CN112504173B - Track irregularity measuring device and method based on laser profile scanning - Google Patents

Track irregularity measuring device and method based on laser profile scanning Download PDF

Info

Publication number
CN112504173B
CN112504173B CN202011029080.5A CN202011029080A CN112504173B CN 112504173 B CN112504173 B CN 112504173B CN 202011029080 A CN202011029080 A CN 202011029080A CN 112504173 B CN112504173 B CN 112504173B
Authority
CN
China
Prior art keywords
track
profile
laser
mounting bracket
detected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011029080.5A
Other languages
Chinese (zh)
Other versions
CN112504173A (en
Inventor
国巍
余志武
蒋丽忠
刘汉云
曾晨
曾哲峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Central South University
National Engineering Laboratory for High Speed Railway Construction Technology
Original Assignee
Central South University
National Engineering Laboratory for High Speed Railway Construction Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Central South University, National Engineering Laboratory for High Speed Railway Construction Technology filed Critical Central South University
Priority to CN202011029080.5A priority Critical patent/CN112504173B/en
Publication of CN112504173A publication Critical patent/CN112504173A/en
Application granted granted Critical
Publication of CN112504173B publication Critical patent/CN112504173B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a device and a method for measuring track irregularity based on laser contour scanning, which relate to the technical field of track traffic detection and photoelectric measurement, wherein the device comprises a first laser contour sensor, a second laser contour sensor, a first adjustable mounting bracket, a second adjustable mounting bracket, a carrying platform, a first walking wheel, a second walking wheel, a third walking wheel, a fourth walking wheel, an encoder, a programmable controller and a computer; acquiring profile curve data of one side of a track to be detected through a first laser profile sensor, and acquiring profile curve data of the other side of the track to be detected through a second laser profile sensor; and the computer calculates the irregularity of the vertical track of the track to be measured according to the profile curve data on the two sides and the moving distance of the carrying platform. The invention can be suitable for measuring the irregularity information of the reduced scale track model.

