CN111319653A - Track inspection imaging control signal generator, generation method and track inspection system - Google Patents

Track inspection imaging control signal generator, generation method and track inspection system Download PDF

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CN111319653A
CN111319653A CN202010148629.6A CN202010148629A CN111319653A CN 111319653 A CN111319653 A CN 111319653A CN 202010148629 A CN202010148629 A CN 202010148629A CN 111319653 A CN111319653 A CN 111319653A
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左丽玛
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Chengdu Jinggong Huayao Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
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    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B61—RAILWAYS
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    • B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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Abstract

The invention provides a track inspection imaging control signal generator, a generation method and a track inspection system, wherein the signal generator comprises an accelerometer, an instantaneous speed calculation and signal generation module, the train speed and the accelerometer signal acquired by an MVB bus are comprehensively utilized, the instantaneous speed of a train in any motion state is accurately calculated in real time, and a linear array scanning control signal of the inspection imaging system is generated in real time based on the instantaneous speed according to the requirement of the resolution ratio of a mileage pulse signal of the inspection imaging system, so that the inspection imaging system mounted on the train can uniformly scan and image the track to acquire two-dimensional or three-dimensional data on the surface of the track for detecting track diseases.

Description

Track inspection imaging control signal generator, generation method and track inspection system
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail inspection imaging control signal generator, a generation method and a rail inspection system.
Background
The rail transit is the supporting industry of transportation, and plays a great role in the aspects of national economic development, people's life and travel and the like. The rail serves as the infrastructure of the rail transit, and the performance state of the rail transit is closely related to the operation safety of the rail transit. After the subway runs for a long time, due to various reasons such as train rolling, foundation settlement, material aging and the like, the state of the rail is gradually deteriorated, various diseases such as rail gauge change, rail fracture, fastener failure and the like randomly occur, and if the diseases cannot be found and treated in time, serious traffic accidents such as train derailment and the like can be possibly caused. Therefore, the rail detection and maintenance work is very important for the safe operation management of the subway.
In recent years, large-scale comprehensive inspection vehicles with image processing technology as the core are applied to high-speed rail construction projects at home and abroad. Typical products include a track state inspection system developed by iron institute of China, a TCIS track component imaging system manufactured by ENSCO of America, a V-CUBE track detection system manufactured by MERMEEC of Italy, a TrackImaging track imaging system manufactured by Rial-Vison of England, and the like. The equipment has the technical indexes and partial functions, the working principle and the system structure are different, and a plurality of high-speed cameras are arranged at the bottom of a rail inspection vehicle to continuously shoot sequence images on the surface of a rail, and the sequence images are stored and then are detected to be abnormal by a computer through image processing and mode recognition.
The large-scale comprehensive inspection vehicle is mainly used for completion acceptance of newly-built lines and periodic inspection of important main roads, and has the following outstanding problems in meeting the daily inspection requirements of urban rail transit:
1) the data processing timeliness of the comprehensive detection patrol car is poor. At present, the data processing mode of the inspection system in the comprehensive inspection vehicle is offline post-processing, after the inspection is finished, inspection data is copied manually, an inspection video is derived, and manual analysis is carried out secondarily. In the actual operation of the comprehensive detection vehicle, the detection result is obtained after the detection is started, the time delay is about 1 day, if a large or serious defect occurs, the first discovery time is missed, and certain potential safety hazards exist.
2) The coverage rate of the driving frequency of the comprehensive detection patrol car is low. At present, the monthly routing inspection frequency of each line of the comprehensive detection inspection vehicle is 1-2 times, the monthly routing inspection coverage rate is only 6%, along with rapid expansion of the operation scale of a wire network, resources of skylight points are very poor, the skylight points are short in time and few in plan, routing inspection of a track of the comprehensive detection inspection vehicle is difficult, and the problem of missed inspection caused by insufficient routing inspection coverage rate is exposed because a plurality of elastic strips of a track fastener are lost in a 10-line golden station in the early stage.
