of vehicle operation, parking and passenger taking and landing within the platform range. At present, the railway platform clearance detection in China still adopts a contact type measuring method, for example, instruments such as a platform ruler, a graduated scale, a plumb bob, a measuring rod and the like are utilized to measure the height of the platform from the upper end surface of a track and the horizontal distance of the platform from the center of a track line. According to the measuring method, the measuring error in the measuring process is large by adopting a manual measuring mode, and meanwhile, the measuring operation is complicated, so that the measuring efficiency is low, and the requirements of measuring and managing the platform limit cannot be met.
Therefore in order to be convenient for quick, accurate measure the platform boundary limit, a device that can measure the platform boundary limit has been researched out among the prior art, it includes chassis and server, the bottom of chassis is equipped with the walking wheel, be equipped with lifting plate on the chassis, the last electronic lift post that is equipped with of lifting plate, the top of electronic lift post is equipped with measures the box, one side of measuring the box is equipped with horizontal ultrasonic ranging probe, the bottom of measuring the box is equipped with high ultrasonic ranging probe, still be equipped with the controller on the lifting plate, the controller is used for controlling and measures the box and reciprocates, and give the server with the boundary data transmission that high ultrasonic ranging probe and horizontal ultrasonic ranging probe gathered, the server is used for handling the boundary data, and feed back to user terminal and supply the user to look over. The measuring device is moved to a specified position through the travelling wheels, the horizontal limit and the vertical limit of the specified position are measured through the horizontal ultrasonic ranging probe and the height ultrasonic ranging probe, the horizontal limit and the vertical limit are sent to the server through the controller, and data processed by the server are displayed at the user terminal.
The measuring device can measure the platform limit at the designated position, thereby reducing the measurement operation of workers and reducing the measurement error caused by manual measurement. However, for platform clearance, the platform clearance to be measured is not limited to the measurement of a specific position, but the platform clearance of the whole platform and track is measured. When the measuring device is used for measuring the whole platform limit, the platform limit is required to be measured in the movement process of the measuring device, but in the movement process of the measuring device, as the measuring device is only in contact with the track through the travelling wheels, the measuring device can shake left and right in the movement process, and therefore limit data measured by the horizontal ultrasonic ranging probe and the height ultrasonic ranging probe have large errors. In addition, when the platform limit is measured, the data volume is large, and when a worker looks up the data, the worker needs to screen out abnormal data from numerous data, so that the workload is large.
Disclosure of Invention
The invention aims to provide a high-speed rail platform clearance measuring system which can accurately measure a platform clearance, reduce errors caused by shaking of a measuring robot in a moving process, automatically mark abnormal data when the abnormal data of the platform clearance are found, and facilitate workers to quickly check the abnormal data.
The present invention provides a basic scheme: the high-speed rail platform clearance measuring system comprises a measuring robot and a robot system carried on the measuring robot, wherein the measuring robot comprises a measuring instrument, the measuring instrument is used for measuring the distance from a platform to the measuring instrument, and the measuring instrument is used for sequentially acquiring measuring data; the measuring robot further comprises a gyroscope, the gyroscope is fixedly connected with the measuring instrument, and the gyroscope is used for detecting the inclination angle of the measuring instrument;
the robot system is used for acquiring and storing measurement data, inclination angles and associated data, and generating limit data according to the measurement data, the inclination angles and the associated data; and the method is also used for judging whether the measured data is abnormal data or not and marking the abnormal data.
Description of the drawings: the association data is the association information between the measurement data and the bounding data required for obtaining the bounding data according to the measurement data, and includes, but is not limited to, the proportional relationship between the measurement data and the bounding data, and the angle between the distance represented by the measurement data and the distance represented by the bounding data.
The basic scheme has the following working principle and beneficial effects: when the distance measuring device is used, the measuring robot moves on the track and measures the distance between the measuring robot and the platform in the moving process, wherein the distance is the distance from the measuring instrument to the platform, namely the distance from the emitting point of the distance measuring laser to the position shielded by the platform. The distance from the measuring instrument to the platform, namely measurement data, is obtained through the measuring instrument, and limit data are calculated through the measurement data, wherein the limit data are the vertical distance from the platform to the upper end face of the track and the horizontal distance from the platform to the center of the track line. The platform model may be built using the bounding data for viewing by the user. The setting of gyroscope, can acquire the measuring apparatu along orbital motion inclination for the track in real time, because gyroscope and measuring apparatu fixed connection, the inclination of gyroscope is the inclination of measuring apparatu promptly, gather inclination through the gyroscope, thereby through the rocking of inclination sign measuring robot on the track, generate the boundary limit data according to inclination, thereby make the actual conditions of boundary limit data more pressing close to the platform boundary limit, reduce because of measuring robot rocks the measuring error who causes in the motion process, and then realize the accurate measurement to the platform boundary limit.
