CN112036200B - Method for detecting offset of installation position of track slab - Google Patents
Method for detecting offset of installation position of track slab Download PDFInfo
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- CN112036200B CN112036200B CN202010713102.3A CN202010713102A CN112036200B CN 112036200 B CN112036200 B CN 112036200B CN 202010713102 A CN202010713102 A CN 202010713102A CN 112036200 B CN112036200 B CN 112036200B
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- label
- track slab
- track
- card reader
- installation position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
- G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
- G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
- G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Abstract
The invention provides a method for detecting the offset of a mounting position of a track slab, which comprises the following steps: s1, setting a radio frequency identification first label on a base plate according to an estimated theoretical laying position of a track plate on the base plate; s2, arranging a radio frequency identification tag card reader on the track; s3, reading a signal of the first label by using a card reader to obtain a first relative position of the first label and the card reader; s4, after the track slab is laid coarsely, arranging a radio frequency identification second label on the upper surface of the track slab; s5, reading a signal of the second label by using a card reader to obtain a second relative position of the second label and the card reader; s6, calculating the horizontal direction offset of the installation position of the track slab; and S7, reading the height difference value of the first label and the second label by using a height difference meter, and calculating the vertical direction offset of the installation position of the track slab. The invention can solve the technical problem that the offset detection result of the installation position of the track slab is inaccurate because the measurement precision of the total station is influenced by temperature and humidity changes.
Description
Technical Field
The invention relates to the technical field of measurement and positioning, in particular to a method for detecting the offset of a track slab installation position.
Background
In the laying process of high-speed railway tracks in China, the CRTS III type track slab is most commonly used in the aspect of use of track slabs. The CRTS III type track slab has very high requirements on the laying precision, and the requirements on the precision of up-down, left-right and front-back laying are less than or equal to 3 mm. The laying of the CRTS III type track slab comprises two processes of rough laying and fine adjustment, the offset of the CRTS III type track slab needs to be accurately measured after the rough laying, and the laying position of the CRTS III type track slab is finely adjusted according to the measurement result. In actual construction, a total station is generally used in combination with a prism to measure the offset of the CRTS iii track slab. However, the measurement result of the total station is greatly influenced by weather, and the weather reference point of the total station is generally 15 ℃ and 1 standard atmospheric pressure. The total station also designs a calibration mode, and can input the actual temperature on site, such as 30 ℃ for calibration compensation. However, in actual construction, the temperature difference is quite large in the morning, noon and afternoon of many fields, and even in the same place, the temperature difference between the two time points can reach 5 ℃ or more at 7 points when the sun does not rise in the morning and 9 points 1 hour after the sun rises. In addition, if when the construction operation is carried out in rainy and foggy weather, the air humidity is high, the measurement precision of the total station is affected, and the offset detection result of the installation position of the track slab is inaccurate.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for detecting the offset of the installation position of a track slab, which aims to solve the technical problem that the offset detection result of the installation position of the track slab is inaccurate because the measurement precision of a total station is influenced by temperature and humidity changes in the prior art.
The invention adopts the technical scheme that the method for detecting the offset of the installation position of the track slab comprises the following steps:
s1, setting a radio frequency identification first label on a base plate according to an estimated theoretical laying position of a track plate on the base plate;
s2, arranging a radio frequency identification tag card reader on the track;
s3, reading a signal of the first label by using a card reader to obtain a first relative position of the first label and the card reader;
s4, after the track slab is laid coarsely, arranging a radio frequency identification second label on the upper surface of the track slab;
s5, reading a signal of the second label by using a card reader to obtain a second relative position of the second label and the card reader;
s6, calculating the horizontal direction offset of the installation position of the track slab according to the first relative position and the second relative position;
and S7, reading the height difference value of the first label and the second label by using a height difference meter, and calculating the vertical direction offset of the installation position of the track slab according to the height difference value.
Further, the step S1 of setting a radio frequency identification first tag on the base plate further includes:
before setting, drawing a square frame line towards the inner side by taking the theoretical angular point as a starting point at each angular point of the theoretical laying position of the track plate on the base plate;
after the setting, the first label is attached in the square frame line, and each edge of the first label is superposed with the square frame line.
Further, the step S4 of providing a radio frequency identification second tag on the upper surface of the track plate further includes:
before setting, respectively making an L-shaped positioning mark on the inner side of each corner point of the track slab;
after the positioning, any two adjacent sides of the second label are overlapped with the edge of the L-shaped positioning mark.
Furthermore, the number of the first labels and the number of the second labels are both multiple and equal.
Further, the first tag and the second tag comprise miniature radio frequency identification tags.
Further, the height of the card reader is 8-12 cm.
Further, the radio frequency identification first tag, the second tag and the reader are located using differential enhanced hologram technology.