In order to solve the problems, the chinese patent CN201910331806.1 proposes a detachable trolley for rail inspection, which carries a visual imaging module to image the rail, so as to realize daily inspection of the rail. However, such rail inspection trolleys require "night maintenance window periods". And the night detection window period is very important for track inspection and maintenance. How to realize the daily inspection of the track and not occupying the night maintenance window period is an important effort direction for improving the inspection level of the urban track.
In order to meet the daily inspection requirement and not occupy the night maintenance window period, the invention provides the mounted electric bus track inspection system.
The electric bus inspection system is mounted on an electric bus, and an existing vision imaging system is required to be mounted on the electric bus. The visual imaging system facing the track inspection comprises a linear array camera or a 3D camera, and is usually a linear array scanning imaging system by referring to the prior art such as 'vehicle-mounted track inspection system development based on computer vision', patent 201910356927.1 and the like. Adopt linear array scanning imaging system to carry out 2D or 3D formation of image to the rail surface, generally speaking, the formation of image resolution interval of linear array scanning is 1mm, consequently, need carry out once imaging to the track surface when electric passenger train moves 1mm, this imaging process needs a TTL pulse to control. A photoelectric encoder is usually adopted on a track inspection vehicle and an inspection robot to encode the rotation angle of the vehicle to generate mileage pulse, and the mileage pulse is used for triggering imaging of a vision system. However, the vision system is mounted on the electric bus in daily operation, and there is no mileage pulse signal meeting the requirement for the vision imaging system, and because of safety factors or management flow constraints, it is generally impossible to mount a photoelectric encoder on the electric bus for generating the mileage pulse signal meeting the vision imaging system. The mile pulse requirement for visual imaging control is to generate 1 pulse per 1mm or 2mm of train movement. Therefore, the visual intelligent inspection system for the track mounted on the train has to solve the problem of how to acquire a high-precision mileage pulse signal under the condition that a photoelectric encoder cannot be installed.
The existing train system is provided with a speed measuring system, a speed signal is transmitted through an MVB bus, and the speed signal in the MVB bus can be used for calculating the parameter of a mileage pulse and generating a pulse signal for a visual imaging scanning control signal. However, in practical applications, we find that there are problems: the speed signal transmitted by the MVB has a large delay, and the generated line scanning control signal is not uniform, so that the two-dimensional or three-dimensional depth image shot in the train running direction has distortion, as shown in fig. 1 to 3: wherein, fig. 1 shows the condition that the shooting fastener size is normal under the uniform speed driving state; fig. 2 is an acceleration phase in which the control signal mileage interval is generated to be greater than the actual mileage, resulting in image compression, and fig. 3 is a deceleration phase in which the control signal mileage interval is generated to be less than the actual mileage, resulting in the image being stretched.
Disclosure of Invention
In order to solve the problems, the invention provides a track inspection imaging control signal generator, a generation method and a track inspection system.
In order to achieve the above object, the first technical solution provided by the present invention is:
a track inspection imaging system signal generator, the signal generator comprising:
the accelerometer is fixed on a shell of the imaging system or a train body, the axial direction of the accelerometer is parallel to the extending direction of the steel rail, the direction of the acceleration a is defined as that the forward direction of the train is positive, the reverse direction of the train is negative, and the sampling frequency of the accelerometer is not lower than 100 Hz; and
an instantaneous speed calculation and signal generation module which is an embedded system, one end of which is provided with an MVB bus interface for acquiring a train speed signal v0And the other end of the accelerometer is connected to acquire an acceleration signal a and generate an imaging control signal p.
Further, the accelerometer is any one of a single-axis accelerometer, a zero-frequency accelerometer and a fiber optic sensor.
Furthermore, the instantaneous speed calculation and signal generation module consists of an ARM processing platform and an MVB conversion card, wherein the ARM processing platform is provided with a serial port, an AD generator and a PWM generator.