In order to facilitate staff to rapidly analyze the current platform limit condition, the measurement data is also judged, and when the measurement data is judged to be abnormal data, the measurement data is marked. The abnormal data is data which is obviously greatly different from other data, and the existence of the abnormal data can be the following two conditions: firstly, the vertical surface of the platform itself is problematic; secondly, in the moving process of the measuring robot, the measuring process has errors due to the conditions of shaking and the like. The abnormal data are marked, so that the worker can quickly and visually find the problems, and the problems are solved in time.
Further, the measuring apparatu is including the laser instrument that is used for launching range finding laser to and be used for seeing through the printing opacity face of range finding laser, the printing opacity face slope sets up, range finding laser can swing on vertical plane and form the swing angle, when range finding laser is located the angular bisector of swing angle, range finding laser is perpendicular with the printing opacity face.
Has the advantages that: the light-transmitting surface is obliquely arranged, so that the distance measuring laser is prevented from being shielded, and the distance from the measuring instrument to the topmost end of the vertical surface of the platform is convenient to measure by the measuring instrument. The setting of laser instrument provides the range finding laser, and the range finding laser removes on the vertical face of platform, combines measuring robot's removal, realizes measuring the distance of laser instrument to the vertical face of platform arbitrary point. When the measuring robot is located at any position on the track, the projection of the ranging laser on the vertical plane forms a swing angle with the laser as a vertex, and when the projection of the ranging laser on the vertical plane is located on an angular bisector of the swing angle, the ranging laser is perpendicular to the light-transmitting plane.
Further, the laser is used for obtaining an angle between the ranging laser and an angular bisector of the swing angle as a measuring inclination angle, the laser is also used for obtaining a measuring distance, and the measuring robot is used for integrating the measuring inclination angle and the measuring distance into measuring data; the robot system is preset with a fixed inclination angle which is associated data, and is used for generating limit data according to the measured distance, the measured inclination angle and the fixed inclination angle.
Description of the drawings: the measured distance is the distance from the laser to a certain point of the vertical surface of the platform when the laser is positioned at the measured inclination angle; the fixed inclination angle is an included angle between the light-transmitting surface and the horizontal plane; the bounding data are the length of the projection of the measured distance in the horizontal direction and the length of the projection of the measured distance in the vertical direction.
Has the advantages that: under the condition of knowing a fixed inclination angle, the included angle between the ranging laser and the vertical surface of the platform can be obtained according to the measured inclination angle, and under the condition of measuring the measured distance, the limit data can be obtained according to a trigonometric function.
Further, an analysis rule is preset in the robot system, and the analysis rule comprises a first input angle alpha, a second input angle beta, a third input distance OA, a fourth input angle, a preset vertical distance, a preset horizontal distance, a preset measurement distance, a first vertical distance OH, a first horizontal distance AH, a first output distance and a second output distance; wherein the third input distance OA, the first vertical distance 0H and the first horizontal distance AH are three sides of the same triangle; when the first input angle α is an elevation angle, an included angle ω between the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω - α; when the first input angle α is a depression angle, an angle ω between the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω ═ β + α; calculating a first vertical distance OH and a first horizontal distance AH by utilizing a trigonometric function according to the third input distance OA and the included angle omega; generating a compensation vertical distance and a compensation horizontal distance according to the fourth input inclination angle, the preset vertical distance, the preset horizontal distance and the preset measurement distance; summing the first vertical distance OH and the compensated vertical distance to obtain a first output distance, and summing the compensated horizontal distance and the first horizontal distance AH to obtain a second output distance; the robot system is used for substituting a measured inclination angle serving as a first input angle alpha, a fixed inclination angle serving as a second input angle beta, a measured distance serving as a third input distance OA, and an inclination angle serving as a fourth input angle into an analysis rule, and using a first output distance and a second output distance output by the analysis rule as limit data.