Further, between the steps S5 and S6, performing linkage control on the laser radar by using the second tag signal received by the card reader, and performing three-dimensional construction on the shape of the corner point of the track slab by using the laser radar to obtain the actual shape of the corner point of the track slab; when the horizontal direction offset amount of the rail plate mounting position is calculated in step S6, the calculation result of the offset amount is corrected using the actual profile.
Further, the lidar comprises a pulsed lidar.
According to the technical scheme, the beneficial technical effects of the invention are as follows:
1. the method comprises the steps of using RFID to select 4 corner points of a track slab to position the position of the track slab after being laid coarsely, selecting 4 corner points of the track slab at the theoretical laying position after fine adjustment to position, comparing the two positioning data, and calculating the horizontal direction offset of the mounting position of the track slab.
2. The height difference instrument is used for selecting 4 corner points of the track slab to measure the height difference value, and the horizontal direction offset of the mounting position of the track slab is calculated, so that the method is not influenced by meteorological factors, and the offset detection method is suitable for all-weather operation.
3. And the second label signal received by the RFID card reader is used for linkage control of the laser radar, the pulsed laser radar is used for scanning, the shapes of 4 corner points of the track slab are constructed in a three-dimensional mode, and then the calculation result of the offset is corrected according to the actual shapes of the 4 corner points, so that the problem that the offset calculation of the installation position of the track slab is inaccurate after the shapes of the corner points of the track slab are damaged and lost can be solved.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flowchart of the method of example 1 of the present invention.
Fig. 2 is a flowchart of a method of embodiment 2 of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
The invention provides a method for detecting the offset of a mounting position of a track slab, which comprises the following steps:
s1, setting a radio frequency identification first label on a base plate according to an estimated theoretical laying position of a track plate on the base plate;
S2, arranging a radio frequency identification tag card reader on the track;
s3, reading a signal of the first label by using a card reader to obtain a first relative position of the first label and the card reader;
s4, after the track slab is laid coarsely, arranging a radio frequency identification second label on the upper surface of the track slab;
s5, reading a signal of the second label by using a card reader to obtain a second relative position of the second label and the card reader;
s6, calculating the horizontal direction offset of the installation position of the track slab according to the first relative position and the second relative position;
and S7, reading the height difference value of the first label and the second label by using a height difference meter, and calculating the vertical direction offset of the installation position of the track slab according to the height difference value.
The working principle of example 1 is explained in detail below:
1. arranging a first radio frequency identification tag on the base plate according to the expected theoretical laying position of the track plate on the base plate
After the track slab is finely adjusted, a theoretical laying position is formed on a roadbed concrete base plate of the track. At 4 corner points of the theoretical laying position, 1 radio frequency identification first tag, hereinafter collectively referred to as RFID first tag, is respectively installed. In this embodiment, the first RFID tag is a miniature RFID tag, the length and width of the first RFID tag is 3X 3mm, and the first RFID tag is mounted in a mounting mode, so that more accurate positioning can be realized, and the subsequent offset calculation of the mounting position of the track slab is more accurate. Before mounting, drawing a 3X 3mm square frame line inwards at four corners of a theoretical laying position on a base plate by taking theoretical corners as starting points, and mounting the RFID first label in the square frame line to enable each side of the RFID first label to coincide with the square frame line. Specifically, in this embodiment, the 4 corner points of the track plate are respectively No. 1 corner, No. 2 corner, No. 3 corner and No. 4 corner, and the corresponding theoretical laying positions are respectively No. 1 theoretical position, No. 2 theoretical position, No. 3 theoretical position and No. 4 theoretical position.
2. Radio frequency identification tag card reader arranged in track driving direction
And 1 RFID card reader is erected on the ground in the rail vehicle-going direction. The direction of departure of the track is the direction in which the laying of the track slab has not yet taken place. In general, the effective reading distance of the RFID reader is within 15 meters, the length of the CRTS type iii track slab is about 5.6 meters, and in this embodiment, the mounting distance of the RFID reader is selected to be 10 meters away from the coarsely laid track slab. The thickness of the CRTS III type track board is about 20cm, the RFID card reader needs to read the RFID tags on the upper surface of the track board and the base plate at the same time, and in the embodiment, the erection height of the RFID card reader is 8-12cm, preferably 10cm, taking the horizontal plane of the bottom surface of the track board as a reference. In this embodiment, in order to improve the positioning accuracy, the RFID system uses a differential enhanced hologram technology, which can achieve millimeter-level positioning accuracy.
3. Reading the signal of the first label by using a radio frequency identification label reader to obtain a first relative position of the first label and the reader
The RFID card reader receives signals of the 4 RFID first tags, and first relative positions between the 4 RFID first tags and the RFID card reader in a space three-dimensional coordinate system with the RFID card reader as an origin can be obtained, wherein the relative positions comprise relative directions and relative distances.