Description

Track irregularity measuring device and method based on laser profile scanning
Technical Field
The invention relates to the technical field of rail transit detection and photoelectric measurement, in particular to a device and a method for measuring rail irregularity based on laser profile scanning.
Background
The safety and comfort of train operation is directly related to the state of the track line, and thus it is necessary to accurately measure the track irregularity in time. The rail irregularity measuring methods commonly used in engineering at present are static measuring methods such as a rail irregularity measuring instrument and a rail corrugation ruler, and dynamic detecting methods such as a rail inspection vehicle and a comprehensive detection train, so as to measure the height, the axial direction and the horizontal geometric irregularity of the rail, but the methods lack the measurement of the spatial profile of the rail, so that the local damage of the rail cannot be accurately reflected.
In addition, when carrying out the railway model test indoor, often use the small-scale model for the rail cross-section is smaller, and the track irregularity amplitude corresponding diminishes behind the scale, needs measuring equipment to have higher measurement accuracy, and traditional measuring equipment's volume is great, is not suitable for and measures the irregularity information of reduced scale track model in the laboratory.
In summary, the conventional measurement method and apparatus have the problems that the precise measurement of the rail section profile is not considered, so that the local damage of the rail cannot be accurately reflected, and the conventional measurement method and apparatus are not suitable for measuring the rail scale model in a laboratory environment. Therefore, there is a need in the art for a measuring device and method suitable for measuring the irregularity information of the scaled track model to accurately reflect the local damage of the track.
Disclosure of Invention
The invention aims to provide a track irregularity measuring device and method based on laser profile scanning, which are suitable for measuring irregularity information of a reduced-scale track model.
In order to achieve the purpose, the invention provides the following scheme:
a track irregularity measuring device based on laser contour scanning comprises a first laser contour sensor, a second laser contour sensor, a first adjustable mounting bracket, a second adjustable mounting bracket, a carrying platform, a first walking wheel, a second walking wheel, a third walking wheel, a fourth walking wheel, an encoder, a programmable controller and a computer;
the carrying platform is formed by a first aluminum section, a second aluminum section, a third aluminum section and a fourth aluminum section in a surrounding mode; the first aluminum profile is arranged on a rail to be detected, and the second aluminum profile is arranged on the other rail corresponding to the rail to be detected; the third aluminum profile and the fourth aluminum profile are perpendicular to the first aluminum profile and the second aluminum profile;
the first walking wheel is arranged at the intersection of the first aluminum profile and the fourth aluminum profile; the second walking wheels are arranged at the intersection points of the first aluminum profiles and the third aluminum profiles; the third walking wheel is arranged at the intersection of the second aluminum profile and the fourth aluminum profile; the fourth walking wheel is arranged at the intersection of the second aluminum profile and the third aluminum profile; the carrying platform moves on the track to be tested and another track corresponding to the track to be tested through the first walking wheels, the second walking wheels, the third walking wheels and the fourth walking wheels;
the bottom of the first aluminum profile is provided with a first sliding groove, and the distance between the first walking wheel and the second walking wheel is adjusted by moving in the first sliding groove;
the first adjustable mounting bracket and the second adjustable mounting bracket are respectively fixed on two sides of the first aluminum profile; the first laser profile sensor is arranged on the first adjustable mounting bracket; the second laser profile sensor is arranged on the second adjustable mounting bracket; the first laser profile sensor is used for emitting scanning laser to one side of the rail to be detected to obtain profile curve data of one side of the rail to be detected; the second laser profile sensor is used for emitting scanning laser to the other side of the track to be detected to obtain profile curve data of the other side of the track to be detected;
the first adjustable mounting bracket is used for adjusting the horizontal distance between the first laser profile sensor and the first walking wheel; the second adjustable mounting bracket is used for adjusting the horizontal distance between the second laser profile sensor and the first walking wheel;
the encoder, the first laser profile sensor and the second laser profile sensor are all connected with the programmable controller;
the encoder is arranged on the first walking wheel; the encoder sends a pulse signal to the programmable controller once every time the first walking wheel rotates for one circle, and the programmable controller simultaneously triggers the first laser profile sensor to measure the profile of one side of the rail to be measured and the second laser profile sensor to measure the profile of the other side of the rail to be measured; the first laser profile sensor emits scanning laser according to the triggering of the programmable controller, acquires profile curve data of one side of the rail to be detected corresponding to the current pulse signal, and sends the profile curve data of one side of the rail to be detected to the programmable controller for data storage; the second laser profile sensor emits scanning laser according to the triggering of the programmable controller, acquires profile curve data of the other side of the rail to be detected corresponding to the current pulse signal, and sends the profile curve data of the other side of the rail to be detected to the programmable controller for data storage; the programmable controller calculates the moving distance of the carrying platform according to the pulse signal generated by the encoder in the movement;
the computer is connected with the programmable controller; and the computer is used for calculating the irregularity of the vertical track of the track to be detected according to the profile curve data of one side of the track to be detected, the profile curve data of the other side of the track to be detected and the moving distance of the carrying platform corresponding to each pulse signal.
Optionally, the first adjustable mounting bracket comprises a transverse fixing rod, two vertical fixing rods and a plurality of moving rods; the plurality of moving rods are used for adjusting the height and the angle of the first laser profile sensor;
the second adjustable mounting bracket comprises a transverse fixing rod, two vertical fixing rods and a plurality of moving rods; the plurality of moving rods are used for adjusting the height and the angle of the second laser profile sensor.
Optionally, the surfaces of the first aluminum profile and the second aluminum profile are provided with first graduated scales; the first graduated scale is used for reading the horizontal distance between the first walking wheel and the second walking wheel, the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first walking wheel, and the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the second walking wheel.
The invention also provides the following scheme:
a method of rail irregularity measurement based on laser profile scanning, the method comprising:
step S1: acquiring a horizontal distance between a current first laser profile sensor and a first walking wheel, a horizontal distance between a current second laser profile sensor and the first walking wheel and a distance between the current first walking wheel and a current second walking wheel;
step S2: acquiring the moving distance of a carrying platform corresponding to the current pulse signal, profile curve data of one side of a track to be tested, profile curve data of the other side of the track to be tested and coordinates of the central point of a transverse fixed rod of a first adjustable mounting bracket;
step S3: performing data fusion on the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected to obtain fused profile curve data of the track to be detected;
step S4: determining the top point of the track to be detected according to the profile curve data of the track to be detected;
step S5: calculating the vertical distance between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured;
step S6: calculating a vertical distance change value between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured according to the vertical distance;
step S7: constructing an equation according to the vertical distance change value, the distance between the current first running wheel and the current second running wheel, the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first running wheel, the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the second running wheel, the moving distance of the carrying platform, the irregularity of the vertical rail corresponding to the center point of the transverse fixing rod of the first adjustable mounting bracket, the irregularity of the vertical rail corresponding to the first running wheel and the irregularity of the vertical rail corresponding to the second running wheel;
step S8: repeating the steps S2-S7 until the carrying platform finally moves to a measuring end point from the measuring reference point, and constructing an equation set to obtain an equation set corresponding to the horizontal distance between the current first laser profile sensor and the first travelling wheel, the horizontal distance between the current second laser profile sensor and the first travelling wheel and the distance between the current first travelling wheel and the second travelling wheel;
step S9: repeating the steps S1-S7 for at least 5 times to obtain 5 different simultaneous equations corresponding to the horizontal distance between the current first laser profile sensor and the first running wheel, the horizontal distance between the current second laser profile sensor and the first running wheel and the distance between the current first running wheel and the second running wheel;
step S10: and solving the simultaneous equations to obtain the irregularity of the vertical tracks corresponding to the central point of the transverse fixed rod of the first adjustable mounting bracket, the irregularity of the vertical tracks corresponding to the first walking wheels and the irregularity of the vertical tracks corresponding to the second walking wheels.