Description of the drawings: the preset vertical distance is the vertical distance from the laser to the bottom of the measuring robot, the distance is fixed when the measuring robot is manufactured, and when the measuring robot is horizontally placed on the rail, the preset vertical distance can be considered as the vertical distance from the laser to the upper end face of the rail; the preset horizontal distance is the horizontal distance from the laser to the center of the measuring robot, is the same as the preset vertical distance, is fixed when the measuring robot is manufactured, and can be considered as the horizontal distance from the laser to the center of the track line when the measuring robot is horizontally placed on the track; the preset measuring distance is the distance from the laser to a certain point on the measuring robot.
Has the advantages that: the analysis rules are stored in the robot system in advance, a fixed inclination angle is obtained by using a mechanical structure of the measuring robot, a measuring distance and a measuring inclination angle are obtained through a laser, the fixed inclination angle, the measuring inclination angle and the measuring distance are used as input and substituted into the analysis rules, and the obtained output is limit data. Because the measuring robot can shake when moving on the track, and shake and can make the measuring robot take place the slope, even make the laser instrument take place the displacement, preset vertical distance no longer is the vertical distance of laser instrument to track up end this moment, and is the same, preset horizontal distance also no longer is the horizontal distance of laser instrument to track circuit center, acquire inclination through the gyroscope, and inclination can reflect the tilt state of laser instrument, thereby when obtaining the measuring robot slope, the vertical distance of laser instrument to track up end, and the horizontal distance of laser instrument to track circuit center, obtain compensation vertical distance and compensation horizontal distance promptly, limit data according to compensation vertical distance and compensation horizontal distance formation, reduce because of measuring robot shakes the measuring error that causes.
The system further comprises a background server, wherein the background server comprises a data filtering subsystem, and the data filtering subsystem is used for acquiring filtering rules and filtering limit data according to the filtering rules.
Has the advantages that: and the limit data is filtered by the data filtering subsystem, so that invalid data in the measured data is removed, valid data is reserved, and judgment of invalid data with large errors on the test is avoided.
And further, the filtering rule is that limit data are sequentially acquired as test data, the first N limit data of the test data are acquired and counted to generate a front average value, the last N limit data of the test data are acquired and counted to generate a back average value, and the limit data serving as the test data are removed when the difference value between the current average value or the back average value and the test data is larger than the filtering difference value.
Has the advantages that: when one limit data is judged, the front average value of the front N limit data of the limit data and the rear average value of the rear N limit data of the limit data are taken and judged according to the difference value between the front average value or the rear average value and the limit data, if the difference value is larger than the filtering difference value, the limit data and the adjacent front N data or the adjacent rear N data have larger difference, and the limit data obviously belong to invalid data, so that the limit data are removed, and the judgment of the invalid data with larger error on the test is avoided.
Further, the robot system comprises a data synchronization subsystem, the measuring robot is also used for acquiring mileage sampling frequency of mileage data and distance measurement sampling frequency of measuring data, and sending the speed sampling frequency and the distance measurement sampling frequency to the background server, wherein the distance measurement sampling frequency is higher than the mileage sampling frequency; the data synchronization subsystem is used for dividing two adjacent mileage data according to the mileage sampling frequency and the ranging sampling frequency, and synchronously displaying the measurement data and the divided mileage data.
Has the advantages that: different data acquisition frequencies are different, so that when data with higher acquisition frequency are displayed, the data with lower acquisition frequency are not acquired yet, and synchronous display cannot be realized. The two adjacent mileage data are divided according to the mileage sampling frequency and the ranging sampling frequency, so that the mileage data can be displayed simultaneously when the measurement data with higher frequency is displayed, and a worker can accurately find the platform area with abnormal data according to the mileage data.
Further, the data synchronization subsystem comprises a frequency division module and a mileage calculation module, wherein the frequency division module is used for generating a division ratio according to mileage sampling frequency and ranging sampling frequency; the mileage calculation module is used for dividing the mileage data of two adjacent times according to the division ratio and establishing the corresponding relation between the divided mileage data and the measurement data.
Has the advantages that: and dividing the two adjacent mileage data according to the division ratio to obtain the divided mileage data corresponding to the measurement data, namely, synchronously displaying the divided mileage data corresponding to the measurement data when the measurement data is displayed, so that each measurement data corresponds to one mileage data, thereby quickly finding the platform area with abnormal data.
