CN111288938A - Error detection method and error detection vehicle for contact network - Google Patents
Error detection method and error detection vehicle for contact network Download PDFInfo
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Abstract
The application relates to a contact net error detection method and an error detection vehicle. Contact net error detection car includes at least: the detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor, and the method comprises the following steps: the ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system and sending the acquired position coordinates to the data processing device; and the data processing device is used for processing the position coordinates based on the static reference surface coordinate system to obtain the error deviation of the position coordinates relative to the static reference surface coordinate system, and compensating each contact net detection parameter obtained by the contact net error detection vehicle according to the error deviation. By adopting the method, the error compensation of each detection parameter of the contact network can be realized.
Description
Technical Field
The application relates to the technical field of contact networks, in particular to a contact network error detection method and an error detection vehicle.
Background
With the development of the detection technology of the contact network, a technology for detecting the contact network by using a detection vehicle appears, detection parameters such as geometric parameters, pantograph-catenary relationship parameters and auxiliary parameters between a pantograph and the contact network of the detection vehicle in the driving process are obtained by detection equipment on the detection vehicle in real time, the detection parameters are fed back to an operation maintenance department in real time, and the operation maintenance department calculates and calculates all detection parameters to complete operation management of the contact network.
The detection vehicle can vibrate randomly (shaking head, nodding head, stretching, sinking, rolling and yawing) in the driving process, however, the detection equipment of the detection vehicle uses the detection vehicle body as each detection parameter obtained by a dynamic reference system, so that when an operation maintenance department uses a static track plane as a reference system for measurement and calculation, each obtained detection parameter has a large error, and therefore, a contact network error detection method is urgently needed to complete the compensation of each detection parameter when the detection vehicle vibrates.
Disclosure of Invention
Therefore, in order to solve the technical problems, a method and a vehicle for detecting errors of a contact network are needed.
In a first aspect, the application provides a method for detecting an error of a catenary, wherein the method is applied to a catenary error detection vehicle, and the catenary error detection vehicle at least comprises: the detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor, and the method comprises the following steps:
the ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system and sending the acquired position coordinates to the data processing device;
the data processing device processes the position coordinates based on a static reference plane coordinate system to obtain error deviation of the position coordinates relative to the static reference plane coordinate system, and compensates each catenary detection parameter obtained by the catenary error detection vehicle according to the error deviation.
As an alternative embodiment, the position coordinates include: the data processing device processes the position coordinates based on a static reference plane coordinate system to obtain an error offset of the position coordinates relative to the static reference plane coordinate system, and comprises:
aiming at each ultrasonic sensor, obtaining a steel rail top surface fitting curve by adopting a preset fitting algorithm according to the first position coordinate acquired by the ultrasonic sensor, and obtaining a steel rail top surface common tangent line according to the fitting curve;
obtaining a rail gauge characteristic point corresponding to the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent line on the top surface of the steel rail and a preset auxiliary distance;
and determining a dynamic standard rail plane according to the rail gauge characteristic points corresponding to the ultrasonic sensors, and determining a vehicle body vibration compensation matrix as the error deviation according to the dynamic standard rail plane and the reference plane.
As an alternative, the preset fitting algorithm is a weighted least squares method.
As an optional implementation manner, the obtaining a gauge feature point corresponding to the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent of the top surface of the steel rail, and a preset auxiliary distance includes:
translating the common tangent line on the top surface of the steel rail downwards along the direction vertical to the reference surface by the auxiliary distance to obtain the translated common tangent line on the top surface of the steel rail;
determining a second position coordinate of the second position coordinate, wherein the distance between the second position coordinate and the common tangent of the top surface of the translated steel rail is smaller than a preset distance threshold value, as a target position coordinate, and fitting according to the target position coordinate to obtain a target straight line;
and determining the intersection point of the translated common tangent line of the top surface of the steel rail and the target straight line as a gauge characteristic point.
As an optional implementation manner, the position coordinate includes a second position coordinate inside the steel rail, and the data processing device processes the position coordinate based on a static reference plane coordinate system to obtain an error offset of the position coordinate with respect to the static reference plane coordinate system, and includes:
for each ultrasonic sensor, obtaining the position deviation of the second position coordinate according to the second position coordinate acquired by the ultrasonic sensor, the position coordinate of the detection vehicle body relative to the inner side of the steel rail in the reference plane coordinate system and a preset coordinate conversion algorithm;
and carrying out average operation on the position deviation of each second position coordinate to obtain the error deviation of the detection vehicle body in the operation process.