Furthermore, the instantaneous speed calculation and signal generation module is an embedded platform based on an FPGA.
The second technical scheme provided by the invention is as follows:
a signal generation method for a track inspection imaging system is characterized in that an MVB conversion card converts an MVB bus signal into a serial port signal, and an ARM-based PLC receives a train speed signal v transmitted by the MVB conversion card through a serial port0Obtaining an acceleration signal a generated by an accelerometer through AD (analog-to-digital) to calculate the instantaneous speed v of the vehicle1According to the imaging control resolution requirement, calculating the clock period T or the frequency H of the imaging control signal p in real time, updating the clock period or the frequency parameter of a PWM generator, and generating a PWM square wave as the imaging control signal p; when v is1When the pulse output is equal to 0, the PWM pulse output is closed, and when v is equal to 01When > 0, the PWM pulse output is enabled.
Further, the vehicle instantaneous speed v1The calculation method comprises the following steps:
1) a train stopping stage:
when v is00, and | a | ≦ a _ th1When the train is stopped, the output v is determined1＝0；
2) A train starting stage:
when v is00 and | a | > a _ th1When the train is started, the train is judged to be started at a speed v0For an initial value, the acceleration a is time-integrated to obtain the velocity v measured based on the accelerometeraOutput v1＝va；
3) And (3) in the constant-speed running stage of the train:
when v is0＞v_th1And | a | is less than or equal to a _ th1When the train is in the constant speed running stage, the v is determined1＝v0；
4) And (3) in the train arrival deceleration driving stage:
when v is0＞v_th1And | a | > a _ th1When the train arrives at the station, the train is judged to run at a reduced speed and the speed v is used0For the initial value, the acceleration a is time-integrated to obtain the value based onVelocity v measured by an accelerometeraOutput v1＝va；
5) The train arrival and stop stage:
when v is00, and | a | ≦ a _ th1When the train is stopped, the train is judged to be stopped1＝0；
Where v _ th1Has a value range of 60-160Km/h, a _ th1The value range is as follows: 0 to 0.01m/s2；
Said velocity vaThe specific method comprises the following steps:
Figure BDA0002401656680000031
wherein v is0Is the latest train speed signal obtained from the MVB interface, i is the serial number of the acceleration signal a, aiRepresenting the ith acceleration value, and accumulating the values of i from 0; i issNumber of starting points, I, representing the time integral of the accelerationeEnd point number representing the time integral of acceleration, wherein IsIs tsNumber of time, IeIs teThe serial number corresponding to the moment;
Figure BDA0002401656680000041
te＝ta(3)
wherein the content of the first and second substances,
Figure BDA0002401656680000044
is to acquire a velocity signal v from an MVB interface0Time of (c), τmIs the delay, t, of the MVB interface speed sensingaIs the sampling instant of the current acceleration a.
Further, the vehicle instantaneous speed v1The calculation method comprises the following steps:
1) when v is0When the data is not updated, the data is updated,
Figure BDA0002401656680000042
wherein the content of the first and second substances,
Figure BDA0002401656680000043
is the i, i-1 instant speed, to
Figure BDA0002401656680000045
Instantaneous velocity v as the current time1When v is0When updating, the instantaneous speed v is calculated by the formula (1)1Correcting;
wherein v is0The updating judgment method is to check whether the MVB interface has data updating or judge v0Whether the value has changed.
Further, the vehicle instantaneous speed v1The calculation method comprises the following steps:
when v is00, and | a | ≦ a _ th1When the train is stopped, the train is judged to be stopped1When the value is equal to 0, the control signal p is closed to output;
when v is0When > 0, see v0Whether to update or not, calculating the instantaneous velocity v by using the formula 1 or the formula 41。
Further, for the vehicle instantaneous speed v1And smoothing filtering by adopting a Kalman or extended Kalman filtering method to eliminate signal noise.