Further, the measuring robot comprises a robot main body, a rotating motor is arranged in the robot main body, an output shaft of the rotating motor extends out of the robot main body, rollers which abut against the track are arranged on two sides of the robot main body, and the rollers are fixedly connected with the output shaft of the rotating motor.
Has the advantages that: the rotary motor rotates to drive the roller to move on the rail, so that the measuring robot can move on the rail, and the measurement of the platform limit is automatically completed.
Further, one end of the roller, which is close to the robot main body, extends to form a blocking part, and one side, which is far away from the robot main body, of the blocking part is abutted to the rail.
Has the advantages that: the setting of blocking part plays the guide effect to measuring robot's removal, prevents simultaneously that measuring robot from deviating from the track at the removal in-process, causes measuring robot's damage.
Drawings
Fig. 1 is a schematic structural diagram of a measurement robot according to a first embodiment of the high-speed rail station clearance measurement system of the present invention;
FIG. 2 is a logic block diagram of a high-speed rail station clearance measurement system according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a high-speed rail platform clearance measurement system according to a first embodiment of the present invention when the first input angle is an elevation angle;
FIG. 4 is a schematic diagram illustrating a first input angle of a high-speed rail platform clearance measurement system according to an embodiment of the present invention;
FIG. 5 is a logic block diagram of a second embodiment of a high-speed rail station clearance measurement system according to the present invention;
fig. 6 is a logic block diagram of a third embodiment of a high-speed rail station clearance measurement system according to the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: a drum 1, a measuring instrument 2, and a robot main body 3.
Example one
A high-speed rail platform clearance measuring system comprises a measuring robot, a robot system mounted on the measuring robot and a user terminal.
As shown in the attached drawing 1, the measuring robot comprises a robot body 3, control cavities are formed in two sides of the robot body 3, a rotating motor is arranged in each control cavity, an output shaft of the rotating motor is connected with a roller shaft through a coupler, one end, far away from the rotating motor, of the roller shaft extends out of the control cavity, a roller 1 is welded on the roller, the outer wall of the roller 1 abuts against the upper end face of a track, one end, close to the robot body 3, of the roller 1 extends outwards in the axial direction of the roller 1 to form a blocking portion, and one side, far away from the robot body 3, of the blocking portion abuts against the track. In this embodiment, two rollers 1 are respectively disposed on two sides of the robot body 3, and the blocking portion is located at one end of each roller 1 close to the symmetric axis of the two tracks.
The measuring robot further comprises a measuring instrument 2, the measuring instrument 2 is used for measuring the distance from the platform to the measuring instrument 2, the measuring instrument 2 is provided with a measuring cavity, the measuring cavity is communicated with a control cavity on the left side of the robot main body 3, and a shell of the measuring instrument 2 and a shell of the robot main body 3 are integrally formed. The surveying instrument 2 comprises a laser for emitting a ranging laser, which is oscillated on a vertical plane to form an oscillation angle. The left side that measuring apparatu 2 kept away from two track symmetry axes is equipped with the printing opacity face, and the printing opacity face is used for seeing through the range finding laser, and the printing opacity face sets up along 2 direction slopes of two track symmetry axial measuring apparatu from top to bottom, and when the angular bisector of range finding laser position swing angle, range finding laser is perpendicular with the printing opacity face. In the present embodiment, the laser is a laser scanner of the model LMS4121R-13000, and the surveying instrument 2 can acquire the measured distance and the measured angle of the ranging laser. In other embodiments, the measuring instrument 2 may employ a laser and a rotating bracket, the laser is fixed on the rotating bracket, the rotating bracket includes a measuring motor, the output shaft of the measuring motor is connected with a rotating disc through a key, the laser is bonded on the circumferential surface of the rotating disc, the laser is controlled to rotate on the vertical plane through controlling the rotation of the measuring motor so as to form a swing angle with the distance measuring laser emitted by the laser, the laser can obtain the measuring distance, and the measuring angle can be obtained through the rotation of the measuring motor.