In a second aspect, a catenary error detection vehicle is provided, which at least comprises: the detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor;
the ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system and sending the acquired position coordinates to the data processing device;
the data processing device is used for processing the position coordinates based on a static reference plane coordinate system to obtain error deviation of the position coordinates relative to the static reference plane coordinate system, and compensating each catenary detection parameter obtained by the catenary error detection vehicle according to the error deviation.
As an alternative embodiment, the position coordinates include: the data processing device is specifically used for obtaining a fitting curve of the top surface of the steel rail according to the first position coordinate acquired by the ultrasonic sensor and a preset fitting algorithm aiming at each ultrasonic sensor, and obtaining a common tangent line of the top surface of the steel rail according to the fitting curve;
obtaining a rail gauge characteristic point corresponding to the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent line on the top surface of the steel rail and a preset auxiliary distance;
and determining a dynamic standard rail plane according to the rail gauge characteristic points corresponding to the ultrasonic sensors, and determining a vehicle body vibration compensation matrix as the error deviation according to the dynamic standard rail plane and the reference plane.
As an alternative, the preset fitting algorithm is a weighted least squares method.
As an optional implementation manner, the data processing device is further configured to translate the common tangent line on the top surface of the steel rail downwards by the auxiliary distance along a direction perpendicular to the reference plane, so as to obtain a translated common tangent line on the top surface of the steel rail;
determining a second position coordinate of the second position coordinate, wherein the distance between the second position coordinate and the common tangent of the top surface of the translated steel rail is smaller than a preset distance threshold value, as a target position coordinate, and fitting according to the target position coordinate to obtain a target straight line;
and determining the intersection point of the translated common tangent line of the top surface of the steel rail and the target straight line as a gauge characteristic point.
As an optional implementation manner, the position coordinates include a second position coordinate of the inner side of the steel rail, and the data processing device is specifically configured to, for each ultrasonic sensor, obtain a position offset of the second position coordinate according to the second position coordinate acquired by the ultrasonic sensor, the position coordinate of the detection vehicle body relative to the inner side of the steel rail in the reference plane coordinate system, and a preset coordinate conversion algorithm;
and carrying out average operation on the position deviation of each second position coordinate to obtain the error deviation of the detection vehicle body in the operation process.
The embodiment of the application provides a contact net error detection method and an error detection vehicle, and the contact net error detection vehicle at least comprises: the ultrasonic detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor. The ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system, and sending the acquired position coordinates to the data processing device; and the data processing device is used for processing the position coordinates based on the static reference surface coordinate system to obtain the error deviation of the position coordinates relative to the static reference surface coordinate system, and compensating each contact net detection parameter obtained by the contact net error detection vehicle according to the error deviation.
Drawings
Fig. 1 is a schematic flow chart of a method for detecting an error of a catenary provided in an embodiment of the present application;
FIG. 2 is a schematic view of an ultrasonic sensor offset relative to a steel rail according to an embodiment of the present disclosure;
fig. 3 is a schematic view illustrating positioning of track gauge feature points according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a two-dimensional vibration offset according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The application provides a contact net error detection method which can be applied to a contact net error detection vehicle. Wherein, contact net error detection car includes at least: the ultrasonic detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor. The ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system, and sending the acquired position coordinates to the data processing device; and then, the data processing device processes the position coordinates based on the static reference plane coordinate system to obtain the error deviation of the position coordinates relative to the static reference plane coordinate system, so as to compensate each contact net detection parameter obtained by the contact net error detection vehicle according to the error deviation.
The embodiment of the application provides a contact net error detection method, as shown in fig. 1, the method is applied to a contact net error detection vehicle, and the contact net error detection vehicle at least comprises: detect car body, data processing apparatus and ultrasonic sensor, then concrete processing procedure as follows:
and 101, acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle by the ultrasonic sensor based on a sensor coordinate system, and sending the acquired position coordinates to the data processing device.