Optionally, the data fusion is performed on the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected, so as to obtain fused profile curve data of the track to be detected, and the method specifically includes:
and performing data fusion on the profile curve data of one side of the track to be tested and the profile curve data of the other side of the track to be tested based on a nearest iteration point algorithm to obtain fused profile curve data of the track to be tested.
Optionally, the data fusion is performed on the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected, so as to obtain fused profile curve data of the track to be detected, and the method specifically includes:
establishing a matching corresponding relation between the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected;
searching two data points with the shortest distance in the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected;
solving conversion parameters according to the data points with the shortest distances;
and performing coordinate transformation on all data points in the profile curve data of one side of the track to be detected and all data points in the profile curve data of the other side of the track to be detected according to the conversion parameters so as to match all data points in the profile curve data of one side of the track to be detected and all data points in the profile curve data of the other side of the track to be detected, and finally obtaining fused profile curve data of the track to be detected.
Optionally, the calculating a vertical distance variation value between a central point of a transverse fixing rod of the first adjustable mounting bracket and a vertex of the track to be measured according to the vertical distance specifically includes:
acquiring a first vertical distance between a central point of a transverse fixed rod of a first adjustable mounting bracket corresponding to an initial pulse signal and a vertex of the track to be measured; the initial pulse signal is a first pulse signal sent to the programmable controller by the encoder when the carrying platform starts to move from the measurement reference point to the measurement end point;
and subtracting the first vertical distance from the vertical distance to obtain a vertical distance change value between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured.
Optionally, the equation is
Figure BDA0002702982250000051
In the formula,. DELTA.H (x)0) A vertical distance change value l between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured1Represents the horizontal distance, l, between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first running wheel2Indicating the horizontal distance, L, between the centre point of the transverse fixing bar of the first adjustable mounting bracket and the second running wheel12Denotes the horizontal distance between the first running wheel and the second running wheel, R (x)1) Indicating the irregularity, R (x), of the vertical track to which the first running wheel corresponds2) Indicating the irregularity of the vertical track corresponding to the second running wheel, R (x)0) Indicating the vertical track irregularity, x, at the point of the transverse fixation rod centre point of the first adjustable mounting bracket1Representing the horizontal distance, x, between the first running wheel and the reference point of measurement1Distance of movement of the carrying platform, x2Representing the horizontal distance, x, between the second running wheel and the reference point of measurement2＝x1+L12，x0Representing the horizontal distance, x, between the centre point of the transverse fixing rod of the first adjustable mounting bracket and the measurement reference point0＝x1+l1。
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a track irregularity measuring device and method based on laser profile scanning, which adopts a small-size laser profile sensor, and is suitable for measuring a track scale model due to the small size of the laser profile sensor; a non-contact measuring mode that a laser profile sensor emits scanning laser to measure the track profile is adopted, clear imaging is carried out on a receiving assembly of the laser profile sensor, a stable profile is generated, and the precision is high; and after the horizontal distance between the first walking wheel and the second walking wheel and the horizontal distance between the laser profile sensor and the first walking wheel are adjusted, measuring for multiple times, and calculating to obtain high-precision track irregularity information.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of an embodiment of a track irregularity measuring device based on laser profile scanning according to the present invention;
FIG. 2 is a schematic view of adjusting the carrier platform support spacing and sensor mounting location;
FIG. 3 is a schematic diagram of a laser profile sensor measuring a cross-sectional profile of a rail;
FIG. 4 is a detail of the supporting wheel of the carrying platform;
FIG. 5 is a flowchart of an embodiment of a method for measuring track irregularity based on laser profile scanning according to the present invention;
FIG. 6 is a detailed flow chart of two-side profile data fusion;
FIG. 7 is a schematic view of the principle of track irregularity measurement;
FIG. 8 is a schematic view of a measurement condition;
fig. 9 is a general operation block diagram of the measurement method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a track irregularity measuring device and method based on laser profile scanning, which are suitable for measuring irregularity information of a reduced-scale track model.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a structural diagram of an embodiment of a track irregularity measuring device based on laser profile scanning according to the present invention. Referring to fig. 1, the track irregularity measuring device based on laser profile scanning comprises a first laser profile sensor 1, a second laser profile sensor 2, a first adjustable mounting bracket 3, a second adjustable mounting bracket 4, a carrying platform 5, a first walking wheel 6, a second walking wheel 7, a third walking wheel 8, a fourth walking wheel 9, an encoder 10, a programmable controller 11 and a computer (not shown in the figure).
The carrying platform 5 is placed on the track to be measured and another track corresponding to the track to be measured and moves along the track direction, the carrying platform 5 is used for carrying and supporting the first laser profile sensor 1 and the second laser profile sensor 2, and the supporting distance (the horizontal distance between the first walking wheel 6 and the second walking wheel 7) of the carrying platform 5 and the installation position (the horizontal distance between the laser profile sensor and the first walking wheel 6) of the laser profile sensor are allowed to be adjusted, so that track irregularity measurement data with different correlations under different supporting conditions can be obtained. The track to be measured needs to be measured for many times, and after one-time measurement is finished, the supporting distance of the carrying platform 5 and the installation position of the sensor need to be adjusted and recorded, so that the track irregularity measurement of different position combinations is realized.
The encoder 10 is installed at the wheel shaft of the carrying platform 5, the wheel shaft rotates to drive the encoder 10 to output a pulse signal, the programmable controller 11 collects the pulse signal and sends the pulse signal as a trigger signal to the first laser profile sensor 1 and the second laser profile sensor 2, and the sensors finish track profile collection at the trigger time. The encoder 10 may record the movement distance information (the movement distance of the carrying platform 5) during the movement of the carrying platform 5 for the subsequent track irregularity processing, i.e. the movement distance is taken as the abscissa of the track irregularity to indicate how the vertical track irregularity changes in the movement distance. The encoder 10 is a sensor for motion control, the encoder 10 is composed of a photoelectric coded disc with a shaft in the center, annular light and shade lines are arranged on the coded disc, photoelectric emission and a receiver read light and shade changes, in this way, the encoder 10 can output pulse signals along with rotation, the number of times of the rotation of the encoder can be known according to the number of pulses, and the moving distance of the carrying platform 5 is calculated according to the circumference of the roller and the number of the rotation times.
The first laser profile sensor 1 and the second laser profile sensor 2 emit scanning laser to a track to be measured, stable high-precision section profile data is obtained through receiving, profiles of two sides of the track to be measured are measured synchronously, the laser profile sensor can directly obtain a track profile of a measured area through an imaging module of the laser profile sensor, and data processing (constraint information is provided through relative motion between the laser profile sensor and the track to be measured, space continuous profile data fusion and splicing are carried out on the measured section, construction of the three-dimensional form of the track to be measured is achieved), namely, steel rail profiles of two sides are overlapped on a rail head part, so that a two-dimensional profile of the measured track section is formed. The profile data represents the geometric appearance of the outer profile of the section of the track to be measured, the laser forms a profile curve on the surface of the track to be measured, and reflected light of the profile curve is imaged in the sensor to measure the shape of the section of the track.