The measurement intracavity still is equipped with the gyroscope, gyroscope and laser instrument fixed connection, and the gyroscope is used for detecting the inclination of self as the inclination of laser instrument. The measuring robot further comprises a controller, the controller is electrically connected with the laser, the rotating motor and the gyroscope, the laser is used for obtaining an angle between the ranging laser and an angular bisector of the swing angle and used as a measuring inclination angle, the laser is further used for obtaining a measuring distance corresponding to the measuring inclination angle, the gyroscope is used for detecting the inclination angle, and the controller is used for integrating the measuring inclination angle and the measuring distance into measuring data.
As shown in fig. 2, the robot system includes a data analysis subsystem and a robot database, wherein a marking rule and an analysis rule are pre-stored in the robot database, and the robot system is used for acquiring measurement data and an inclination angle and storing the measurement data and the inclination angle in the robot database.
A data analysis subsystem comprising:
the data conversion module is used for analyzing the measurement data into a measurement distance and a measurement inclination angle, acquiring an analysis rule from a robot database, substituting the measurement distance, the measurement inclination angle, the fixed inclination angle and the inclination angle into the analysis rule to acquire limit data, and storing the limit data in the database. The analysis rule comprises a first input angle alpha, a second input angle beta, a third input distance OA, a fourth input angle, a preset vertical distance, a preset horizontal distance, a preset measuring distance, a first vertical distance OH, a first horizontal distance AH, a first output distance and a second output distance; wherein the third input distance OA, the first vertical distance 0H and the first horizontal distance AH are three sides of the same triangle; as shown in fig. 3, when the first input angle α is an elevation angle, an included angle ω between the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω - α; as shown in fig. 4, when the first input angle α is a depression angle, an included angle ω of the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω ═ β + α; and calculating a first vertical distance OH and a first horizontal distance AH by using a trigonometric function according to the third input distance OA and the included angle ω, that is, OH ═ OA · cos ω and AH ═ OA · sin ω. Generating a compensation vertical distance and a compensation horizontal distance according to the fourth input inclination angle, the preset vertical distance, the preset horizontal distance and the preset measurement distance; the first output distance is obtained by summing the first vertical distance OH and the compensated vertical distance, and the second output distance is obtained by summing the compensated horizontal distance and the first horizontal distance AH. Specifically, a measured inclination angle as a first input angle α, a fixed inclination angle as a second input angle β, a measured distance as a third input distance OA, and an inclination angle as a fourth input angle are substituted into the analysis rule, and a first output distance and a second output distance output by the analysis rule are used as limit data.
Generating a compensation vertical distance and a compensation horizontal distance according to the fourth input inclination angle, the preset vertical distance, the preset horizontal distance and the preset measurement distance, and specifically: when the measuring robot is manufactured, the preset horizontal distance and the preset vertical distance are fixed, in the embodiment, the preset measuring distance is the distance between a laser and the center point of the contact surface between the roller on the left side of the robot body and the track, a space coordinate system is established by taking the center point as the coordinate origin, the preset horizontal distance, the preset vertical distance and the preset measuring distance are data under the same vertical plane, the coordinates of the center of the track line and the coordinates of the laser can be known according to the preset horizontal distance, the preset vertical distance and the preset measuring distance when the measuring robot is horizontally placed on the track, the coordinates of the laser are calculated according to the preset measuring distance and the inclination angle (the inclination angle is the fourth input inclination angle), the coordinates of the laser when the measuring data is collected are calculated, the coordinates of the laser at the position are the coordinates when the measuring robot is inclined, and the coordinates of the laser and the center of the track line can be obtained according to the coordinates of the laser and the coordinate And the horizontal distance of the laser to the center of the track line, i.e., the compensated vertical distance and the compensated horizontal distance.
The abnormal marking module is preset with a marking difference value and used for acquiring a marking rule from the robot database, judging whether the limit data is abnormal data according to the marking rule, marking the abnormal data and storing the marked limit data in the robot database. Specifically, the marking rule is to sequentially acquire limit data as test data, acquire the first N limit data of the test data, perform statistics to generate a front average value, acquire the last N limit data of the test data, perform statistics to generate a back average value, and mark the limit data as test data as abnormal data when a difference between the front average value or the back average value and the test data is greater than a mark difference value.
And the data transmission module is used for acquiring the measurement data and the marked limit data from the robot data volume and sending the measurement data and the marked limit data to the user terminal. The user terminal is used for displaying the limit data for the staff to check, and the abnormal data is marked, so that the staff can quickly find the abnormal data.
