CN112344907B - Railway track level measurement method and system, readable storage medium and electronic equipment - Google Patents
Railway track level measurement method and system, readable storage medium and electronic equipment Download PDFInfo
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- CN112344907B CN112344907B CN202011082361.7A CN202011082361A CN112344907B CN 112344907 B CN112344907 B CN 112344907B CN 202011082361 A CN202011082361 A CN 202011082361A CN 112344907 B CN112344907 B CN 112344907B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
Abstract
The invention discloses a railway track horizontal measurement method, a railway track horizontal measurement system, a readable storage medium and electronic equipment, wherein a first level and a first distortion which are respectively obtained are obtained by different measurement mechanisms and sensor systems, a second level is obtained by inverse difference of a change rate of the first distortion, dynamic response characteristics of the first level and the second level have more difference characteristics, and more abundant and more complementary information content is contained, and the method belongs to multi-sensor multi-source information fusion, so that the problems of track horizontal dynamic time delay, large false values and the like can be effectively overcome, and a track horizontal measurement result with higher precision is obtained.
Description
Technical Field
The invention relates to a railway track level measurement method, a railway track level measurement system, a readable storage medium and electronic equipment.
Background
The state of the geometric parameters of the railway track is related to the safety of railway transportation, and along with the rapid development of railway operation network planning and the continuous improvement of operation speed in China, the requirement on the detection precision of the geometric parameters of the railway track is higher and higher.
In the whole life cycle of a railway track from a new line construction period to a line operation period and a line maintenance and overhaul period, the geometric parameters of the track are strictly detected and controlled. The geometric parameters of the track are usually described in engineering and mathematics by using static geometric parameters and dynamic geometric parameters, the difference is that the former refers to the geometric parameters of the track without the static load of the train and the latter refers to the geometric parameters of the track under the action of the static load and the static load of the train, and the corresponding detection method is called static track detection or dynamic track detection.
The dynamic rail inspection is usually performed by a large dynamic rail inspection train such as a dynamic rail inspection vehicle and a line confirmation vehicle, and the static rail inspection is usually performed by ruler detection tools such as a gauging rule (mechanical type and electronic type) and various digital detection instruments such as a static rail inspection trolley (a rail inspection instrument and a rail measuring instrument). However, from the perspective of measurement technology, except for the ruler detection tools, both large-scale dynamic rail inspection trains and static rail inspection trolleys are continuously measured during the process of the rail inspection trolley, and both belong to the category of dynamic measurement, and the detection of various geometric parameters of the rail is influenced by factors such as dynamic response characteristics of a measuring mechanism and a sensor.
Track level, and superelevation and distortion (also called triangular pit) parameters related to the track level are important components of track geometric parameters, wherein the track level is a direct measurement parameter, and the superelevation and distortion are calculated parameters obtained by post-processing track level measurement data. Large dynamic rail inspection trains, static rail inspection trolleys and the like usually adopt a tilt angle sensor or an inertial navigation combination to measure rail level parameters, the detection precision of the large dynamic rail inspection trains and the static rail inspection trolleys is greatly influenced by the response characteristics of the sensor, and the problems of obvious dynamic delay (phase lag of detected waveforms), false large values (abnormal fluctuation of detected waveforms) and the like exist.