In implementation, the ultrasonic sensor has a sensor coordinate system of the ultrasonic sensor to acquire position coordinates, the sensor coordinate system takes the geometric center of the sensor as an origin, the horizontal acoustic ranging direction of the sensor is an x axis when the vehicle body is static, and the vertical acoustic ranging direction of the sensor is a y axis. Since the ultrasonic sensor is displaced along with the movement of the inspection vehicle body, the sensor coordinate system is a dynamic coordinate system. The ultrasonic sensor acquires the position coordinates of the contact net error detection vehicle body relative to the steel rail in the operation process according to the dynamic coordinate system, and sends the acquired position coordinates to the data processing device through the RS485 communication channel of the intelligent instrument.
Optionally, but not limited to, 4 two-dimensional ultrasonic sensors are mounted at 4 vertices of the chassis of the overhead contact system error detection vehicle, and are used for acquiring position coordinates of the detection vehicle body relative to the steel rail in the operation process of the overhead contact system error detection vehicle, where an acquisition cycle of the ultrasonic sensor may be 250ms (milliseconds).
And 102, processing the position coordinates by the data processing device based on the static reference plane coordinate system to obtain error deviation of the position coordinates relative to the static reference plane coordinate system, and compensating each contact net detection parameter obtained by the contact net error detection vehicle according to the error deviation.
In practice, as shown in FIG. 2, the reference plane coordinate system (O)WXWYWZW) The track reference coordinate system is established by taking the geometric center of the bottom of the track as an origin, the track direction is an X axis, the direction which is horizontally vertical to the track direction is a Y axis, and the vertical direction is a Z axis. The ultrasonic sensor has six degrees of freedom relative to a track reference coordinate system, namely three axial position offsets and three rotation angles around an axis. Therefore, when the data processing device receives the position coordinates transmitted by the ultrasonic sensor, the data processing device processes each position coordinate in the sensor coordinate system based on the static reference plane coordinate system to obtain each positionThe error offset of the coordinates relative to the static reference plane coordinate system,
as an alternative embodiment, the position coordinates include: and processing the position coordinates by the data processing device based on the static reference surface coordinate system to obtain the error deviation of the position coordinates relative to the static reference surface coordinate system, wherein the specific processing process comprises the following steps:
step one, aiming at each ultrasonic sensor, obtaining a steel rail top surface fitting curve by adopting a preset fitting algorithm according to a first position coordinate acquired by the ultrasonic sensor, and obtaining a steel rail top surface common tangent line according to the fitting curve.
In implementation, the ultrasonic sensors sample at a sampling period of 250ms (milliseconds), and can acquire a plurality of first position coordinates relative to the top surface of the steel rail during operation of the detection vehicle body, so that the data processing device firstly processes the plurality of first position coordinates acquired by each ultrasonic sensor, specifically, as shown in fig. 3, the data processing device fits the plurality of first position coordinates by using a preset fitting algorithm to obtain a fitting curve (curve S) of the top surface of the steel rail, optionally, the preset fitting algorithm is a weighted least square method, the fitting is performed by using the weighted least square method, the data processing device performs first fitting by using a certain first position coordinate point and other 25 first position coordinate points in the field to obtain two sets of data of the fitted curve and the fitted radius, and then, the data processing device performs segmentation and limitation on the fitting curve, and selecting a first position coordinate point which is close to the fitting curve and has a distance from the fitting circle center smaller than a preset distance threshold, performing secondary fitting on the fitting curve to obtain a steel rail top surface fitting curve S, and finishing the correction of the fitting curve S, thereby ensuring the accuracy of the obtained fitting curve S. Then, the data processing device determines a common tangent (e.g., tangent L0) of the rail top surface fitting curve based on the obtained rail top surface fitting curve S.
And step two, obtaining the corresponding gauge characteristic points of the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent line on the top surface of the steel rail and the preset auxiliary distance.
In implementation, the data processing device translates the obtained common tangent line L0 on the top surface of the steel rail by a preset auxiliary distance (for example, 15mm), and the ultrasonic sensors sample at a sampling period of 250ms (milliseconds), so that a plurality of second position coordinates relative to the inner side of the steel rail during operation of the detection vehicle body can be obtained, and therefore the data processing device can process the plurality of second position coordinates collected by each ultrasonic sensor to obtain the target straight line L2. Then, the data processing device determines a gauge feature point (g) corresponding to the ultrasonic sensor.
Specifically, the data processing device translates the common tangent line of the top surface of the steel rail downwards along the direction perpendicular to the reference surface by an auxiliary distance of 15mm to obtain the translated common tangent line L1 of the top surface of the steel rail. Then, the data processing device determines 25 second position coordinate points, which are less than a preset distance threshold from the translated common tangent line L1 on the top surface of the steel rail, in the plurality of second position coordinates as target position coordinates, and fits the target position coordinates to obtain a target straight line L2. Finally, the data processing device determines the intersection point of the translated rail top surface common tangent line L1 and the target straight line L2 as the gauge characteristic point (shown as the point g in FIG. 3).
And step three, determining a dynamic standard rail plane according to the rail gauge characteristic points corresponding to the ultrasonic sensors, and determining a vehicle body vibration compensation matrix as error deviation according to the dynamic standard rail plane and the reference plane.
In implementation, the data processing device determines a dynamic standard rail plane in the running process of the detection vehicle body according to the obtained rail gauge characteristic points (for example, 4 ultrasonic sensors obtain 4 rail gauge characteristic points) corresponding to the sensors on the chassis of the contact network error detection vehicle. Then, the data processing device determines a vehicle body vibration compensation matrix as an error offset from the dynamic standard rail plane and the reference plane (the plane determined by the X-axis and the Y-axis of the static reference plane coordinate system).
As an alternative embodiment, the position coordinates include second position coordinates inside the steel rail, and the data processing device processes the position coordinates based on the static reference plane coordinate system to obtain an error offset of the position coordinates relative to the static reference plane coordinate system, where the specific processing procedure is as follows:
step one, aiming at each ultrasonic sensor, obtaining the position deviation of a second position coordinate according to the second position coordinate acquired by the ultrasonic sensor, the position coordinate of the detection vehicle body relative to the inner side of the steel rail in a reference plane coordinate system and a preset coordinate conversion algorithm.
In implementation, each sampling of the ultrasonic sensor can acquire a second position coordinate relative to the inner side of the steel rail in the operation process of the detection vehicle body, so that the data processing device compares the second position coordinate acquired by each ultrasonic sensor at a certain time with the coordinate corresponding to the position point in the preset reference surface coordinate system, and the position deviation of the second position coordinate is obtained according to a preset coordinate conversion algorithm. Specifically, as shown in FIG. 4, with O0x0y0Denotes a horizontal reference plane coordinate system (plane defined by X-axis and Y-axis) in the reference plane coordinate system, O0′x0′y0′The sensor coordinate system is determined for the plane where the sensor horizontal acoustic ranging and the vertical acoustic ranging are located, because the two-dimensional ultrasonic sensor is selected to collect the second position coordinate on the inner side of the steel rail, the second position coordinate can be expressed as (X, Y), and the position coordinate corresponding to the position point under the reference plane coordinate system only needs to contain information in two directions of X and Y, so the position coordinate can be expressed as (X, Y), and according to the known (X, Y) coordinate value, the (X, Y) coordinate value and the coordinate conversion algorithm:
where θ is the installation angle of the ultrasonic sensor (i.e. the detection angle in fig. 2), specific offset values Δ x and Δ y can be obtained (Δ x and Δ y represent the offset of the second position coordinate of the inner side of the rail collected by the ultrasonic sensor with respect to the position of the point in the reference plane coordinate system).
And step two, carrying out average operation on the position deviation of each second position coordinate to obtain the error deviation of the detection vehicle body in the operation process.
In implementation, the data processing device performs average operation on the position offset (Δ x, Δ y) of the second position coordinate corresponding to each ultrasonic sensor (for example, 4 ultrasonic sensors of the detection vehicle body chassis) on the overhead contact system error detection vehicle to obtain the error offset in the operation process of the detection vehicle body
The embodiment of the application provides a contact net error detection method, which is applied to a contact net error detection vehicle, wherein the contact net error detection vehicle at least comprises the following steps: the ultrasonic detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor. The ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system, and sending the acquired position coordinates to the data processing device; and the data processing device is used for processing the position coordinates based on the static reference surface coordinate system to obtain the error deviation of the position coordinates relative to the static reference surface coordinate system, and compensating each contact net detection parameter obtained by the contact net error detection vehicle according to the error deviation.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The embodiment of the application still provides a contact net error detection car, and this contact net error detection car includes at least: detect car body, data processing apparatus and ultrasonic sensor, wherein:
and the ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead line system error detection vehicle based on the sensor coordinate system and sending the acquired position coordinates to the data processing device.
And the data processing device is used for processing the position coordinates based on the static reference surface coordinate system to obtain the error deviation of the position coordinates relative to the static reference surface coordinate system, so as to compensate the contact net detection parameters obtained by the contact net error detection vehicle according to the error deviation.
As an alternative embodiment, the position coordinates include: the data processing device is specifically used for obtaining a fitting curve of the top surface of the steel rail by adopting a preset fitting algorithm according to the first position coordinate acquired by the ultrasonic sensor aiming at each ultrasonic sensor and obtaining a common tangent line of the top surface of the steel rail according to the fitting curve;
obtaining a track gauge characteristic point corresponding to the ultrasonic sensor according to a second position coordinate acquired by the ultrasonic sensor, a common tangent line on the top surface of the steel rail and a preset auxiliary distance;
and determining a dynamic standard rail plane according to the rail gauge characteristic points corresponding to the ultrasonic sensors, and determining a vehicle body vibration compensation matrix as error deviation according to the dynamic standard rail plane and the reference plane.
As an alternative, the preset fitting algorithm is a weighted least squares method.
As an optional implementation manner, the data processing device is further configured to translate the common tangent line on the top surface of the steel rail by an auxiliary distance downward along a direction perpendicular to the reference surface, so as to obtain a translated common tangent line on the top surface of the steel rail;
determining a second position coordinate of the second position coordinate, wherein the distance between the second position coordinate and the common tangent of the top surface of the translated steel rail is smaller than a preset distance threshold value, as a target position coordinate, and fitting according to the target position coordinate to obtain a target straight line;
and determining the intersection point of the translated common tangent line on the top surface of the steel rail and the target straight line as a gauge characteristic point.
As an optional implementation manner, the position coordinates include second position coordinates of the inner side of the steel rail, and the data processing device is specifically configured to, for each ultrasonic sensor, obtain a position offset of the second position coordinates according to the second position coordinates acquired by the ultrasonic sensor, the position coordinates of the vehicle body relative to the inner side of the steel rail in the reference plane coordinate system, and a preset coordinate conversion algorithm;
and carrying out average operation on the position deviation of each second position coordinate to obtain the error deviation of the detection vehicle body in the operation process.
The embodiment of the application provides a contact net error detection car, and contact net error detection car includes at least: the ultrasonic detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor. The ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system, and sending the acquired position coordinates to the data processing device; and the data processing device is used for processing the position coordinates based on the static reference surface coordinate system to obtain the error deviation of the position coordinates relative to the static reference surface coordinate system, and compensating each contact net detection parameter obtained by the contact net error detection vehicle according to the error deviation.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The method for detecting the error of the contact network is characterized by being applied to a contact network error detection vehicle, wherein the contact network error detection vehicle at least comprises the following steps: the detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor, and the method comprises the following steps:
the ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system and sending the acquired position coordinates to the data processing device;
the data processing device processes the position coordinates based on a static reference plane coordinate system to obtain error deviation of the position coordinates relative to the static reference plane coordinate system, and compensates each catenary detection parameter obtained by the catenary error detection vehicle according to the error deviation.
2. The method of claim 1, wherein the location coordinates comprise: the data processing device processes the position coordinates based on a static reference plane coordinate system to obtain an error offset of the position coordinates relative to the static reference plane coordinate system, and comprises:
aiming at each ultrasonic sensor, obtaining a steel rail top surface fitting curve by adopting a preset fitting algorithm according to the first position coordinate acquired by the ultrasonic sensor, and obtaining a steel rail top surface common tangent line according to the fitting curve;
obtaining a rail gauge characteristic point corresponding to the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent line on the top surface of the steel rail and a preset auxiliary distance;
and determining a dynamic standard rail plane according to the rail gauge characteristic points corresponding to the ultrasonic sensors, and determining a vehicle body vibration compensation matrix as the error deviation according to the dynamic standard rail plane and the reference plane.
3. The method of claim 2, wherein the predetermined fitting algorithm is a weighted least squares method.
4. The method according to claim 2, wherein the obtaining of the gauge feature point corresponding to the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent of the top surface of the steel rail and the preset auxiliary distance comprises:
translating the common tangent line on the top surface of the steel rail downwards along the direction vertical to the reference surface by the auxiliary distance to obtain the translated common tangent line on the top surface of the steel rail;
determining a second position coordinate of the second position coordinate, wherein the distance between the second position coordinate and the common tangent of the top surface of the translated steel rail is smaller than a preset distance threshold value, as a target position coordinate, and fitting according to the target position coordinate to obtain a target straight line;
and determining the intersection point of the translated common tangent line of the top surface of the steel rail and the target straight line as a gauge characteristic point.
5. The method of claim 1, wherein the position coordinates comprise second position coordinates inside a rail, and wherein the data processing device, based on a static reference plane coordinate system, processes the position coordinates to obtain an error offset of the position coordinates relative to the static reference plane coordinate system, comprises:
for each ultrasonic sensor, obtaining the position deviation of the second position coordinate according to the second position coordinate acquired by the ultrasonic sensor, the position coordinate of the detection vehicle body relative to the inner side of the steel rail in the reference plane coordinate system and a preset coordinate conversion algorithm;
and carrying out average operation on the position deviation of each second position coordinate to obtain the error deviation of the detection vehicle body in the operation process.
6. The utility model provides a contact net error detection car, its characterized in that, contact net error detection car includes at least: the detection vehicle comprises a detection vehicle body, a data processing device and an ultrasonic sensor;
the ultrasonic sensor is used for acquiring the position coordinates of the detection vehicle body relative to the steel rail in the running process of the overhead contact system error detection vehicle based on a sensor coordinate system and sending the acquired position coordinates to the data processing device;
the data processing device is used for processing the position coordinates based on a static reference plane coordinate system to obtain error deviation of the position coordinates relative to the static reference plane coordinate system, and compensating each catenary detection parameter obtained by the catenary error detection vehicle according to the error deviation.
7. The catenary error detection vehicle of claim 6, wherein the position coordinates comprise: the data processing device is specifically used for obtaining a fitting curve of the top surface of the steel rail according to the first position coordinate acquired by the ultrasonic sensor and a preset fitting algorithm aiming at each ultrasonic sensor, and obtaining a common tangent line of the top surface of the steel rail according to the fitting curve;
obtaining a rail gauge characteristic point corresponding to the ultrasonic sensor according to the second position coordinate acquired by the ultrasonic sensor, the common tangent line on the top surface of the steel rail and a preset auxiliary distance;
and determining a dynamic standard rail plane according to the rail gauge characteristic points corresponding to the ultrasonic sensors, and determining a vehicle body vibration compensation matrix as the error deviation according to the dynamic standard rail plane and the reference plane.
8. The catenary error detection vehicle of claim 7, wherein the preset fitting algorithm is a weighted least squares method.
9. The overhead line system error detection vehicle of claim 7, wherein the data processing device is further configured to translate the rail top surface common tangent line downward by the auxiliary distance in a direction perpendicular to a reference plane, so as to obtain a translated rail top surface common tangent line;
determining a second position coordinate of the second position coordinate, wherein the distance between the second position coordinate and the common tangent of the top surface of the translated steel rail is smaller than a preset distance threshold value, as a target position coordinate, and fitting according to the target position coordinate to obtain a target straight line;
and determining the intersection point of the translated common tangent line of the top surface of the steel rail and the target straight line as a gauge characteristic point.
10. The catenary error detection vehicle according to claim 6, wherein the position coordinates comprise second position coordinates of the inner side of the steel rail, and the data processing device is specifically configured to obtain, for each ultrasonic sensor, a position offset of the second position coordinates according to the second position coordinates acquired by the ultrasonic sensor, the position coordinates of the detection vehicle body relative to the inner side of the steel rail in the reference plane coordinate system, and a preset coordinate conversion algorithm;
and carrying out average operation on the position deviation of each second position coordinate to obtain the error deviation of the detection vehicle body in the operation process.
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