Example two
The difference between the present embodiment and the first embodiment is: in order to facilitate the staff to find the platform area represented by the abnormal data in time, the mileage data of the measuring robot needs to be acquired, the mileage data is synchronously displayed, and when the abnormal data is found, the platform area can be quickly found according to the mileage data corresponding to the abnormal data.
The laser device is preset with a distance measurement sampling frequency, acquires a measurement inclination angle and a measurement distance according to the distance measurement sampling frequency, and sends the measurement inclination angle and the measurement distance to the controller. The controller is preset with mileage sampling frequency, and acquires data of an encoder of the rotating motor as mileage data according to the mileage sampling frequency. And integrating the measured inclination angle and the measured distance into measured data by the controller, wherein the distance measurement sampling frequency is higher than the mileage sampling frequency.
As shown in fig. 5, the robot system further includes a data synchronization subsystem, and the robot system is configured to acquire mileage data, mileage sampling frequency, and distance measurement sampling frequency, and store the mileage data, mileage sampling frequency, and distance measurement sampling frequency in a robot database.
A data synchronization subsystem comprising:
and the frequency division module is used for acquiring the mileage sampling frequency and the distance measurement sampling frequency from the robot database and generating a division ratio according to the mileage sampling frequency and the distance measurement sampling frequency. In this embodiment, the range sampling frequency is ten times of the mileage sampling frequency, that is, ten times of limit data is generated, and mileage data is collected once.
And the mileage calculation module is used for acquiring mileage data from the robot database, dividing the two adjacent mileage data according to the division ratio, establishing a corresponding relation between the divided mileage data and the limit data, and sending the mileage data and the limit data which are linked to each other to the user terminal. And the user terminal is used for synchronously displaying the mileage data and the limit data for the staff to check. Specifically, the mileage data L acquired at the Mth time is acquiredMAnd mileage data L collected at the M +1 th timeM+1The mileage difference value delta L of two adjacent mileage data is equal to LM+1-LM(ii) a The mileage difference values are divided according to the division ratio, in this embodiment, the division ratio is one tenth, and the divided mileage data are respectively
Mileage data L acquired at mth timeMAnd mileage data L collected at the M +1 th timeM+1Corresponding 10M timesGenerated bounding data X10MAnd 10M +10 th generated bounding data X10M+10Then the 10M +1 th generated bounding data X10M+1The corresponding mileage data is
Bound data X generated 10M +2 times10M+2The corresponding mileage data is
Bound data X generated 10M +10 times10M+10The corresponding mileage data is LM+1。
EXAMPLE III
The difference between the present embodiment and the first embodiment is: the system also comprises a background server, as shown in figure 6, the background server comprises a server database, a primary filtering module, a secondary filtering module and a three-dimensional modeling module, and filtering rules are prestored in the server database.
The robot system is used for sending the measurement data, the inclination angle and the marked limit data to the background server, and the background server is used for storing the received measurement data, the inclination angle and the marked limit data in the server database. In other embodiments, the measurement robot may also send the measurement data and the inclination angle to a backend server, and the backend server generates the limit data according to the analysis rule and marks the limit data according to the marking rule, so as to obtain the marked limit data.
The primary filtering module is preset with a filtering difference value, and a worker can set the filtering difference value according to the precision. The primary filtering module is used for acquiring all the limit data from the server database, acquiring filtering rules from the server database and filtering all the limit data according to the filtering rules. All boundary data here refers to all boundary data generated by one measurement of the rails under the same platform. Specifically, the filtering rule is to sequentially acquire limit data as test data, acquire the first N limit data of the test data, perform statistics to generate a front average value, and acquire the last N limits of the test dataAnd counting the data to generate a rear average value, and rejecting limit data serving as test data when the difference value between the current average value or the rear average value and the test data is larger than a filtering difference value. Specifically, in the present embodiment, N is defined as 6, and the limit data is defined as X in chronological order1To XNTaking X9As test data, then X3To X8Is the former average value, X10To X15Is the rear average, the current average and X9Is greater than the filtered difference, or the mean value is compared with X9If the difference is greater than the filtering difference, then X is eliminated from the limit data9Otherwise, take X10And judging the limit data as test data, and sending the filtered limit data to a secondary filtering module after all the limit data are judged.