The carrying platform 5 runs on the track to be detected once in a single direction, and the first laser profile sensor 1 and the second laser profile sensor 2 scan the cross section of the track to pass, so that a group of three-dimensional profile data of the whole track to be detected can be obtained. Fig. 2 is a schematic view of the adjustment of the supporting distance of the carrying platform and the mounting position of the sensor, and referring to fig. 2, the carrying platform 5 is composed of an aluminum profile, and an adjustable sliding groove is provided inside the profile, so as to allow fine adjustment of the supporting distance (horizontal distance between the first running wheel 6 and the second running wheel 7) and the mounting position of the laser profile sensor (horizontal distance between the first laser profile sensor 1 and the first running wheel 6 and horizontal distance between the second laser profile sensor 2 and the first running wheel 6) of the carrying platform 5. The method comprises the steps of setting a measuring reference point on a track, adjusting the supporting distance of a carrying platform 5 and the installation position of a sensor after one-time measurement, moving the carrying platform 5 back to the measuring reference point after each adjustment, starting new one-time measurement from the measuring reference point, enabling a laser profile sensor to sweep the surface of a track to be measured by moving the carrying platform 5, and measuring the spatial section profile of the track to be measured, wherein in the measuring process, an encoder 10 is adopted to trigger the sensor, the outer profile of the track to be measured is obtained by triggering the measuring through the encoder 10, a pulse counting value obtained by counting the number of pulses input by the encoder 10 is also provided, and the encoder 10 can simultaneously output pulse signals along with the movement of the carrying platform 5 so as to calculate the moving distance of the carrying platform 5. The laser profile sensor records relative coordinate information for processing the track single-side profile recorded by the two laser profile sensors, a complete track section profile is formed through data fusion, and data storage is performed. The carrying platform 5 can obtain a measuring working condition at one time by one-time operation from the measuring reference point to the measuring terminal point (set by people). Therefore, the support pitch of the carrying platform 5 and the laser profile sensor installation position can be adjusted, the carrying platform 5 is moved back to the initial measurement reference point, and the track irregularity information with different support pitches and sensor installation positions can be obtained by measuring again. In order to obtain accurate track irregularity information, the supporting distance of the carrying platform and the installation position of the sensor need to be adjusted for multiple times to form different test working conditions, the measurement process from the measurement reference point to the measurement end point needs to be repeated for each adjustment of the position of the carrying platform 5 and the sensor, and finally multiple groups of track three-dimensional profile data can be obtained, each group of data is a function of the supporting distance and the position of the sensor, has certain correlation and forms a correlation equation set, and vertical and horizontal irregularity data of the track can be obtained by solving the equation set. Wherein the horizontal distance between the first laser profile sensor 1 and the first running wheel 6 and the horizontal distance between the second laser profile sensor 2 and the first running wheel 6 are kept identical.
The carrying platform 5 is formed by a first aluminum section 51, a second aluminum section 52, a third aluminum section 53 and a fourth aluminum section 54 in a surrounding mode; the first aluminum profile 51 is arranged on a rail to be detected, and the second aluminum profile 52 is arranged on the other rail corresponding to the rail to be detected; the third aluminum profile 53 and the fourth aluminum profile 54 are perpendicular to the first aluminum profile 51 and the second aluminum profile 52.
The first running wheel 6 is arranged at the intersection of the first aluminum profile 51 and the fourth aluminum profile 54; the second running wheel 7 is arranged at the intersection of the first aluminum profile 51 and the third aluminum profile 53; the third running wheel 8 is arranged at the intersection of the second aluminum profile 52 and the fourth aluminum profile 54; the fourth running wheel 9 is arranged at the intersection of the second aluminum profile 52 and the third aluminum profile 53; the carrying platform 5 moves on the track to be measured and another track corresponding to the track to be measured through the first walking wheels 6, the second walking wheels 7, the third walking wheels 8 and the fourth walking wheels 9.
The bottom of the first aluminum profile 51 is provided with a first sliding groove, and the distance between the first walking wheel 6 and the second walking wheel 7 is adjusted by moving in the first sliding groove.
The surfaces of the first aluminum profile 51 and the second aluminum profile 52 are provided with first graduated scales; the first graduated scale is used for reading the horizontal distance between the first walking wheel 6 and the second walking wheel 7, the horizontal distance between the central point of the transverse fixing rod 31 of the first adjustable mounting bracket 3 and the first walking wheel 6, and the horizontal distance between the central point of the transverse fixing rod 31 of the first adjustable mounting bracket 3 and the second walking wheel 7.
The first adjustable mounting bracket 3 and the second adjustable mounting bracket 4 are respectively fixed on two sides of the first aluminum profile 51; the first laser profile sensor 1 is arranged on the first adjustable mounting bracket 3; the second laser profile sensor 2 is arranged on the second adjustable mounting bracket 4; the first laser profile sensor 1 and the second laser profile sensor are symmetrically arranged on two sides of a track to be measured at a certain angle; the first laser profile sensor 1 is used for emitting scanning laser to one side of a track to be detected to obtain profile curve data of one side of the track to be detected; and the second laser profile sensor 2 is used for emitting scanning laser to the other side of the track to be detected to obtain profile curve data of the other side of the track to be detected.
The first laser profile sensor 1 and the second laser profile sensor 2 are arranged in parallel with the cross section of the track to be detected, the first laser profile sensor 1 and the second laser profile sensor 2 emit laser bands to irradiate two sides of the cross section of the track to form two laser lines, reflected light from the track to be detected forms an image in receiving assemblies of the first laser profile sensor 1 and the second laser profile sensor 2, the laser profile sensors measure the outline of the track to be detected through detecting the changes of positions and shapes, so that the cross section outlines of two sides of the track to be detected are obtained, the outline obtained through the measurement of the sensors is received through a programmable controller 11 installed on a carrying platform 5, and the data recording of the outline of the track is realized. Fig. 3 is a schematic diagram of a laser profile sensor measuring a cross-sectional profile of a track, and as shown in fig. 3, a first laser profile sensor 1 and a second laser profile sensor 2 are symmetrically arranged on two sides above the track to be measured, and are used for synchronously measuring the cross sections on the left side and the right side of one track. When the carrying platform 5 moves along the track direction, the laser profile scanning sensor measures the profile of the cross section of the passing track along with the movement of the carrying platform, the second laser profile sensor 2 emits laser band to measure one side of the track, and the first laser profile sensor 1 emits laser band to measure the other side of the track, so that the two-dimensional profiles of two sides of the cross section of the track to be measured can be obtained. And under the condition that the laser profile sensors on the two sides measure the profiles of the two sides of the track to be measured, carrying out data fusion operation on the profile data of the two sides of the track to ensure that the measured profiles on the two sides of the track are superposed at the rail head to form a complete two-dimensional section profile of the track.
The first adjustable mounting bracket 3 comprises a transverse fixing rod 31, two vertical fixing rods 32 and a plurality of moving rods 33; a plurality of said moving rods 33 is used for fine adjustment of the height and angle of said first laser profile sensor 1.
The second adjustable mounting bracket 4 comprises a transverse fixing rod 41, two vertical fixing rods 42 and a plurality of moving rods 43; a plurality of said moving rods 43 is used for fine adjustment of the height and angle of said second laser profile sensor 2.
The first adjustable mounting bracket 3 is used for finely adjusting the horizontal distance between the first laser profile sensor 1 and the first running wheel 6, namely the mounting position of the first laser profile sensor 1; the second adjustable mounting bracket 4 serves for fine adjustment of the horizontal distance between the second laser profile sensor 2 and the first running wheel 6, i.e. the mounting position of the second laser profile sensor 2. By adjusting the height, the angle and the installation position of the sensor, the rail section is ensured to be positioned in the effective measurement range of the sensor, the angle between the laser emitted by the sensor and the horizontal plane is more than 70 degrees, and the single-side full coverage of the rail section is ensured.
In order to avoid mutual interference between the two laser profile sensors, the sensors are arranged in the programmable controller 11, so that the time for emitting laser by the two laser profile sensors is staggered, the two laser profile sensors respectively and independently emit laser to the sections on the two sides of the track, and the interference between the two laser profile sensors is avoided. The two laser profile sensors are adopted to measure the cross section of the track, the lasers emitted by the two laser profile sensors inevitably have a certain overlapping area, namely, the measured common areas of the contour lines on the inner side and the outer side are integrated, the contour data recorded by the two laser profile sensors are required to be fused, and the contour lines on the left side and the right side are aligned at the rail head in a mode of moving the measured contour, namely, the central coordinates of the rail head are adjusted to be consistent, so that the finally obtained contour is continuous and smooth.
The encoder 10, the first laser profile sensor 1 and the second laser profile sensor 2 are all connected to the programmable controller 11.
The encoder 10 is arranged on the first walking wheel 6; when the first walking wheel 6 rotates for one circle, the encoder 10 sends a pulse signal to the programmable controller 11 once, and the programmable controller 11 simultaneously triggers the first laser profile sensor 1 to measure the profile of one side of the rail to be measured and the second laser profile sensor 2 to measure the profile of the other side of the rail to be measured; the first laser profile sensor 1 emits scanning laser according to the trigger of the programmable controller 11, acquires profile curve data of one side of a rail to be detected corresponding to a current pulse signal, and sends the profile curve data of one side of the rail to be detected to the programmable controller 11 for data storage; the second laser profile sensor 2 emits scanning laser according to the trigger of the programmable controller, acquires profile curve data of the other side of the rail to be detected corresponding to the current pulse signal, and sends the profile curve data of the other side of the rail to be detected to the programmable controller 11 for data storage; the programmable controller 11 calculates the moving distance of the carrying platform 5 according to the pulse signal generated by the encoder 10 in the movement.