Disclosure of Invention
The invention aims to solve the problems that: a method, a system, a readable storage medium and an electronic device for measuring the level of a railway track are provided,
the technical scheme provided by the invention for solving the problems is as follows: a method of railway track leveling, the method comprising the steps of,
(1) On the basis of keeping a track horizontal measuring mechanism and a sensor of the existing detection method, a track torsion measuring mechanism and a sensor are added, and a first horizontal measuring waveform and a first torsion measuring waveform are respectively obtained through signal conditioning and analog-to-digital conversion;
(2) Performing data processing by using the first distorted measurement waveform as a basis through a change rate inverse differential algorithm to obtain a second horizontal measurement waveform;
(3) Carrying out data processing by using a waveform effectiveness segmentation algorithm and taking a first level as a basis, and dividing a measuring process into three different measuring state segments of a normal measuring segment, a local abnormal segment and a transition segment of the local abnormal segment;
(4) Performing information fusion of the first level and the second level through a normal measurement section data fusion algorithm; correcting the dynamic time delay of the first level of the normal measurement section point by taking the phase characteristic of the second level of the normal measurement section as a boundary condition, correcting the zero drift of the second level of the normal measurement section point by taking the first level trend of the normal measurement section as a boundary condition, and obtaining a high-precision third level measurement waveform of the normal measurement section by a point-by-point averaging method;
(5) Performing information fusion of the first level and the second level through a local abnormal section data fusion algorithm; correcting zero drift of a second level of the local abnormal section by taking a trend difference between a first level trend and a second level of a normal measurement section adjacent to the local abnormal section as a boundary condition, and taking the zero drift as a high-precision third level measurement waveform of the local abnormal section;
(6) Performing information fusion of the first level and the second level through a transition section data fusion algorithm; correcting the dynamic time delay of the first level of the transition section point by taking the phase characteristic of the second level of the transition section as a boundary condition, correcting the zero drift of the second level of the transition section point by taking the first level trend of a normal measurement section adjacent to the transition section as a boundary condition, and obtaining a high-precision third level measurement waveform of the transition section by a weighted average method;
(7) Connecting the third horizontal measurement waveforms of the normal measurement section, the transition section and the local abnormal section according to the sequence of the measurement points to form a complete waveform of the third horizontal of the track obtained after information fusion, and outputting the complete waveform as a final measurement result of the horizontal of the track; correspondingly, the track superelevation and the track distortion are calculated according to the existing formula according to the complete waveform of the third level of the track.
Preferably, the track torsion measuring mechanism and the track torsion sensor are connected with two horizontal measuring beams which can independently reflect the track level and are spaced from each other in front and back, the torsion measuring mechanism with a revolute pair, and a relative angle sensor which can sense the torsion of the measuring mechanism.
Preferably, the data processing is performed by using the first distorted measurement waveform as a basis through the inverse differential algorithm of the change rate to obtain the second level measurement waveform, and the mathematical principle according to which: the distortion is a difference between two levels spaced a certain distance from each other, and the horizontal waveform can be subjected to a differential operation to obtain a distorted waveform, and therefore the distorted waveform can also be subjected to an inverse differential operation to obtain a horizontal waveform.
Preferably, the data processing is performed by using the waveform validity segmentation algorithm and the first level as a basis, and the measurement process is divided into different measurement state segments, such as a normal measurement segment, a local abnormal segment, a transition segment thereof, and the like, according to the mathematical principle that: the singular value and the local variance of the waveform of the horizontal measurement waveform are obviously different when the horizontal measurement waveform is or is not influenced by the rail gap or the local defects such as the stripping and the chipping of the surface of the steel rail, so that the horizontal measurement waveform can be classified into a normal measurement section or an abnormal measurement section according to the difference, and the sectional type and the transition section between the normal measurement section and the abnormal measurement section are difficult to determine.
Preferably, the dynamic time delay of the first level of the normal measurement section or the transition section is corrected point by using the phase characteristic of the second level of the normal measurement section or the transition section as a boundary condition, and the mathematical principle is that: the newly added distortion measuring mechanism and the sensor have high dynamic frequency response, the time delay of the measured waveform is extremely small, and the time delay can be used as a phase reference for eliminating the dynamic time delay of the first level.
Preferably, the zero drift of the second level of the normal measurement section or the transition section is corrected point by taking the trend of the first level of the normal measurement section or the transition section as a boundary condition, and the mathematical principle is that: the inverse difference operation has a constant related to the boundary condition, which shows the zero point drift of the second level, so that the trend of the second level can be replaced by the trend of the first level in the same segment to realize the zero point fading of the second level.