Furthermore, the FPGA-based embedded platform directly accesses the MVB signal by AD sampling accelerometer signal a, adopts the FPGA to realize the algorithm of formula (1), and calculates the instantaneous speed v1Calculating the frequency of the control signal p, and generating square waves with corresponding frequency by using a PLL (phase locked loop) as the control signal; when v is1When 0, turn off the square wave output, when v1And when the output voltage is greater than 0, the square wave output is enabled.
The third technical scheme provided by the invention is as follows:
a track inspection system, comprising:
a vehicle MVB bus interface;
a signal generating device, comprising:
the accelerometer is fixed on a shell of the imaging system or a train body, the axial direction of the accelerometer is parallel to the extending direction of the steel rail, the direction of the acceleration is defined as that the advancing direction of the train is positive, the reversing direction of the train is negative, and the sampling frequency of the accelerometer is not lower than 100 Hz; and
an instantaneous speed calculation and signal generation module which is an embedded system, one end of which is provided with an MVB bus interface for acquiring a train speed signal v0The other end of the accelerometer is connected to acquire an acceleration signal a and generate an imaging control signal p;
the visual imaging module is used for performing two-dimensional scanning imaging on the surface of the track by using 3 linear array cameras and an illuminating light source, or performing three-dimensional scanning imaging on the surface of the track by using 3 linear array cameras and a 3D (three-dimensional) linear structured light camera, or performing two-dimensional and three-dimensional scanning imaging on the surface of the track by using the equipment; the visual imaging module is connected with the signal generating device, receives the line scanning control signal generated by the signal generating device, and performs two-dimensional or three-dimensional or two-dimensional and three-dimensional scanning imaging on the surface of the track to acquire visual information of the surface of the track for detecting track diseases;
the data acquisition and processing module is a computer, is connected with the visual imaging module, receives the rail surface visual information of the visual imaging module, runs an automatic rail defect detection algorithm, processes the acquired rail surface visual information and detects rail defects; and
the power supply module is related level conversion equipment and is used for converting the high-voltage power of the train carriage into a voltage power supply required by the inspection system and supplying power to the visual imaging module, the signal generating device and the data acquisition and processing module;
the power supply module, the signal generating device and the data acquisition and processing module are located inside the carriage, and the vision imaging module is fixed on the electric passenger car bogie and located outside the carriage.
Compared with the prior art, the invention has the beneficial effects that:
① the signal generator of the imaging system of the invention generates uniform control signals to obtain high precision visual imaging and line scanning control signals, so that the visual inspection system mounted on an electric bus or train can perform uniform line scanning imaging on the track pavement to obtain useful two-dimensional or three-dimensional data of the track surface for detecting track diseases.
② the track inspection system of the invention realizes daily inspection and synchronously finishes the track surface data acquisition in the running process of the train without occupying night windows.
Drawings
FIG. 1 is a track depth image of a train at a constant speed stage photographed in the prior art;
FIG. 2 is a prior art captured track depth image of a train during an acceleration phase;
FIG. 3 is a track depth image taken during a deceleration phase of a train in the prior art;
FIG. 4 is a diagram showing a configuration of a track inspection system according to embodiment 1;
FIG. 5 is a schematic view of the installation of the track inspection system according to embodiment 1;
in the figure: 1. the device comprises a steel rail, 2, wheels, 3, a bogie, 4, a passenger car compartment, 5, a visual imaging module, 6, an accelerometer, 7, an instantaneous speed calculation and signal generation module, 8, a vehicle MVB bus interface, 9, a data acquisition and processing module, 10 and a power supply module.
Detailed Description
For a further understanding of the present invention, the method and effects of the present invention will be described in further detail with reference to the accompanying drawings and specific examples. It should be noted that the present embodiment is only for further illustration of the present invention and should not be construed as limiting the scope of the present invention, and that those skilled in the art can make modifications and adjustments in a non-essential way based on the above disclosure.