The computer is connected with the programmable controller 11; and the computer is used for calculating the irregularity of the vertical track of the track to be detected according to the profile curve data of one side of the track to be detected, the profile curve data of the other side of the track to be detected and the moving distance of the carrying platform 5 corresponding to each pulse signal. Wherein, vertical track irregularity is vertical track irregularity promptly, and the smooth-going and the not smooth-going judgement of track is according to the unified standard of judging the smooth-going and the not smooth-going of track in the trade.
Fig. 4 is a detailed structure diagram of the carrying platform supporting wheel. Referring to fig. 4, the carrying platform 5 is provided with a positioning and clamping device 12 for moving the carrying platform 5 against the track to be measured, the first walking wheels 6 directly run on the track to be measured, and the encoder 10 is arranged at the wheel axles of the walking wheels for recording the walking position information of the carrying platform 5. In order to ensure the sufficient stability of the carrying platform, a counterweight 13 can be additionally arranged on the platform, and the counterweight 13 is placed at the front and rear positions of the carrying platform 5 to balance the weight distribution of the carrying platform 5.
The programmable controller 11 is installed on one side of the carrying platform 5, and is used for setting and adjusting working parameters of the first laser profile sensor 1 and the second laser profile sensor 2, such as sensor trigger conditions, sampling period, filtering processing and the like. The carrying platform 5 is pushed by a hand to enable laser belts generated by the first laser profile sensor 1 and the second laser profile sensor 2 to be shot on a track to be measured, an optical signal is converted into an electric signal through an internal circuit of the sensor, the recording of a measuring result is carried out through the programmable logic controller 11, and after the measurement is finished, the measured data is guided into a computer to be subjected to data analysis and visual processing, so that the measurement of track irregularity information is completed once. The laser profile sensor measures the track section of each measured position, stores the section profile of each measured position in the controller, copies the stored section profile to the computer, and performs the next data processing, wherein the main processing comprises: (1) generating a movement distance, and calculating the movement distance of the carrying platform 5 according to the pulse signal of the encoder 10 and the rolling perimeter; (2) extracting irregularity signals of key points from the section profile, for example, extracting vertical displacement coordinates at a rail head as displacement change values at measuring points; (3) and combining displacement change values under different working conditions (namely different carrying platform support distances and sensor mounting positions) into an equation set, and solving the track irregularity information. (4) And performing visual post-processing on the solved track irregularity, and solving key indexes such as wavelength and the like. The programmable controller 11 mainly provides a connection port for an input signal and an output signal of the sensor, sets working parameters of the laser profile sensor, and stores measurement data. Since the data processing of the track irregularity is based on the processing of the cross-sectional profile measured by the sensor, the programmable controller 11 does not have the above-mentioned function and therefore needs to be further processed in a computer.
FIG. 5 is a flowchart of an embodiment of a method for measuring track irregularity based on laser profile scanning according to the present invention. Referring to fig. 5, the method is applied to the track irregularity measuring device based on laser profile scanning in the above embodiment, and the method includes:
step S1: and acquiring the horizontal distance between the current first laser profile sensor and the first walking wheel, the horizontal distance between the current second laser profile sensor and the first walking wheel and the distance between the current first walking wheel and the current second walking wheel.
Step S2: and acquiring the moving distance of the carrying platform corresponding to the current pulse signal, the profile curve data of one side of the track to be tested, the profile curve data of the other side of the track to be tested and the coordinate of the central point of the transverse fixed rod of the first adjustable mounting bracket.
Step S3: and carrying out data fusion on the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected to obtain fused profile curve data of the track to be detected.
In step S3, the fused to-be-measured rail profile curve data, that is, the complete to-be-measured rail profile curve data, can implement fusion of continuous profile data and measurement of the rail spatial profile through the constraint relationship between the sensor and the to-be-measured rail.
The step S3 specifically includes:
performing data fusion on the profile curve data of one side of the track to be tested and the profile curve data of the other side of the track to be tested based on a nearest iteration point algorithm to obtain fused profile curve data of the track to be tested, and the method specifically comprises the following steps:
and establishing a matching corresponding relation between the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected.
And searching two data points with the shortest distance in the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected.
And solving the conversion parameters according to the data points with the closest distance.
And performing coordinate transformation on all data points in the profile curve data of one side of the track to be detected and all data points in the profile curve data of the other side of the track to be detected according to the conversion parameters so as to match all data points in the profile curve data of one side of the track to be detected and all data points in the profile curve data of the other side of the track to be detected, and finally obtaining fused profile curve data of the track to be detected.
Due to the performance difference of the sensors, the difference of measurement angles, the influence of local wear and local vibration, the cross section outlines of the inner side and the outer side cannot be completely overlapped under a unified coordinate system, so that the data integration needs to be carried out on the cross section outlines of the inner side and the outer side, the two outlines can keep continuity and smoothness on a line type at the joint, and data fusion is carried out on cross section outline data Points measured by the two sensors based on an iterative close Points algorithm (iterative close Points). A detailed flowchart of the two-sided contour data fusion is shown in fig. 6.
Step S4: and determining the top point of the track to be detected according to the profile curve data of the track to be detected.
Step S5: and calculating the vertical distance between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured.
Step S6: and calculating a vertical distance change value between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured according to the vertical distance.
The step S6 specifically includes:
acquiring a first vertical distance between a central point of a transverse fixed rod of a first adjustable mounting bracket corresponding to an initial pulse signal and a vertex of the track to be measured; the initial pulse signal is the first pulse signal sent by the encoder to the programmable controller when the carrying platform starts to move from the measurement reference point to the measurement end point.
And subtracting the first vertical distance from the vertical distance to obtain a vertical distance change value between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured.
Step S7: and constructing an equation according to the vertical distance change value, the current distance between the first running wheel and the second running wheel, the horizontal distance between the center point of the transverse fixed rod of the first adjustable mounting bracket and the first running wheel, the horizontal distance between the center point of the transverse fixed rod of the first adjustable mounting bracket and the second running wheel, the moving distance of the carrying platform, the irregularity of the vertical rail corresponding to the center point of the transverse fixed rod of the first adjustable mounting bracket, the irregularity of the vertical rail corresponding to the first running wheel and the irregularity of the vertical rail corresponding to the second running wheel.
In this step S7, the equation is
Figure BDA0002702982250000141
In the formula,. DELTA.H (x)0) A vertical distance change value l between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured1Represents the horizontal distance, l, between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first running wheel2Indicating the horizontal distance, L, between the centre point of the transverse fixing bar of the first adjustable mounting bracket and the second running wheel12Denotes the horizontal distance between the first running wheel and the second running wheel, R (x)1) Indicating the irregularity, R (x), of the vertical track to which the first running wheel corresponds2) Indicating the irregularity of the vertical track corresponding to the second running wheel, R (x)0) Indicating the vertical track irregularity, x, at the point of the transverse fixation rod centre point of the first adjustable mounting bracket1Representing the horizontal distance, x, between the first running wheel and the reference point of measurement1Distance of movement of the carrying platform, x2Representing the horizontal distance, x, between the second running wheel and the reference point of measurement2＝x1+L12，x0Representing the horizontal distance, x, between the centre point of the transverse fixing rod of the first adjustable mounting bracket and the measurement reference point0＝x1+l1。