Preferably, the zero drift of the second level of the local abnormal section is corrected by using the trend difference between the first level and the second level of the normal measurement section adjacent to the local abnormal section as a boundary condition, and the mathematical principle is as follows: the change of the inverse differential constant is slow and gradually accumulated, and the zero-point drift of the second level is also slow and gradually accumulated, so that the zero-point deviation of the second level can be calculated according to the trend difference of the first level and the second level of the adjacent normal measurement sections, and the zero-point deviation of the second level of the local abnormal section is eliminated.
The invention also comprises a track level measurement system which is applied to the railway track level measurement method and comprises a track level acquisition module, a first level waveform acquisition module and a second level waveform acquisition module, wherein the track level acquisition module is used for directly measuring the magnitude of the track level parameter to acquire the first level waveform;
the track distortion acquisition module is used for directly measuring the magnitude of track distortion parameters and acquiring the first distorted waveform;
and the information conversion and fusion module is used for calculating the second level according to the first distortion and obtaining high-precision third level measurement waveform output according to the first level and the second level through information fusion.
The invention also includes a readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the railway track leveling method.
The invention also includes an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of measuring a level of a railway track when executing the program.
Compared with the prior art, the invention has the advantages that: the first level and the first distortion which are respectively obtained are obtained by different measuring mechanisms and sensor systems, the second level is obtained by inverse difference of the change rate of the first distortion, the dynamic response characteristics of the first level and the second level have more difference characteristics, and contain more abundant and complementary information quantity, and the method belongs to multi-sensor multi-source information fusion, so that the problems of dynamic time delay, large false value and the like of the track level can be effectively solved, and a track level measuring result with higher precision is obtained.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not limit the invention.
FIG. 1 is a schematic flow diagram of a railway track leveling method of the present invention;
fig. 2 is a schematic diagram of the track twist measuring mechanism of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, so that how to implement the technical means for solving the technical problems and achieving the technical effects of the present invention can be fully understood and implemented.
Referring to fig. 1, a first embodiment of the present invention provides a method for measuring a rail track level, which is applied to a measuring device for measuring a rail track level, and includes the following steps:
s1, acquiring first horizontal measurement data and waveforms through a horizontal measurement mechanism of a measurement device.
Specifically, the first level is obtained by converting a level measuring mechanism of a measuring device into a digital value by matching with a sensitive track level parameter of a high-frequency response and high-precision level sensor and converting the sensitive track level parameter into the digital value through a signal conditioning circuit and a quantization circuit.
In this embodiment, the high frequency response and high precision level sensor is an inclination sensor based on the principle of a servo accelerometer.
In other embodiments, the high frequency response and high precision level sensor can also be an inertial navigation combination system.
S2, synchronously acquiring first distortion measurement data and waveforms through a distortion measurement mechanism of the measurement device.
Specifically, the first distortion is obtained by matching a distortion measuring mechanism of the measuring device with a sensitive track distortion parameter of a high-precision angle sensor and converting the sensitive track distortion parameter into a digital quantity through a signal conditioning circuit and a quantization circuit.
In this embodiment, the torsion measuring mechanism is a connecting beam having a rotating pair and two horizontal measuring beams spaced apart from each other before and after the connection, and the high-precision angle sensor is a conductive plastic angular displacement sensor.
In other embodiments, the high-precision angle sensor may also be a differential capacitive angular displacement sensor, a differential inductive angular displacement sensor, a hall angular displacement sensor, or the like.
And S3, transforming the first distortion measurement data and the waveform through a change rate inverse differential algorithm to obtain second horizontal measurement data and the waveform.
Specifically, the following operational relationship is satisfied between the first distortion and the second level:
in the formula: x = [ X0, X1,.. Cndot, xn ] T is a track warp measurement data sequence, and Y = [ Y0, Y1,. Cndot ] is a track level measurement data sequence. Except for the front and rear behaviors of all 0, the middle row only has two nonzero items with the interval of k, and k is the equivalent measuring point interval of a certain distance between the front and rear horizontal measuring beams.
And S4, classifying the measurement waveforms by taking the form of the first horizontal waveform as a basis.
Specifically, the form of the first horizontal waveform may be divided into three different forms, namely, a normal measurement form, a local anomaly form and a transition process thereof, and accordingly, the measurement waveform may be divided into three different data segments, namely, a normal measurement section, a local anomaly section and a transition section thereof.
In this embodiment, singular value decomposition is performed on the first level, and a singular value is used as a parameter for describing a waveform form, so as to establish a singular value-based segmentation criterion.
In other embodiments, the local variance calculation may be performed on the first level, and the local variance is used as a parameter describing the waveform morphology, so as to establish a segmentation criterion based on the local variance.
And S5, performing dynamic time delay correction on the first level of the normal measurement section.
Specifically, with the peak feature of the second level of the normal measurement segment as a reference, the corresponding peak of the first level of the normal measurement segment is matched, and the phase difference, i.e., the distance difference, is calculated to correct the position where the first level peak of the normal measurement segment appears.
And S6, carrying out dynamic zero correction on the second level of the normal measurement section.
Specifically, the local mean value of the first level of the normal measurement segment is used as a reference, and the mean value difference between the local mean value and the second level of the normal measurement segment is calculated to be used as a second level dynamic zero point difference for correcting the second level dynamic zero point drift of the normal measurement segment.
And S7, carrying out information fusion on the waveforms of the normal measurement section after the first level and the second level are corrected.
Specifically, the first level and the second level of the normal measurement section obtained at this time are both provided with a condition for outputting a high-precision third level measurement waveform as the normal measurement section, and may be calculated by a simple algorithm such as point-by-point averaging and output as the high-precision third level measurement waveform of the normal measurement section.
And S8, performing dynamic zero correction on the second level of the local section.
Specifically, with reference to the local mean value of the first level of the normal measurement segment adjacent to the local abnormal segment, the mean value difference between the first level and the second level of the adjacent normal measurement segment is calculated, and the mean value difference is used as the second level dynamic zero difference of the local abnormal segment, and is used for the local abnormal segment to correct the second level dynamic zero drift, so as to obtain the high-precision third level measurement waveform output of the local abnormal segment.
And S9, performing dynamic time delay correction on the first level of the transition section.
Specifically, with reference to the peak feature of the second level of the transition section, matching the corresponding peak of the first level of the transition section, and calculating the phase difference, i.e., the distance difference, to be used by the transition section to correct the position where the peak of the first level appears.
And S10, performing dynamic zero correction on the second level of the transition section.
Specifically, with reference to a local mean of the first level of the normal measurement segment adjacent to the transition segment, a mean difference between the first level and the second level of the normal measurement segment adjacent to the transition segment is calculated, and the mean difference is used as the transition segment second level dynamic zero difference to correct the dynamic zero drift of the transition segment second level.
And S11, carrying out information fusion on the waveforms of the transition section after the first level and the second level are corrected.
Specifically, the waveforms obtained at this time after the first level and the second level correction of the transition section do not completely satisfy the condition of the high-precision third level measurement waveform output as the normal measurement section, and may be calculated by a point-by-point weighted averaging algorithm and then output as the high-precision third level measurement waveform output of the transition section.
Further, the basic principle of the point-by-point weighted average algorithm is that when a normal measurement section enters a transition section, the weighted average of the first level corrected waveform and the second level corrected waveform of the transition section has the same weight, and the weighted average of the first level corrected waveform of the transition section is closer to a local abnormal section, the smaller the weight is, the higher the weight is, the zero is reached, and the high-precision third level measurement waveform output of the transition section is obtained.