Example 1
The visual intelligent inspection system for the hanging type track of the electric passenger car comprises a power supply module, a vehicle MVB bus interface, a signal generation device, a visual imaging module, a data acquisition module, a data processing module and a mounting bracket, wherein the power supply module supplies power for the imaging control module, the signal generation device, the data acquisition module and the data processing module; the power supply module, the signal generating device, the data acquisition module and the data processing module are located inside the carriage, the vision imaging module is fixed on the electric passenger car bogie through the mounting bracket and located outside the carriage, and the mounting schematic diagram is shown in figure 5.
As shown in fig. 5, an accelerometer 6 is additionally mounted on the vision module 5, an instantaneous speed calculation and signal generation module 7 is mounted in the carriage, the instantaneous speed calculation and signal generation module 7 is connected with the MVB bus interface 8 of the vehicle, the instantaneous speed calculation and signal generation module 7 is connected with the vision imaging module 5, the generated control signal is output to the vision imaging module, and the vision imaging module is controlled to scan and image the surface of the track.
The instantaneous speed calculation and signal generation module is provided with an MVB bus interface and is linked with an electric bus control system through the MVB bus interface to acquire an electric bus speed signal v0(ii) a The instantaneous speed calculation and signal generation module is connected with the accelerometer to acquire an acceleration signal a and obtain a speed signal v of the electric bus according to the acceleration signal v0Calculating the instantaneous speed v in real time by the acceleration signal a1And generating an imaging control signal p according to the requirement of the scanning imaging resolution of the inspection imaging system to be n mm/plus for the imaging control of the track inspection imaging system, wherein the value range of n is 1-5, mm is millimeter, and plus is pulse.
The accelerometer is a single-axis accelerometer, wherein the axial direction of the accelerometer is parallel to the extending direction of the steel rail, the direction of the acceleration a is defined as that the advancing direction of the train is positive, the reversing direction of the train is negative, and the sampling frequency of the accelerometer is not lower than 100 Hz.
The instantaneous speed calculation and signal generation module consists of an ARM processing platform and an MVB conversion card, wherein the MVB conversion card converts MVB bus signals into serial port signals, the ARM processing platform is provided with a serial port, an AD (analog-to-digital) and a PWM (pulse-width modulation) generator, and the ARM processing platform receives electric bus speed signals v transmitted by the MVB conversion card through the serial port0Obtaining an acceleration signal a generated by an accelerometer through AD (analog-to-digital) to calculate the instantaneous speed v of the vehicle1According to the imaging control resolution requirement, calculating the clock period T or the frequency H of the imaging control signal p in real time, updating the clock period or the frequency parameter of a PWM generator, and generating a PWM square wave as the imaging control signal p; when v is1When the pulse output is equal to 0, the PWM pulse output is closed, and when v is equal to 01When the pulse width is more than 0, enabling PWM pulse output;
the vehicle instantaneous speed v1The calculation method comprises the following steps:
1) a train stopping stage:
when v is00, and | a | ≦ a _ th1When the train is stopped, the output v is determined1＝0；
2) A train starting stage:
when v is00 and | a | > a _ th1When the train is started, the train is judged to be started at a speed v0For an initial value, the acceleration a is time-integrated to obtain the velocity v measured based on the accelerometeraOutput v1＝va；
3) And (3) in the constant-speed running stage of the train:
when v is0＞v_th1And | a | is less than or equal to a _ th1When the train is in the constant speed running stage, the v is determined1＝v0；
4) And (3) in the train arrival deceleration driving stage:
when v is0＞v_th1And | a | > a _ th1When the train arrives at the station, the train is judged to run at a reduced speed and the speed v is used0For an initial value, the acceleration a is time-integrated to obtain the velocity v measured based on the accelerometeraOutput v1＝va；
5) The train arrival and stop stage:
when v is00, and | a | ≦ a _ th1When the train is stopped, the train is judged to be stopped1＝0；
Where v _ th1Has a value range of 60-160Km/h, a _ th1The value range is as follows: 0 to 0.01m/s2。
Said velocity vaThe specific method comprises the following steps:
Figure BDA0002401656680000071
wherein v is0Is the latest train speed signal obtained from the MVB interface, i is the serial number of the acceleration signal a, aiIndicates the ith accelerationThe values of i are accumulated from 0; i issNumber of starting points, I, representing the time integral of the accelerationeEnd point number representing the time integral of acceleration, wherein IsIs tsNumber of time, IeIs teThe serial number corresponding to the moment;
Figure BDA0002401656680000072
te＝ta(3)
wherein the content of the first and second substances,
Figure BDA0002401656680000073
is to acquire a velocity signal v from an MVB interface0Time of (c), τmIs the delay, t, of the MVB interface speed sensingaIs the sampling instant of the current acceleration a.