4. After the track slab is laid coarsely, a radio frequency identification second label is arranged on the upper surface of the track slab
After the CRTS III type track board is coarsely laid, 4 angles on the upper surface of the CRTS III type track board are respectively No. 1 angle, No. 2 angle, No. 3 angle and No. 4 angle. And 1 RFID second label is respectively installed on the 4 corners, the number of the second labels is 4, and the number of the second labels is equal to that of the RFID first labels. Before installation, a positioning mark, such as an "L" shape, a dot, etc., is made on the inner side of each corner of the CRTS iii-type track slab, and in this embodiment, the "L" type positioning mark is selected. In the process of installing the RFID second label, the position of the RFID second label is adjusted, any adjacent two sides of the four sides of the installed RFID second label are superposed with the L-shaped positioning mark, and the other two sides of the RFID second label are superposed with the outer edge of the CRTS III type track board.
5. Reading a signal of the radio frequency identification second label by using a radio frequency identification label reader to obtain a second relative position of the radio frequency identification second label and the reader;
the RFID card reader receives the signals of the 4 RFID second tags, and second relative positions between the 4 RFID second tags and the RFID card reader in a space three-dimensional coordinate system with the RFID card reader as an origin can be obtained, wherein the relative positions comprise relative directions and relative distances.
6. Calculating the horizontal offset of the installation position of the track slab according to the first relative position and the second relative position
The linear distance and the relative direction between the first relative position and the second relative position are the horizontal direction offset of the rail mounting position. Specifically, an industrial personal computer is arranged on a construction site and connected with an RFID (radio frequency identification) card reader, the RFID card reader transmits the read data of the spatial relative positions of the plurality of first tags and the plurality of second tags to the industrial personal computer, and the industrial personal computer calculates the linear distance between each corner point of the track slab and the corresponding theoretical position, such as the linear distance between the corner No. 1 and the theoretical position No. 1, through a linear distance calculation formula between two points in space; the relative direction is obtained according to the angle difference between the No. 1 corner and the No. 1 theoretical position and the origin in a space three-dimensional coordinate system taking the RFID card reader as the origin.
7. And reading the height difference value of the first label and the second label by using a height difference meter, and calculating the vertical direction offset of the installation position of the track slab according to the height difference value.
The height difference value of the first label and the second label can be directly read by using a height difference meter and utilizing the principle of a communicating vessel. And reading the height difference value of the first label and the second label at each angle by using a height difference meter at 4 angles of the track slab after rough laying. According to the 4 height difference values, the vertical direction offset of the installation position of the track slab can be calculated in a space three-dimensional coordinate system with the RFID card reader as an origin through an industrial personal computer.
By adopting the technical scheme, the RFID and the altitude instrument are used, so that the method can not be influenced by meteorological factors, and the method for detecting the offset is suitable for all-weather operation.
Example 2
In the transportation and hoisting process of the track slab, a collision condition may occur, and particularly, 4 corners of the track slab are easily deformed by collision, and even a small block is knocked off, for example, a small block with a diameter of 4mm is missing at the corner point of the No. 1 corner. In this case, according to the technical solution of embodiment 1, the second RFID tag is disposed at the corner 1 of the track board, and the position of the second RFID tag is not the position of the corner that the intact track board should have, which may affect the subsequent calculation of the offset of the corner 1, and form an error in the offset result of the installation position of the track board.
In order to solve the technical problems, the following technical scheme is adopted for further optimization on the basis of the embodiment 1: and (3) performing appearance three-dimensional construction on the corner of the track plate by using the laser radar to obtain the actual appearance of the corner of the track plate. When calculating the offset of the installation position of the track plate, the calculation result of the offset is corrected by using the actual shape data at the corner point of the track plate.
The working principle of example 2 is explained in detail below:
Set up 1 lidar at the side of RFID card reader, in this embodiment, lidar chooses for use pulsed lidar. The pulse laser radar uses laser as a signal source, and pulse laser emitted by a laser hits a target object to cause scattering. And a part of laser light waves are reflected to a receiver of the laser radar, and the distance from the laser radar to the target point is obtained by calculation according to the laser ranging principle. The pulsed laser continuously scans the target object to obtain the coordinate data of each target point on the target object.