Step S8: and repeating the steps S2-S7 until the carrying platform finally moves to the measuring end point from the measuring reference point, and constructing an equation set to obtain an equation set corresponding to the horizontal distance between the current first laser profile sensor and the first travelling wheel, the horizontal distance between the current second laser profile sensor and the first travelling wheel and the distance between the current first travelling wheel and the second travelling wheel.
Step S9: repeating the steps S1-S7 for at least 5 times to obtain 5 different simultaneous equations corresponding to the horizontal distance between the current first laser profile sensor and the first running wheel, the horizontal distance between the current second laser profile sensor and the first running wheel and the distance between the current first running wheel and the second running wheel.
Step S10: and solving the simultaneous equations to obtain the irregularity of the vertical tracks corresponding to the central point of the transverse fixed rod of the first adjustable mounting bracket, the irregularity of the vertical tracks corresponding to the first walking wheels and the irregularity of the vertical tracks corresponding to the second walking wheels.
In this embodiment, in order to accurately calculate the vertical rail irregularity information of the rail to be measured, multiple measurements need to be performed after adjusting the supporting distance (the horizontal distance between the first traveling wheel and the second traveling wheel) and the sensor installation position (the horizontal distance between the first laser profile sensor and the first traveling wheel and the horizontal distance between the second laser profile sensor and the second traveling wheel) of the carrying platform. Fig. 7 is a schematic view of the principle of track irregularity measurement, and in fig. 7, r (x) is track irregularity information of the track to be measured, which can be regarded as being kept unchanged in a short time of measurement; the variable x is the distance between each position and the measurement reference point, the subscripts indicate the different positions, the superscript k indicates the number of measurements, in particular,
Figure BDA0002702982250000151
indicating the k-th measurementThe distance between a running wheel and the reference point of measurement, which represents the distance the carrying platform 5 moves during the measurement, can be calculated from the pulse signal generated by the encoder (photoelectric encoder);
Figure BDA0002702982250000152
the distance between the second running wheel and the reference point of measurement in the k-th measurement is shown, which is the distance between the first running wheel and the reference point of measurement
Figure BDA0002702982250000153
And the distance between the current first running wheel and the current second running wheel
Figure BDA0002702982250000161
To sum, i.e.
Figure BDA0002702982250000162
Figure BDA0002702982250000163
The distance between the center point of the transverse fixed rod of the first adjustable mounting bracket and the measuring reference point in the k-th measurement is shown, and is the distance between the first travelling wheel and the measuring reference point
Figure BDA0002702982250000164
And the horizontal distance between the central point of the transverse fixed rod of the first adjustable mounting bracket and the first walking wheel
Figure BDA0002702982250000165
To sum, i.e.
Figure BDA0002702982250000166
The proportional relationship between the distances is abbreviated as follows:
Figure BDA0002702982250000167
αkand betakIs a coefficient representing the installation position of the sensor and is related to the wheel pair supporting distance of the carrying platform and the installation position of the sensor;
Figure BDA0002702982250000168
the horizontal distance between the first walking wheel and the central point of the transverse fixed rod of the first adjustable mounting bracket is represented and can be directly read through scales arranged on the platform;
Figure BDA0002702982250000169
the horizontal distance between the second walking wheel and the central point of the transverse fixed rod of the first adjustable mounting bracket is represented and can be directly read through scales arranged on the platform;
Figure BDA00027029822500001610
the irregularity of the vertical track corresponding to the first running wheel is represented as an unknown quantity,
Figure BDA00027029822500001611
the irregularity of the vertical track corresponding to the second running wheel is represented as an unknown quantity,
Figure BDA00027029822500001612
represents the vertical displacement of the central point of the transverse fixed rod of the first adjustable mounting bracket, and the change value is
Figure BDA00027029822500001613
As unknowns, with the vertical displacement of the first running wheel and the vertical displacement of the second running wheel, i.e. the vertical track of the first running wheel is not smooth
Figure BDA00027029822500001614
And the vertical track of the second running wheel is not smooth
Figure BDA00027029822500001615
According to the rigidity constraint, the change value of the vertical displacement of the central point of the transverse fixed rod of the first adjustable mounting bracket can be obtained by calculating the vertical displacement of the first walking wheel and the vertical displacement of the second walking wheel, and the following relation can be obtained:
Figure BDA00027029822500001616
Figure BDA00027029822500001617
the distance between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top surface of the track to be measured is represented, and the distance can be obtained by calculating the distance between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the profile of the track to be measured, which is a known quantity and a change value of the known quantity
Figure BDA00027029822500001618
Is composed of two parts, namely the rigid body displacement change value of the central point of the transverse fixed rod of the first adjustable mounting bracket
Figure BDA00027029822500001619
Vertical track irregularity corresponding to transverse fixing rod center point of first adjustable mounting bracket
Figure BDA00027029822500001620
The relationship is calculated as follows:
Figure BDA00027029822500001621
according to the above relationship, the rewrite is:
Figure BDA00027029822500001622
wherein the content of the first and second substances,
Figure BDA00027029822500001623
αkand betakIn order to be of a known quantity,
Figure BDA00027029822500001624
and
Figure BDA00027029822500001625
is an unknown quantity, therefore, it is necessary to construct a system of equations to solve for three of the unknown quantities. Constructing a plurality of the above equations according to the characteristics of the carrying platform, i.e. the distance between the wheel pairs and the characteristics of the sensor mounting position modifiable
Figure BDA0002702982250000171
Figure BDA0002702982250000172
Figure BDA0002702982250000173
And
Figure BDA0002702982250000174
to form a system of equations for solving the unknowns therein, the schematic diagram of the measurement conditions is shown in fig. 8, wherein L in fig. 8 represents the support pitch of the carrying platform, and the subscript of L corresponds to k. Fig. 9 is a general operation block diagram of the measuring method of the present invention, and referring to fig. 9, a specific method for solving the track irregularity is as follows: (1) setting measurement parameters of the laser profile sensor, and arranging the sensor carrying platform to a measurement reference point. (2) Starting from the measuring reference point, pushing the carrying platform by hand to enable the moving range of the carrying platform to cover the area to be measured, enabling the laser band generated by the laser profile sensor to sweep the section of the track to be measured, measuring the profile of the section, and recording data. (3) And (3) adjusting the supporting distance between two wheel pairs of the carrying platform and the installation position of the sensor, and repeating the steps (1) and (2) for multiple times to obtain the profile measurement data of the sections of the multiple tracks. (4) Extracting the difference between the vertical and horizontal curve and the track design curve of the cross section profile from the track cross section profile measurement data, wherein the obtained horizontal deviation is the irregularity of the horizontal track, and the deviation between the vertical curve and the track design curve of the obtained track is set as
Figure BDA0002702982250000175
For forming a system of equations. (5) Solving an equation set about the vertical track irregularity obtained after multiple measurements to obtain vertical track irregularity information R (x) of the measured track at the selected measurement control point (namely the central point of the transverse fixed rod of the first adjustable mounting bracket)0)。
The invention discloses a track irregularity measuring device and method based on laser profile scanning, wherein the non-contact track parameter measuring method based on the current optical vision measuring technology, image processing technology and the like has the characteristics of small volume, good portability, high measuring precision and high automation degree, and provides a laser profile sensor for measuring the track section profile, the laser profile sensor can accurately measure the section profile of the track, and the laser profile sensor has small volume and is suitable for measuring a track scale model in a laboratory environment, so as to provide technical support for obtaining high-precision track irregularity of indoor scale tests such as driving on a train bridge, and the like, and the beneficial effects of the device and method are as follows:
(1) the volume is small, and the size of the adopted laser profile sensor is small, so that the method is suitable for measuring the track scale model.
(2) The high accuracy, laser sensor own precision is higher, and its measurement accuracy is micron level, adopts non-contact measurement mode, and clear formation of image on laser profile sensor's receiving component generates stable profile.
(3) The operation is easy, the adjustable interval of platform supporting wheel and the adjustable position of sensor are the characteristics that sensor delivery platform itself has, mounting platform itself through coupling mechanism's removal and locking, can change the distance between the platform supporting wheel pair and adjust the mounted position of sensor, consequently only need remove delivery platform, after adjustment delivery platform supported interval and sensor mounted position, measure many times again, can obtain high accuracy track irregularity information after calculating.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (7)