And S12, performing data connection on the third horizontal measurement waveforms of all the segments to obtain final and complete third horizontal output.
And S13, carrying out data conversion on the final and complete third horizontal measurement waveform to obtain a distorted measurement waveform output.
Specifically, the distortion is the difference in the third level between two points before and after the measurement point interval is k.
And S14, carrying out data conversion on the final and complete third horizontal measurement waveform to obtain ultrahigh measurement waveform output.
Specifically, the superelevation is a local mean value of a third level measurement waveform near the corresponding measuring point.
The method has the advantages that the method can synchronously measure the track level and track distortion, obtain multi-sensor multi-source information with richer content and stronger complementarity, effectively overcome the problems of track level dynamic time delay, large false value and the like through deep information fusion, and obtain a track level measurement result with higher precision.
Referring to fig. 2, a second embodiment of the present invention provides a track leveling system for measuring the level, height and distortion of a track by a measuring device, including:
the horizontal measuring system generally comprises a front horizontal measuring beam 1 and a rear horizontal measuring beam 2 with a vertical walking wheel and a horizontal guide wheel, and a connecting beam 3 with a rotary pair, and can move left and right along a steel rail 6 of a measured track.
One or two level sensors 4 are arranged in the front and the rear two leveling beams 1 and 2 of the leveling system for measuring the level state of the track to obtain the first level.
An angular displacement sensor 5 is arranged in the coupling beam 3 of the level measuring system for measuring the turning angle of the turning pair to obtain the first torsion.
A third embodiment of the present invention provides a readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the above-described railway track leveling method.
A fourth embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor executes the computer program to implement the method described above, and the electronic device may be a hand-push type rail measurement trolley, or a middle-low speed self-propelled rail measurement trolley.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary. All changes which come within the scope of the invention as defined by the appended claims are intended to be embraced therein.
Claims (10)
1. A railway track horizontal measurement method is characterized in that: the method comprises the following steps of (a) carrying out,
(1) On the basis of keeping a track horizontal measuring mechanism and a sensor of the existing detection method, a track torsion measuring mechanism and a sensor are added, and a first horizontal measuring waveform and a first torsion measuring waveform are respectively obtained through signal conditioning and analog-to-digital conversion;
(2) Performing data processing by using the first distortion measurement waveform as a basis through a change rate inverse differential algorithm to obtain a second horizontal measurement waveform;
(3) Carrying out data processing by using a waveform effectiveness segmentation algorithm and taking a first level as a basis, and dividing a measuring process into three different measuring state segments of a normal measuring segment, a local abnormal segment and a transition segment of the local abnormal segment;
(4) Performing information fusion of the first level and the second level through a normal measurement section data fusion algorithm; correcting the dynamic time delay of the first level of the normal measurement section point by taking the phase characteristic of the second level of the normal measurement section as a boundary condition, correcting the zero drift of the second level of the normal measurement section point by taking the first level trend of the normal measurement section as a boundary condition, and obtaining a high-precision third level measurement waveform of the normal measurement section by a point-by-point averaging method;
(5) Performing information fusion of the first level and the second level through a local abnormal section data fusion algorithm; correcting zero drift of a second level of the local abnormal section by taking a trend difference between a first level and a second level of a normal measurement section adjacent to the local abnormal section as a boundary condition, and taking the zero drift as a high-precision third level measurement waveform of the local abnormal section;
(6) Performing information fusion of the first level and the second level through a transition section data fusion algorithm; correcting dynamic time delay of the first level of the transition section point by taking the phase characteristic of the second level of the transition section as a boundary condition, correcting zero drift of the second level of the transition section point by taking the first horizontal trend of a normal measurement section adjacent to the transition section as a boundary condition, and obtaining a high-precision third level measurement waveform of the transition section by a weighted average method;
(7) Connecting the third horizontal measurement waveforms of the normal measurement section, the transition section and the local abnormal section according to the sequence of the measurement points to form a complete waveform of the third horizontal of the track obtained after information fusion, and outputting the complete waveform as a final measurement result of the horizontal of the track; correspondingly, the track superelevation and the track distortion are calculated according to the existing formula according to the complete waveform of the third level of the track.