The secondary filtering module is preset with a data volume threshold, and workers can set the data volume threshold according to parameters of different modeling software. The secondary filtering module is used for receiving the limit data, generating filtering frequency according to the data quantity threshold and the limit data, filtering the limit data according to the filtering frequency, and sending the limit data after being filtered again to the three-dimensional modeling module.
The three-dimensional modeling module is used for receiving the limit data and constructing a platform model according to the limit data for a worker to check.
In one measurement process, the quantity of collected measurement data is large, the same limit data corresponding to the measurement data is also large, the requirement on a modeling program is high when a platform model is built according to the limit data, in order to reduce the calculation amount of the modeling program, the limit data are filtered, the filtered limit data serve as effective data, the filtered limit data serve as invalid data, if the quantity of the filtered limit data is still large, the limit data are filtered again, interval quantity filtering or frequency filtering is adopted, for example, after every N interval limit data are removed, the next limit data are removed, or filtering frequency is obtained, the filtering frequency is larger than sampling frequency, and the corresponding limit data serve as the effective data according to the filtering frequency. The bound data is reduced through filtering, so that a modeling program can conveniently build a platform model according to the bound data.
Example four
The present embodiment is different from the second embodiment in that: electromagnets are further arranged between the bottom of the robot main body 3 and the rollers 1, the number of the electromagnets is the same as that of the rollers 1, and the electromagnets are respectively positioned above the rollers 1. The electromagnets are in signal connection with the controller, and the controller is used for controlling the electromagnets to be started when controlling the rotary motor to be started and controlling the electromagnets to be closed when controlling the rotary motor to be stopped. The device is also used for controlling the voltage value of the input electromagnet, and the size of the attraction force of the electromagnet is controlled by adjusting the voltage value.
And the rotating motors are respectively provided with an idling torque sensor which is in signal connection with the controller, and the idling torque sensors are used for judging the torque of the rotating motors and uploading the torque judgment data to the data synchronization subsystem through the controller.
The data synchronization subsystem further comprises an idle judging module.
The idling judgment module is preset with an idling torque range and is used for receiving torque judgment data and generating a voltage increase signal when the torque judgment data is located in the idling torque range; and generating a voltage reduction signal when the torque determination data exceeds the idling torque range. In the present embodiment, the idling torque range is obtained by performing an idling experiment on the motor.
The controller is used for controlling the electromagnet to generate magnetic force to adsorb the track when the electromagnet is started, so that the friction between the measuring robot and the track is increased, and the phenomenon that the roller slips is reduced. The controller is also used for increasing the voltage input into the electromagnet according to the voltage increasing signal when the electromagnet is in the starting signal, so that the phenomenon that the roller slips is reduced, and the voltage input into the electromagnet is reduced according to the voltage decreasing signal, so that the phenomenon that the power consumption of the motor is increased due to the fact that the attraction force of the electromagnet is too large is avoided.
When the measuring robot moves, up-and-down shaking or slipping can be generated, the measuring precision of the measuring robot can be influenced by the phenomenon, and simultaneously, when mileage data and limit data are synchronized, the mileage data is obtained according to the rotation of a rotating motor, when the slipping phenomenon occurs, the mileage data can be different from the actual mileage data, so that when abnormal data are found, a platform area can not be found quickly according to the mileage data corresponding to the abnormal data, therefore, the guide rail is adsorbed by an electromagnet, the friction force between a roller and a rail is increased, the phenomenon that the measuring robot tilts can be avoided, and meanwhile, the phenomenon that the roller slips can also be reduced.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. The high-speed rail platform clearance measuring system comprises a measuring robot and a robot system carried on the measuring robot, wherein the measuring robot comprises a measuring instrument, the measuring instrument is used for measuring the distance from a platform to the measuring instrument, and the measuring instrument is used for sequentially acquiring measuring data in the movement process of the measuring robot; the method is characterized in that: the measuring robot further comprises a gyroscope, the gyroscope is fixedly connected with the measuring instrument, and the gyroscope is used for detecting the inclination angle of the measuring instrument in the movement process of the measuring robot;
the robot system is used for acquiring and storing measurement data, inclination angles and associated data, and generating limit data according to the measurement data, the inclination angles and the associated data; the device is also used for judging whether the measured data is abnormal data or not and marking the abnormal data;