In this embodiment, the second label signal received by the RFID card reader is used for performing linkage control on the laser radar, specifically, the laser radar is connected with the industrial personal computer, after the industrial personal computer receives the spatial relative position data of the second label, the laser radar is controlled to scan only 4 positions where the second label is located, and in the later stage, the three-dimensional construction of the appearance is performed only on 4 corner points of the track slab, so that the scanning and the later-stage operation amount for performing the three-dimensional construction of the appearance can be greatly reduced. After the industrial personal computer carries out three-dimensional construction on the appearances of 4 angular points of the track slab, if the appearance of a certain angular point is missing, and the like, the industrial personal computer can compensate missing size data obtained according to the actual appearance when subsequently calculating the offset, and the calculation result is corrected. Such as: for example, a small block with the diameter of 4mm is lacked at the corner point of the No. 1 corner, and the shape is similar to a sphere; in the subsequent calculation of the industrial personal computer, the position of the second label corresponding to the No. 1 corner is moved by 4mm towards the corresponding outer side, and then the offset of the installation position of the track slab is calculated.
Through the technical scheme, the technical problem that the offset of the installation position of the track slab is not accurately calculated after the appearance of the corner point of the track slab is damaged and lost can be solved.
Finally, it should be noted that: 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; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. A method for detecting the offset of the installation position of a track slab is characterized by comprising the following steps:
s1, setting a radio frequency identification first label on a base plate according to an estimated theoretical laying position of a track plate on the base plate;
s2, arranging a radio frequency identification tag card reader on the track;
s3, reading the signal of the first label by using the card reader to obtain a first relative position of the first label and the card reader;
S4, after the track slab is laid roughly, arranging a radio frequency identification second label on the upper surface of the track slab;
s5, reading the signal of the second label by using the card reader to obtain a second relative position of the second label and the card reader;
s6, calculating the horizontal direction offset of the installation position of the track slab according to the first relative position and the second relative position;
and S7, reading the height difference value of the first label and the second label by using a height difference meter, and calculating the vertical direction offset of the installation position of the track slab according to the height difference value.
2. The method for detecting the offset of the installation position of the track slab as claimed in claim 1, wherein the step S1 of providing the radio frequency identification first tag on the base plate further comprises:
before setting, drawing a square frame line towards the inner side by taking the theoretical corner point as a starting point at each corner point of the theoretical laying position of the track plate on the base plate;
after the setting, make first label paste in square frame line, each limit of first label and square frame line coincidence.
3. The method for detecting the offset of the installation position of the track slab as claimed in claim 1, wherein the step S4 of providing the second radio frequency identification tag on the upper surface of the track slab further comprises:
Before setting, respectively making an L-shaped positioning mark on the inner side of each corner point of the track slab;
after the setting, any two adjacent sides of the second label are overlapped with the edge of the L-shaped positioning mark.
4. A method for detecting an amount of deviation of a mounting position of a track plate according to any one of claims 1 to 3, wherein: the number of the first label and the second label is multiple, and the number of the first label and the number of the second label are equal.
5. A method for detecting an amount of deviation of a mounting position of a track plate according to any one of claims 1 to 3, wherein: the first and second tags comprise miniature radio frequency identification tags.
6. The method for detecting the deviation of the installation position of the track slab as claimed in claim 1, wherein: and in the step S2, the erecting height of the card reader is 8-12 cm.
7. The method for detecting the deviation of the installation position of the track slab as claimed in claim 1, wherein: radio frequency identification the first tag, the second tag and the reader are located using differential enhanced hologram technology.
8. The method for detecting the deviation of the installation position of the track slab as claimed in claim 1, wherein: between the steps S5 and S6, the method further comprises the steps of performing linkage control on the laser radar by using the second label signal received by the card reader, and performing shape three-dimensional construction on the corner points of the track slab through the laser radar to obtain the actual shape of the corner points of the track slab; when the horizontal direction offset amount of the rail plate mounting position is calculated in step S6, the calculation result of the horizontal direction offset amount is corrected using the actual outer shape.
9. The method for detecting the deviation of the installation position of the track slab as claimed in claim 8, wherein: the lidar comprises a pulsed lidar.
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| CN202010713102.3A CN112036200B (en) | 2020-07-22 | 2020-07-22 | Method for detecting offset of installation position of track slab |
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| CN202010713102.3A CN112036200B (en) | 2020-07-22 | 2020-07-22 | Method for detecting offset of installation position of track slab |
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| CN107392299A (en) * | 2017-08-23 | 2017-11-24 | 北京好运达智创科技有限公司 | A kind of track traffic precast concrete electronic label device and its application method |
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| US6377888B1 (en) * | 2000-04-03 | 2002-04-23 | Disney Enterprises, Inc. | System for controlling movement of a vehicle |
| CN101768904A (en) * | 2009-12-30 | 2010-07-07 | 中铁八局集团有限公司 | Measurement and installation method of plate-type ballastless track primary standard |
| WO2011109419A2 (en) * | 2010-03-01 | 2011-09-09 | Innovative Timing Systems, Llc | Variably spaced multi-point rfid tag reader systems and methods |
| CN104727195A (en) * | 2015-03-30 | 2015-06-24 | 中铁第五勘察设计院集团有限公司 | Automatic testing and early-warning device for track plate displacement |
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