2. A method of measuring the level of a railway track according to claim 1, wherein: the track twist measuring mechanism and the track twist sensor are connected with two horizontal measuring beams which can independently reflect the track level and are spaced from each other at a certain distance, a twist measuring mechanism with a rotating pair and a relative angle sensor which can sense the twist of the measuring mechanism.
3. A method of measuring the level of a railway track according to claim 1, wherein: the data processing is carried out by using the first distorted measurement waveform as a basis through a change rate inverse differential algorithm to obtain a second horizontal measurement waveform, and the mathematical principle of the basis is as follows: the distortion is a difference between two levels spaced a certain distance from each other, and the horizontal waveform can be subjected to a differential operation to obtain a distorted waveform, and therefore the distorted waveform can also be subjected to an inverse differential operation to obtain a horizontal waveform.
4. A method of measuring the level of a railway track according to claim 1, wherein: the method comprises the following steps of performing data processing by using a waveform effectiveness segmentation algorithm and taking a first level as a basis, and dividing a measurement process into three different measurement state segments of a normal measurement segment, a local abnormal segment and a transition segment thereof according to the mathematical principle that: the horizontal measurement waveform has obvious difference in singular value and local variance when being affected by rail gap or local defect of steel rail surface stripping and chipping, so that the horizontal measurement waveform can be classified as a normal measurement section or an abnormal measurement section, and the section type is difficult to determine, and the section between the normal measurement section and the abnormal measurement section is classified as a transition section.
5. A method of measuring the level of a railway track according to claim 1, wherein: correcting the dynamic time delay of the first level of the normal measurement section or the transition section point by taking the phase characteristics of the second level of the normal measurement section or the transition section as boundary conditions according to the mathematical principle that: the newly added distortion measuring mechanism and the sensor have high dynamic frequency response, the time delay of the measured waveform is extremely small, and the time delay can be used as a phase reference for eliminating the dynamic time delay of the first level.
6. A method of measuring the level of a railway track according to claim 1, wherein: correcting the zero drift of the second level of the normal measurement section or the transition section point by taking the first level trend of the normal measurement section or the transition section as a boundary condition according to the mathematical principle that: the inverse difference operation has a constant related to the boundary condition, which shows the zero point drift of the second level, so that the trend of the second level can be replaced by the trend of the first level in the same segment to realize the zero point fading of the second level.
7. A method of measuring the level of a railway track according to claim 1, wherein: correcting zero drift of a second level of a local abnormal section by taking a trend difference of a first level and the second level of a normal measurement section adjacent to the local abnormal section as a boundary condition according to the mathematical principle that: the change of the inverse differential constant is slow and gradually accumulated, and the zero-point drift of the second level is also slow and gradually accumulated, so that the zero-point deviation of the second level can be calculated according to the trend difference of the first level and the second level of the adjacent normal measurement sections, and the zero-point deviation of the second level of the local abnormal section is eliminated.
8. A track leveling system applied to the railway track leveling method according to any one of claims 1 to 7, characterized in that: comprises the steps of (a) preparing a substrate,
the track level acquisition module is used for directly measuring the magnitude of a track level parameter and acquiring the first level measurement waveform;
the track distortion acquisition module is used for directly measuring the size of track distortion parameters and acquiring the first distortion measurement waveform;
and the information conversion and fusion module is used for calculating the second level according to the first distortion, and obtaining high-precision third level measurement waveform output according to the first level and the second level through information fusion.
9. A readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the method of railway track leveling of any one of claims 1-7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the method of railway track leveling according to any of claims 1-7.
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