the measuring instrument comprises a laser for emitting ranging laser and a light-transmitting surface for transmitting the ranging laser, the light-transmitting surface is obliquely arranged, the ranging laser can swing on a vertical plane to form a swing angle, and when the ranging laser is positioned on an angular bisector of the swing angle, the ranging laser is perpendicular to the light-transmitting surface;
the laser device is used for acquiring an angle between a ranging laser and an angular bisector of a swing angle in the movement process of the measuring robot as a measuring inclination angle, the laser device is also used for acquiring a measuring distance in the movement process of the measuring robot, and the measuring robot is used for integrating the measuring inclination angle and the measuring distance into measuring data; the robot system is preset with a fixed inclination angle, the fixed inclination angle is associated data, and the robot system is used for generating limit data according to a measured distance, a measured inclination angle and the fixed inclination angle;
the robot system is preset with analysis rules, wherein the analysis rules comprise a first input angle alpha, a second input angle beta, a third input distance OA, a fourth input angle, a preset vertical distance, a preset horizontal distance, a preset measurement distance, a first vertical distance OH, a first horizontal distance AH, a first output distance and a second output distance; wherein the third input distance OA, the first vertical distance 0H and the first horizontal distance AH are three sides of the same triangle; when the first input angle α is an elevation angle, an included angle ω between the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω - α; when the first input angle α is a depression angle, an angle ω between the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω ═ β + α; calculating a first vertical distance OH and a first horizontal distance AH by utilizing a trigonometric function according to the third input distance OA and the included angle omega; generating a compensation vertical distance and a compensation horizontal distance according to the fourth input inclination angle, the preset vertical distance, the preset horizontal distance and the preset measurement distance; summing the first vertical distance OH and the compensated vertical distance to obtain a first output distance, and summing the compensated horizontal distance and the first horizontal distance AH to obtain a second output distance; the robot system is used for substituting a measured inclination angle serving as a first input angle alpha, a fixed inclination angle serving as a second input angle beta, a measured distance serving as a third input distance OA, and an inclination angle serving as a fourth input angle into an analysis rule, and using a first output distance and a second output distance output by the analysis rule as limit data.
2. The high-speed rail platform clearance measurement system of claim 1, wherein: the data filtering subsystem is used for acquiring filtering rules and filtering limit data according to the filtering rules.
3. The high-speed rail platform clearance measurement system of claim 2, wherein: the filtering rule is that limit data are sequentially acquired to serve as test data, the first N limit data of the test data are acquired and counted to generate a front average value, the last N limit data of the test data are acquired and counted to generate a back average value, and the limit data serving as the test data are removed when the difference value between the front average value or the back average value and the test data is larger than a filtering difference value.
4. The high-speed rail platform clearance measurement system of claim 1, wherein: the robot system comprises a data synchronization subsystem, the measuring robot is also used for acquiring mileage sampling frequency of mileage data and distance measuring sampling frequency of measured data, and sending the speed sampling frequency and the distance measuring sampling frequency to a background server, wherein the distance measuring sampling frequency is higher than the mileage sampling frequency; the data synchronization subsystem is used for dividing two adjacent mileage data according to the mileage sampling frequency and the ranging sampling frequency, and synchronously displaying the measurement data and the divided mileage data.
5. The high-speed rail platform clearance measurement system of claim 4, wherein: the data synchronization subsystem comprises a frequency division module and a mileage calculation module, wherein the frequency division module is used for generating a division ratio according to mileage sampling frequency and distance measurement sampling frequency; the mileage calculation module is used for dividing the mileage data of two adjacent times according to the division ratio and establishing the corresponding relation between the divided mileage data and the measurement data.
6. The high-speed rail platform clearance measurement system of claim 1, wherein: the measuring robot comprises a robot main body, a rotating motor is arranged in the robot main body, an output shaft of the rotating motor extends out of the robot main body, rollers which are abutted against the rails are arranged on two sides of the robot main body, and the rollers are fixedly connected with the output shaft of the rotating motor.
7. The high-speed rail platform clearance measurement system of claim 6, wherein: one end of the roller, which is close to the robot main body, extends to form a blocking part, and one side, which is far away from the robot main body, of the blocking part is abutted to the rail.
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| CN106835868A (en) * | 2017-03-06 | 2017-06-13 | 华东交通大学 | A kind of high accuracy railway clearance measuring method based on laser ranging |
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| CN206609403U (en) * | 2016-08-25 | 2017-11-03 | 吴立滨 | Station platform clearance survey device |
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