1. A track irregularity measuring device based on laser contour scanning is characterized by comprising a first laser contour sensor, a second laser contour sensor, a first adjustable mounting bracket, a second adjustable mounting bracket, a carrying platform, a first walking wheel, a second walking wheel, a third walking wheel, a fourth walking wheel, an encoder, a programmable controller and a computer;
the carrying platform is formed by a first aluminum section, a second aluminum section, a third aluminum section and a fourth aluminum section in a surrounding mode; the first aluminum profile is arranged on a rail to be detected, and the second aluminum profile is arranged on the other rail corresponding to the rail to be detected; the third aluminum profile and the fourth aluminum profile are perpendicular to the first aluminum profile and the second aluminum profile;
the first walking wheel is arranged at the intersection of the first aluminum profile and the fourth aluminum profile; the second walking wheels are arranged at the intersection points of the first aluminum profiles and the third aluminum profiles; the third walking wheel is arranged at the intersection of the second aluminum profile and the fourth aluminum profile; the fourth walking wheel is arranged at the intersection of the second aluminum profile and the third aluminum profile; the carrying platform moves on the track to be tested and another track corresponding to the track to be tested through the first walking wheels, the second walking wheels, the third walking wheels and the fourth walking wheels;
the bottom of the first aluminum profile is provided with a first sliding groove, and the distance between the first walking wheel and the second walking wheel is adjusted by moving in the first sliding groove;
the first adjustable mounting bracket and the second adjustable mounting bracket are respectively fixed on two sides of the first aluminum profile; the first laser profile sensor is arranged on the first adjustable mounting bracket; the second laser profile sensor is arranged on the second adjustable mounting bracket; the first laser profile sensor is used for emitting scanning laser to one side of the rail to be detected to obtain profile curve data of one side of the rail to be detected; the second laser profile sensor is used for emitting scanning laser to the other side of the track to be detected to obtain profile curve data of the other side of the track to be detected;
the first adjustable mounting bracket is used for adjusting the horizontal distance between the first laser profile sensor and the first walking wheel; the second adjustable mounting bracket is used for adjusting the horizontal distance between the second laser profile sensor and the first walking wheel;
the encoder, the first laser profile sensor and the second laser profile sensor are all connected with the programmable controller;
the encoder is arranged on the first walking wheel; the encoder sends a pulse signal to the programmable controller once every time the first walking wheel rotates for one circle, and the programmable controller simultaneously triggers the first laser profile sensor to measure the profile of one side of the rail to be measured and the second laser profile sensor to measure the profile of the other side of the rail to be measured; the first laser profile sensor emits scanning laser according to the triggering of the programmable controller, acquires profile curve data of one side of the rail to be detected corresponding to the current pulse signal, and sends the profile curve data of one side of the rail to be detected to the programmable controller for data storage; the second laser profile sensor emits scanning laser according to the triggering of the programmable controller, acquires profile curve data of the other side of the rail to be detected corresponding to the current pulse signal, and sends the profile curve data of the other side of the rail to be detected to the programmable controller for data storage; the programmable controller calculates the moving distance of the carrying platform according to the pulse signal generated by the encoder in the movement;
the computer is connected with the programmable controller; and the computer is used for calculating the irregularity of the vertical track of the track to be detected according to the profile curve data of one side of the track to be detected, the profile curve data of the other side of the track to be detected and the moving distance of the carrying platform corresponding to each pulse signal.
2. The laser profile scanning based track irregularity measuring device of claim 1, wherein said first adjustable mounting bracket comprises one transverse fixed bar, two vertical fixed bars, and a plurality of movable bars; the plurality of moving rods are used for adjusting the height and the angle of the first laser profile sensor;
the second adjustable mounting bracket comprises a transverse fixing rod, two vertical fixing rods and a plurality of moving rods; the plurality of moving rods are used for adjusting the height and the angle of the second laser profile sensor.
3. The track irregularity measuring device based on laser profile scanning as claimed in claim 2, wherein the surfaces of the first aluminum profile and the second aluminum profile are both provided with a first scale; the first graduated scale is used for reading the horizontal distance between the first walking wheel and the second walking wheel, the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first walking wheel, and the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the second walking wheel.
4. A rail irregularity measuring method based on laser profile scanning, which is applied to the device of claim 3, and is characterized in that the method comprises the following steps:
step S1: acquiring a horizontal distance between a current first laser profile sensor and a first walking wheel, a horizontal distance between a current second laser profile sensor and the first walking wheel and a distance between the current first walking wheel and a current second walking wheel;
step S2: acquiring the moving distance of a carrying platform corresponding to the current pulse signal, profile curve data of one side of a track to be tested, profile curve data of the other side of the track to be tested and coordinates of the central point of a transverse fixed rod of a first adjustable mounting bracket;
step S3: performing data fusion on the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected to obtain fused profile curve data of the track to be detected;
step S4: determining the top point of the track to be detected according to the profile curve data of the track to be detected;
step S5: calculating the vertical distance between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured;
step S6: calculating a vertical distance change value between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured according to the vertical distance;
step S7: constructing an equation according to the vertical distance change value, the distance between the current first running wheel and the current second running wheel, the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first running wheel, the horizontal distance between the center point of the transverse fixing rod of the first adjustable mounting bracket and the second running wheel, the moving distance of the carrying platform, the irregularity of the vertical rail corresponding to the center point of the transverse fixing rod of the first adjustable mounting bracket, the irregularity of the vertical rail corresponding to the first running wheel and the irregularity of the vertical rail corresponding to the second running wheel; the equation is
Figure FDA0003198041180000031
In the formula,. DELTA.H (x)0) A vertical distance change value l between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured1Represents the horizontal distance, l, between the center point of the transverse fixing rod of the first adjustable mounting bracket and the first running wheel2Indicating the horizontal distance, L, between the centre point of the transverse fixing bar of the first adjustable mounting bracket and the second running wheel12Denotes the horizontal distance between the first running wheel and the second running wheel, R (x)1) Indicating the irregularity, R (x), of the vertical track to which the first running wheel corresponds2) Indicating the irregularity of the vertical track corresponding to the second running wheel, R (x)0) Indicating the vertical track irregularity, x, at the point of the transverse fixation rod centre point of the first adjustable mounting bracket1Representing the horizontal distance, x, between the first running wheel and the reference point of measurement1Distance of movement of the carrying platform, x2Representing the horizontal distance, x, between the second running wheel and the reference point of measurement2＝x1+L12，x0Represents the first possibilityAdjusting the horizontal distance, x, between the center point of the transverse fixing rod of the mounting bracket and the reference point of measurement0＝x1+l1；
Step S8: repeating the steps S2-S7 until the carrying platform finally moves to a measuring end point from the measuring reference point, and constructing an equation set to obtain an equation set corresponding to the horizontal distance between the current first laser profile sensor and the first travelling wheel, the horizontal distance between the current second laser profile sensor and the first travelling wheel and the distance between the current first travelling wheel and the second travelling wheel;
step S9: repeating the steps S1-S7 for at least 5 times to obtain 5 different simultaneous equations corresponding to the horizontal distance between the current first laser profile sensor and the first running wheel, the horizontal distance between the current second laser profile sensor and the first running wheel and the distance between the current first running wheel and the second running wheel;
step S10: and solving the simultaneous equations to obtain the irregularity of the vertical tracks corresponding to the central point of the transverse fixed rod of the first adjustable mounting bracket, the irregularity of the vertical tracks corresponding to the first walking wheels and the irregularity of the vertical tracks corresponding to the second walking wheels.
5. The method for measuring the track irregularity based on the laser profile scanning as claimed in claim 4, wherein the data fusion of the profile curve data of one side of the track to be measured and the profile curve data of the other side of the track to be measured is performed to obtain the fused profile curve data of the track to be measured, and the method specifically comprises:
and performing data fusion on the profile curve data of one side of the track to be tested and the profile curve data of the other side of the track to be tested based on a nearest iteration point algorithm to obtain fused profile curve data of the track to be tested.
6. The method for measuring the track irregularity based on the laser profile scanning as claimed in claim 5, wherein the data fusion of the profile curve data of one side of the track to be measured and the profile curve data of the other side of the track to be measured is performed to obtain the fused profile curve data of the track to be measured, and the method specifically comprises:
establishing a matching corresponding relation between the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected;
searching two data points with the shortest distance in the profile curve data of one side of the track to be detected and the profile curve data of the other side of the track to be detected;
solving conversion parameters according to the data points with the shortest distances;
and performing coordinate transformation on all data points in the profile curve data of one side of the track to be detected and all data points in the profile curve data of the other side of the track to be detected according to the conversion parameters so as to match all data points in the profile curve data of one side of the track to be detected and all data points in the profile curve data of the other side of the track to be detected, and finally obtaining fused profile curve data of the track to be detected.
7. The method as claimed in claim 4, wherein the calculating a vertical distance variation value between a center point of a transverse fixing rod of the first adjustable mounting bracket and a vertex of the rail to be measured according to the vertical distance includes:
acquiring a first vertical distance between a central point of a transverse fixed rod of a first adjustable mounting bracket corresponding to an initial pulse signal and a vertex of the track to be measured; the initial pulse signal is a first pulse signal sent to the programmable controller by the encoder when the carrying platform starts to move from the measurement reference point to the measurement end point;
and subtracting the first vertical distance from the vertical distance to obtain a vertical distance change value between the central point of the transverse fixed rod of the first adjustable mounting bracket and the top point of the track to be measured.
CN202011029080.5A 2020-09-27 2020-09-27 Track irregularity measuring device and method based on laser profile scanning Active CN112504173B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011029080.5A CN112504173B (en) 2020-09-27 2020-09-27 Track irregularity measuring device and method based on laser profile scanning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011029080.5A CN112504173B (en) 2020-09-27 2020-09-27 Track irregularity measuring device and method based on laser profile scanning