Example 2
Unlike embodiment 1, the vehicle instantaneous speed v is quickly calculated using equation 41：
1) When v is0When not updated, it is quickly calculated by the following iterative formula:
Figure BDA0002401656680000081
wherein the content of the first and second substances,
Figure BDA0002401656680000082
is the i, i-1 instant speed, to
Figure BDA0002401656680000083
Instantaneous velocity v as the current time1
2) When v is0When updating, the instantaneous speed v is calculated by the integral formula (1)1The correction is carried out, so that integral accumulated errors can be avoided;
wherein v is0The updating judgment method is to check whether the MVB interface has data updating or judge v0Whether the value has changed.
Example 3
Instantaneous speed v is directly carried out without distinguishing state of electric bus1The calculation method comprises the following steps:
when v is00, and | a | ≦ a _ th1When the train is stopped, the train is judged to be stopped1When the value is equal to 0, the control signal p is closed to output;
when v is0> 0, and v0When not updated, the instantaneous speed v is rapidly calculated by adopting a formula 41；
When v is0> 0, and v0When updating, the speed v is calculated by formula 1aLet v be1＝va。
Example 4
The speed calculation and signal generation module at any time is an embedded platform based on an FPGA (field programmable gate array), the FPGA directly accesses an MVB (multifunction vehicle bus) signal through an AD (analog-to-digital) sampling accelerometer signal a, the FPGA is adopted to realize the algorithm of a formula 1, and the speed v is calculatedaAnd then calculating the instantaneous velocity v1Calculating the frequency of the control signal p, and generating square waves with corresponding frequency by using a PLL (phase locked loop) as the control signal; when v is1When 0, turn off the square wave output, when v1And when the output voltage is greater than 0, the square wave output is enabled.
Example 5
Compared with the embodiment 1, the signal generator also comprises a gyroscope which is connected with the accelerometer and simultaneously acquires the acceleration and attitude angle information of the train movement, the obtained acceleration a is an acceleration component a 'in the traveling direction, and the instantaneous train running speed v1 is accurately estimated by using the acceleration component a'.
Example 6
Calculating instantaneous velocity value v in any of the above embodiments1For velocity v, Kalman or extended Kalman filtering method is adopted1Smoothing filtering is carried out to eliminate signal noise and input the speed v of MVB0As a measure of kalman filtering.
Example 7
The pair of accelerometers is a zero-frequency accelerometer, and electromagnetic interference shielding is carried out on the pair of accelerometers.
Example 8
The pair of accelerometers is a fiber optic accelerometer.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. A rail inspection imaging control signal generator, a generation method and a rail inspection system are characterized in that the signal generator comprises:
the accelerometer is fixed on a shell of the imaging system or a train body, the axial direction of the accelerometer is parallel to the extending direction of the steel rail, the direction of the acceleration a is defined as that the forward direction of the train is positive, the reverse direction of the train is negative, and the sampling frequency of the accelerometer is not lower than 100 Hz; and
an instantaneous speed calculation and signal generation module which is an embedded system, one end of which is provided with an MVB bus interface for acquiring a train speed signal v0And the other end of the accelerometer is connected to acquire an acceleration signal a and generate an imaging control signal p.
2. The imaging system signal generator of claim 1, further comprising a gyroscope coupled to the accelerometer to obtain acceleration and attitude angle information of the train movement, wherein the obtained acceleration a is an acceleration component in the direction of travel.
3. The imaging system signal generator of claim 1 or 2, wherein the instantaneous speed calculation and signal generation module is comprised of an ARM processing platform and an MVB conversion card, wherein the ARM processing platform has a serial port, an AD and a PWM generator.
4. The imaging system signal generator of claim 1 or 2, wherein the instantaneous velocity calculation and signal generation module is an FPGA-based embedded platform.
5. A signal generating method for a signal generator of a track inspection imaging system according to any one of claims 1 to 3, wherein the MVB conversion card converts the MVB bus signal into a serial signal, and the ARM processing platform receives the train speed signal v transmitted by the MVB conversion card through a serial port0Obtaining an acceleration signal a generated by an accelerometer through AD (analog-to-digital) to calculate the instantaneous speed v of the vehicle1According to the imaging control resolution requirement, calculating the clock period T or the frequency H of the imaging control signal p in real time, updating the clock period or the frequency parameter of a PWM generator, and generating a PWM square wave as the imaging control signal p; when v is1When the pulse output is equal to 0, the PWM pulse output is closed, and when v is equal to 01When > 0, the PWM pulse output is enabled.
6. Signal generation method according to claim 5, characterized in that the vehicle instantaneous speed v1The calculation method comprises the following steps:
1) a train stopping stage:
when v is00, and | a | ≦ a _ th1When the train is stopped, the output v is determined1＝0；
2) A train starting stage:
when v is00 and | a | > a _ th1When the train is started, the train is judged to be started at a speed v0For an initial value, the acceleration a is time-integrated to obtain the velocity v measured based on the accelerometeraOutput v1＝va；
3) And (3) in the constant-speed running stage of the train:
when v is0＞v_th1And | a | is less than or equal to a _ th1When the train is in the constant speed running stage, the v is determined1＝v0；
4) And (3) in the train arrival deceleration driving stage:
when v is0＞v_th1And | a | > a _ th1Time, decision columnAt a station, the vehicle is decelerated and driven at a speed v0For an initial value, the acceleration a is time-integrated to obtain the velocity v measured based on the accelerometeraOutput v1＝va；
5) The train arrival and stop stage:
when v is00, and | a | ≦ a _ th1When the train is stopped, the train is judged to be stopped1＝0；
Where v _ th1Has a value range of 60-160Km/h, a _ th1The value range is as follows: 0 to 0.01m/s2；
Said velocity vaThe specific method comprises the following steps:
Figure FDA0002401656670000021
wherein v is0Is the latest train speed signal obtained from the MVB interface, i is the serial number of the acceleration signal a, aiRepresenting the ith acceleration value, and accumulating the values of i from 0; i issNumber of starting points, I, representing the time integral of the accelerationeEnd point number representing the time integral of acceleration, wherein IsIs tsNumber of time, IeIs teThe serial number corresponding to the moment;
Figure FDA0002401656670000022
te＝ta(3)
wherein the content of the first and second substances,
Figure FDA0002401656670000023
is to acquire a velocity signal v from an MVB interface0Time of (c), τmIs the delay, t, of the MVB interface speed sensingaIs the sampling instant of the current acceleration a.
7. Method for generating a signal according to claim 6, characterized in that the vehicle instantaneous speed v1The calculation method comprises the following steps:
1) when v is0When the data is not updated, the data is updated,
Figure FDA0002401656670000024
wherein the content of the first and second substances,
Figure FDA0002401656670000025
is the i, i-1 instant speed, to
Figure FDA0002401656670000026
Instantaneous velocity v as the current time1
2) When v is0When updating, the instantaneous speed v is calculated by the formula (1)1Correcting;
wherein v is0The updating judgment method is to check whether the MVB interface has data updating or judge v0Whether the value has changed.
8. Method for generating a signal according to claim 7, characterized in that the vehicle instantaneous speed v1The calculation method comprises the following steps:
when v is00, and | a | ≦ a _ th1When the train is stopped, the train is judged to be stopped1When the value is equal to 0, the control signal p is closed to output;
when v is0When > 0, see v0Whether to update or not, calculating the instantaneous velocity v by using the formula 1 or the formula 41。
9. Method for signal generation according to any of claims 5-8, characterised in that for the vehicle instantaneous speed v1And smoothing filtering by adopting a Kalman or extended Kalman filtering method to eliminate signal noise.
10. The signal generation method of the signal generator for the track inspection imaging system according to claim 4, wherein the embedded platform based on the FPGA directly accesses the MVB signal by AD sampling the accelerometer signal a, and adopts FPGA realizes the algorithm of formula (1) to calculate the instantaneous velocity v1Calculating the frequency of the control signal p, and generating square waves with corresponding frequency by using a PLL (phase locked loop) as the control signal; when v is1When 0, turn off the square wave output, when v1And when the output voltage is greater than 0, the square wave output is enabled.
11. A track inspection system, comprising:
a vehicle MVB bus interface;
a signal generating device, comprising:
the accelerometer is fixed on a shell of the imaging system or a train body, the axial direction of the accelerometer is parallel to the extending direction of the steel rail, the direction of the acceleration is defined as that the advancing direction of the train is positive, the reversing direction of the train is negative, and the sampling frequency of the accelerometer is not lower than 100 Hz; and
an instantaneous speed calculation and signal generation module which is an embedded system, one end of which is provided with an MVB bus interface for acquiring a train speed signal v0The other end of the accelerometer is connected to acquire an acceleration signal a and generate an imaging control signal p;
the visual imaging module is used for performing two-dimensional scanning imaging on the surface of the track by using 3 linear array cameras and an illuminating light source, or performing three-dimensional scanning imaging on the surface of the track by using 3 linear array cameras and a 3D (three-dimensional) linear structured light camera, or performing two-dimensional and three-dimensional scanning imaging on the surface of the track by using the equipment; the visual imaging module is connected with the signal generating device, receives the line scanning control signal generated by the signal generating device, and performs two-dimensional or three-dimensional or two-dimensional and three-dimensional scanning imaging on the surface of the track to acquire visual information of the surface of the track for detecting track diseases;
the data acquisition and processing module is a computer, is connected with the visual imaging module, receives the rail surface visual information of the visual imaging module, runs an automatic rail defect detection algorithm, processes the acquired rail surface visual information and detects rail defects; and
the power supply module is related level conversion equipment and is used for converting the high-voltage power of the train carriage into a voltage power supply required by the inspection system and supplying power to the visual imaging module, the signal generating device and the data acquisition and processing module;
the power supply module, the signal generating device and the data acquisition and processing module are located inside the carriage, and the vision imaging module is fixed on the electric passenger car bogie and located outside the carriage.
CN202010148629.6A 2020-03-05 2020-03-05 Track inspection imaging control signal generator, generation method and track inspection system Pending CN111319653A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111929670A (en) * 2020-07-28 2020-11-13 胡运成 Rail transit train speed measuring method and system
CN116519705A (en) * 2023-06-26 2023-08-01 中数智科(杭州)科技有限公司 360 inspection systems in train carriage

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111929670A (en) * 2020-07-28 2020-11-13 胡运成 Rail transit train speed measuring method and system
CN111929670B (en) * 2020-07-28 2023-12-29 胡运成 Rail transit train speed measurement method and system
CN116519705A (en) * 2023-06-26 2023-08-01 中数智科(杭州)科技有限公司 360 inspection systems in train carriage
CN116519705B (en) * 2023-06-26 2023-10-13 中数智科(杭州)科技有限公司 360 inspection systems in train carriage

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