Publications (2)

Publication Number Publication Date
CN112504173A CN112504173A (en) 2021-03-16
CN112504173B true CN112504173B (en) 2021-09-24

Family

ID=74953659

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011029080.5A Active CN112504173B (en) 2020-09-27 2020-09-27 Track irregularity measuring device and method based on laser profile scanning

Country Status (1)

Country Link
CN (1) CN112504173B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113251958B (en) * 2021-06-21 2021-10-01 中南大学 Annular scanning type steel rail surface roughness testing equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000314685A (en) * 1999-03-17 2000-11-14 Beissbarth Gmbh Method and apparatus for testing tire
CN102030016A (en) * 2010-11-03 2011-04-27 西南交通大学 Structured light vision-based track irregularity state detection method
CN105091802A (en) * 2015-09-09 2015-11-25 华中科技大学 Portable two-dimensional following laser measurement device based on laser distance measuring sensor

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT398414B (en) * 1991-11-13 1994-12-27 Plasser Bahnbaumasch Franz MEASURING ARRANGEMENT FOR CONTINUOUS MEASURING OF WAVEOUS RUNNINGS OF A RAIL
JP4490890B2 (en) * 2005-09-12 2010-06-30 財団法人鉄道総合技術研究所 Vehicle track
CN204944427U (en) * 2015-04-17 2016-01-06 上海铁路局科学技术研究所 A kind of contact net geometric parameter detection of dynamic dolly
CN105043292B (en) * 2015-06-24 2017-10-27 湘潭大学 A kind of image capturing device analyzed for the quality testing of machine tool guideway face
CN208953228U (en) * 2018-12-08 2019-06-07 中南大学 Railway track and wheel hub vertical force loading simulator under rainwater coupling
CN109855562B (en) * 2019-01-28 2020-08-25 武汉武大卓越科技有限责任公司 Method and device for measuring rail abrasion
EP3934861A4 (en) * 2019-03-08 2022-12-07 Gecko Robotics, Inc. Inspection robot
CN110530300B (en) * 2019-09-05 2020-06-30 西南交通大学 Method for measuring vertical irregularity of track
CN211012874U (en) * 2020-01-13 2020-07-14 成都华瑞智创轨道交通科技有限公司 Vehicle-mounted track contour and irregularity detection device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000314685A (en) * 1999-03-17 2000-11-14 Beissbarth Gmbh Method and apparatus for testing tire
CN102030016A (en) * 2010-11-03 2011-04-27 西南交通大学 Structured light vision-based track irregularity state detection method
CN105091802A (en) * 2015-09-09 2015-11-25 华中科技大学 Portable two-dimensional following laser measurement device based on laser distance measuring sensor

Also Published As

Publication number Publication date
CN112504173A (en) 2021-03-16

Similar Documents

Publication Publication Date Title
CN110954026B (en) On-line detection device for measuring geometric profile of steel rail
CN106441168B (en) The measurement method of linear rolling guide slider type face precision
CN110319792B (en) Track straightness detection system and method
CN105157606B (en) Contactless complicated optical surface profile high precision three-dimensional measurement method and measurement apparatus
CN107121095A (en) A kind of method and device of accurate measurement super-large curvature radius
CN109017867A (en) Rail corrugation dynamic measurement method
CN102519397B (en) Method for measuring curvature radius of optical spherical surface
CN109653045A (en) Gauge measurement method and device
CN206248039U (en) A kind of vehicle overload detecting system
CN106092137B (en) The outdoor calibrator (-ter) unit and method of a kind of vehicle-mounted three-dimensional laser pavement detection system
CN112504173B (en) Track irregularity measuring device and method based on laser profile scanning
CN114623784A (en) Method and system for measuring straightness of long guide rail
JP2008505328A (en) Measuring device having a plurality of distance sensors, calibration means for the measuring device and method for determining the shape of the surface
CN111854587B (en) Guide rail five-degree-of-freedom motion error online measurement device and method
CN112504146B (en) Method for detecting rolling path pitch diameter of rolling linear guide rail pair
CN111272088B (en) Measuring algorithm for profile pitch diameter of sliding block of rolling linear guide rail pair
CN111455787B (en) Pavement detection system based on pavement three-dimensional digitization
JP5290038B2 (en) Measuring apparatus and measuring method
CN105783738A (en) Incremental type small-measurement-range displacement sensor and measurement method
CN113888693A (en) High-precision point cloud data reconstruction method
CN105783740A (en) Alternative increment type micro-displacement measurement sensor and measurement method
CN205619887U (en) Micro displacement sensor is measured to increment formula in turn
RU2351499C2 (en) Rail transport wheel measurement method and device to this end
JPH0611331A (en) Instrument and method for measuring undulating wear of rail
CN117146720B (en) Rolling linear guide rail pair guide rail profile detection method and detection platform

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant