CN112647378A - Biprism rail inspection trolley measuring system and method thereof - Google Patents
Biprism rail inspection trolley measuring system and method thereof Download PDFInfo
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Abstract
The invention discloses a biprism rail inspection trolley measuring system and a biprism rail inspection trolley measuring method. Unlike the conventional rail detection method, the present invention has two prisms installed in the vertical direction of one cart. And measuring three-dimensional coordinates of two adjacent biprism target points through a total station, measuring three-dimensional coordinates of two test prisms on the trolley again after the trolley advances for a certain distance on the track, further calculating a transverse inclination angle and a longitudinal inclination angle of the advancing direction of the trolley, and correcting the elevation difference of the left and right rails of the track obtained by calculation of the inclination angle sensor. By utilizing the longitudinal inclination angle, the position and the posture of the trolley can be estimated more accurately, and the detection precision is improved under the condition of not increasing more sensors.
Description
The technical field is as follows:
the invention relates to the technical field of rail detection, in particular to a biprism rail detection trolley measuring system and a biprism rail detection trolley measuring method.
Background art:
the rail detection trolley comprises a measuring trolley consisting of a measuring device for measuring the track gauge, the level and the like, a machine body prism and an industrial personal computer, a high-precision total station, a wireless communication unit and the like, and a measuring device for detecting the internal geometric state (track gauge, level, rail direction, height and normal distortion) and the external geometric state (track center line deviation and elevation deviation) of the railway track. The method has important significance for laying of a high-speed railway track bed structure, long rail laying, fine adjustment of long steel rails and later maintenance.
The traditional rail inspection trolley adopts a reference prism to measure the center of the trolley, then two inclination angle sensors are used for measuring the transverse and longitudinal inclination angles to obtain the posture of the trolley, and finally the position of a measured point of a rail is reversely calculated. In the measurement, except the direction and the angle of the prism which need to be measured through the total station, a high-precision level gauge needs to be added, and in the detection of the geometrical state of the track, the electronic level gauge not only directly influences the calculation of the elevation difference, but also influences the posture of the trolley, and further influences the measurement values of the track direction and the height. However, the electronic level is expensive and has an influence on the measurement accuracy due to errors caused by installation, instability and environmental factors.
The invention content is as follows:
the invention aims to provide a biprism rail inspection trolley measuring system and a biprism rail inspection trolley measuring method, which aim to solve the defects of the prior art.
The invention is implemented by the following technical scheme: the utility model provides a biprism rail inspection dolly measurement system, is including installing dolly, total powerstation, a mileage measurement sensor, a gauge measurement sensor, an inclination sensor, slant push rod, pushing away handle and the industrial computer on the rail, its characterized in that: the trolley beam structure is characterized by further comprising two detection prisms, wherein the two detection prisms are installed on the upper portion of the trolley beam at intervals in the vertical direction respectively, and the projections of the two detection prisms in the vertical direction are overlapped with the center of the trolley.
Preferably, the two detection prisms are spaced apart by a distance of not less than 30cm in the vertical direction.
The invention also provides a biprism rail inspection trolley measuring method, which comprises the following steps:
s1, placing the trolley on a rail to be detected, installing two detection prisms on the upper part of a trolley beam, wherein the two detection prisms are respectively installed on the upper part of the trolley beam at intervals in the vertical direction, and the projections of the two detection prisms in the vertical direction are coincided with the center of the trolley;
s2, collecting the three-dimensional space coordinates of the two prisms at the first measuring point by using a total station, and calculating to obtain the three-dimensional space coordinates of the centers of the two prisms, wherein the three-dimensional space coordinates are as follows:
prism center on first measurement point: (X1)up，Y1up，H1up)；
Prism center under first measurement point: (X1)down，Y1down，H1down)；
First measurement point biprism center: (X1)middle，Y1middle，H1middle)
Wherein the content of the first and second substances,
X1middle＝(X1up+X1down)/2；
Y1middle＝(Y1up+Y1down)/2；
H1middle＝(H1up+H1down)/2；
s3, pushing the trolley forward for a distance D, recording the three-dimensional space coordinates of the two prisms at the second measuring point at the moment again, and calculating to obtain the three-dimensional space coordinates of the centers of the two prisms at the moment, wherein the method specifically comprises the following steps:
prism center on second measurement point: (X2)up，Y2up，H2up)；
Prism center under second measurement point: (X2)down，Y2down，H2down)；
Second measurement point biprism center: (X2)middle，Y2middle，H2middle)；
Wherein the content of the first and second substances,
X2middle＝(X2up+X2down)/2；
Y2middle＝(Y2up+Y2down)/2；
H2middle＝(H2up+H2down)/2；
s4, connecting the three-dimensional space coordinates of the midpoints of the two prisms obtained through calculation in the steps S2 and S3 to serve as the advancing direction of the rail inspection trolley;
s5, performing angle operation according to the advancing direction of the trolley, and calculating the transverse inclination angle and the longitudinal inclination angle of the connecting line of the two prisms at the first measuring point;
s6, calculating the transverse inclination angle and the longitudinal inclination angle of the trolley from the second measuring point to the Nth measuring point by analogy according to the methods of the steps S1-S5.
Preferably, the method further comprises the steps of fusing the transverse inclination angle and a test result of the electronic level, calculating the rail surface elevation difference of the rail detection point by combining the actually measured rail distance, and giving an alarm if the rail surface elevation difference is too large.
Preferably, the method further comprises the following steps: according to the transverse inclination angle and the longitudinal inclination angle, six parameters of a rigid equation of the trolley are inversely calculated, the posture of the trolley is solved, and the rail direction and the height of the rail are calculated through a fitted rail space curve.
Preferably, the calculating of the angle according to the traveling direction of the trolley includes:
the direction of travel of the car is represented as a vector connecting the centers of two prisms:
the projection of the travelling direction of the trolley on the horizontal plane is represented as:
the projection of the trolley beam in the horizontal plane is represented as:
the projection of the inclination angle vector formed by the double prisms of the first measuring point on the horizontal plane is represented as:
the projection value of the inclination angle vector formed by the double prisms of the first measuring point in the horizontal beam direction is represented as:
the projection value of the inclination angle vector formed by the double prisms of the first measuring point in the horizontal advancing direction is as follows:
the tangent of the transverse inclination α of the first measuring point is:
the tangent of the longitudinal inclination β of the first measuring point is:
the transverse inclination angle alpha and the longitudinal inclination angle beta of the first measuring point are respectively as follows:
the invention has the advantages that:
1. the invention has simple structure and reduces the cost under the condition of ensuring the precision. A series of influences on the height difference, the track direction and the height caused by the single-point error of the electronic level are avoided.
2. If the trolley has certain inclination deformation, the alarm can be given through the inclination angle sensor and the calculated transverse inclination angle error.
Description of the drawings:
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a lateral tilt angle of a dual-detection prism of a dual-prism rail inspection trolley measuring system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a longitudinal inclination angle of a dual-detection prism of the dual-prism rail inspection trolley measuring system according to the embodiment of the invention;
fig. 3 is a schematic flow chart of a double-prism rail inspection trolley measuring method according to an embodiment of the invention.
The specific implementation mode is as follows:
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.
Example 1
This embodiment provides a biprism rail inspection dolly measurement system, including dolly, the total powerstation installed on the rail, a mileage measurement sensor, a gauge measurement sensor, an inclination sensor, slant push rod, push handle and industrial computer, its characterized in that: the trolley beam structure is characterized by further comprising two detection prisms, wherein the two detection prisms are installed on the upper portion of the trolley beam at intervals in the vertical direction respectively, and the projections of the two detection prisms in the vertical direction coincide with the center of the trolley.
For ultrahigh detection, the inclination angle on the cross section of the track needs to be obtained and converted through a trigonometric function relationship. As shown in fig. 1 and 2, a measuring scheme that an inclination angle sensor is arranged at the bottom of a cross beam of a rail detection trolley, the inclination angle sensor is ensured to be parallel to the bottom of the cross beam, and a transverse inclination angle alpha and a longitudinal inclination angle beta of the rail detection trolley are measured is adopted. And (3) calculating the track ultrahigh value H by combining the distance L between the top center points of the steel rails on the two sides, wherein the calculation formula is as follows: h ═ L × sin α. And in the direction of the line, the left-turn curve superelevation is specified to be negative, and the right-turn curve superelevation is specified to be positive, and after an actually measured superelevation value of the track is obtained, the actually measured superelevation value is further compared with a set value, and whether the superelevation meets the requirement or not is judged.
In the scheme adopted by the invention, the spacing distance of the two detection prisms in the vertical direction is not less than 30 cm.
In the embodiment, the total station can be used for measuring the three-dimensional coordinates of the two test prisms on the trolley, and the three-dimensional coordinates of the two test prisms on the trolley are measured again after the trolley moves forward for a certain distance on the track, so that the transverse inclination angle and the longitudinal inclination angle in the advancing direction of the trolley are finally calculated reversely, and the elevation difference of the left and right rails of the track obtained by independent calculation of the inclination angle sensor is corrected. By utilizing the longitudinal inclination angle, the position and the posture of the trolley can be estimated more accurately, and the detection precision is improved under the condition of not increasing more sensors.
In addition, the track gauge measuring sensor can be a linear displacement sensor KTM-100mm, the inclination angle sensor is a SANG3000 series double-shaft sensor, and the total station is a TCA2003 total station.
Example 2
The embodiment also provides a biprism rail inspection trolley measuring method, which comprises the following steps:
s1, placing the trolley on a rail to be detected, installing two detection prisms on the upper part of a trolley beam, wherein the two detection prisms are respectively installed on the upper part of the trolley beam at intervals in the vertical direction, and the projections of the two detection prisms in the vertical direction are coincided with the center of the trolley;
s2, collecting three-dimensional space coordinates of the two prisms at the first measuring point by using a total station, and calculating to obtain the three-dimensional space coordinates of the centers of the two prisms, wherein the three-dimensional space coordinates are as follows:
prism center on first measurement point: (X1)up，Y1up，H1up)；
Prism center under first measurement point: (X1)down，Y1down，H1down)；
First measurement point biprism center: (X1)middle，Y1middle，H1middle)
Wherein the content of the first and second substances,
X1middle＝(X1up+X1down)/2；
Y1middle＝(Y1up+Y1down)/2；
H1middle＝(H1up+H1down)/2；
s3, pushing the trolley forward for a distance D, recording the three-dimensional space coordinates of the two prisms at the second measuring point again, and calculating to obtain the three-dimensional space coordinates of the centers of the two prisms at the moment, wherein the method specifically comprises the following steps:
prism center on second measurement point: (X2)up，Y2up，H2up)；
Prism center under second measurement point: (X2)down，Y2down，H2down)；
Second measurement point biprism center: (X2)middle，Y2middle，H2middle)；
Wherein the content of the first and second substances,
X2middle＝(X2up+X2down)/2；
Y2middle＝(Y2up+Y2down)/2；
H2middle＝(H2up+H2down)/2；
s4, connecting the three-dimensional space coordinates of the midpoints of the two prisms obtained through calculation in the steps S2 and S3 to serve as the advancing direction of the rail inspection trolley;
s5, performing angle operation according to the advancing direction of the trolley, and calculating the transverse inclination angle and the longitudinal inclination angle of the connecting line of the two prisms at the first measuring point, wherein the method specifically comprises the following steps:
the traveling direction of the trolley can be expressed as a vector formed by connecting the centers of two prisms:
the projection of the travelling direction of the trolley on the horizontal plane is as follows:
the projection of the trolley beam in the horizontal plane is represented as:
after a small distance of travel, the beam of the trolley is considered to be perpendicular to the projection of the direction of travel on the horizontal plane, i.e.
The projection of the inclination angle vector formed by the double prisms of the first measuring point on the horizontal plane is as follows:
the projection value of the inclination angle vector formed by the double prisms of the first measuring point in the horizontal beam direction is represented as:
the projection value of the inclination angle vector formed by the double prisms of the first measuring point in the horizontal advancing direction is as follows:
the tangent of the transverse inclination α of the first measuring point is:
the tangent of the longitudinal inclination β of the first measuring point is:
the transverse inclination angle alpha and the longitudinal inclination angle beta of the first measuring point are respectively as follows:
therefore, the transverse inclination angle alpha and the longitudinal inclination angle beta are obtained, the data of a third measuring point are needed for correcting the transverse inclination angle and the longitudinal inclination angle of the second measuring point, and the like, and the transverse and longitudinal inclination angle data of each subsequent measuring point can be obtained. And (3) performing coordinate conversion according to the figure 3, obtaining 6 rigid body coordinates of the track detection trolley by combining the geometric parameters of the track detection trolley and the total station, further calculating the three-dimensional coordinates of the measured point of the track, and fitting a track space curve through scattered points to finally obtain the track direction and height values. Obtaining coordinate conversion after horizontal and longitudinal dip angles, and calculating according to general 6 rigid body coordinates
S6, calculating the transverse inclination angle and the longitudinal inclination angle of the trolley from the second measuring point to the Nth measuring point by analogy according to the methods of the steps S1-S5.
In addition, the method also comprises the steps of fusing the transverse inclination angle with the test result of the electronic level, calculating the rail surface elevation difference of the rail detection point by combining the actually measured rail distance, and alarming if the rail surface elevation difference is overlarge. As shown in fig. 1, if the measured track pitch is L, the track surface elevation difference H is L × sin α, and if H is greater than a certain track standard value, an alarm is given.
In addition, still include: according to the transverse inclination angle and the longitudinal inclination angle, six parameters of a rigid equation of the trolley are inversely calculated, the posture of the trolley is solved, the rail direction and the height of the rail are calculated through a fitted rail space curve, and the six parameters of the rigid equation of the trolley are inversely calculated specifically as follows:
the spatial position of a free rigid body requires 6 parameters to determine, i.e. 6 rigid body coordinates. The position of the track inspection trolley, namely the coordinates and the angle of the track inspection trolley coordinate system CSYl under the absolute coordinate system CSY0, needs to be determined by X0 ', Y0 ', Z0 ' and six rigid body coordinates of psi, phi and theta.
Since the absolute coordinates (Xl, Y1, Z1) and (X2, Y2, Z2) of the reference prism are known, only the coordinate values (Xl ", Y1", Zl ") and (X2", Y2 ", Z2") of the two reference prisms in the total station coordinate system CSYl are measured by the two total stations, and further the coordinate values (X1 ', Y1', Z1 ') and (X2', Y2 ', Z2') of the reference prism in the rail detection trolley coordinate system CSYl are calculated, and six rigid body coordinates can be obtained by combining the longitudinal inclination angle β and the transverse inclination angle α measured by the inclination angle sensor.
The rigid body motion law:
X＝X0’+α1X’+α2Y’+α3Z’
Y＝Y0’+β1X’+β2Y’+β3Z’
Z＝Z0’+γ1X’+γ2Y’+γ3Z’
wherein, (X, Y, Z) are absolute coordinate values of the reference prism, i.e., coordinate values in the absolute coordinate system CSY 0; (X ', Y ', Z ') are coordinate values of the reference prism in the track detection trolley coordinate system CSYl; (X0 ', Y0 ', Z0 ') is the coordinate value of the rail detection trolley coordinate system CSYl in the absolute coordinate system CSY 0; α 1, β 1, γ 1, α 2, β 2, γ 2, α 3, β 3, γ 3 are direction cosines of the X-axis, Y-axis, Z-axis of the absolute coordinate system CSY0 and the X ' -axis, Y ' -axis, Z ' -axis of the track detection trolley coordinate system, respectively, and are calculated as follows:
α1＝cosψcosφ-sinψsinφcosθ
β1＝sinψcosφ+cosψsinφcosθ
γ1＝sinθsinφ
α2＝-cosψsinφ-sinψcosφcosθ
β2＝-sinψsinφ+cosψcosφcosθ
γ2＝sinθcosφ
α3＝sinθsinψ
β3＝-sinθcosψ
γ3＝cosθ
the two direction angles alpha and beta obtained by combining the measurement of the double-shaft tilt angle sensor are as follows:
γ1＝cos(90°-β)，γ2＝cos(90°-α)
in summary, the expressions of the six rigid body coordinates of the rail inspection trolley can be calculated and determined:
wherein a ═ [ (Xl '-X2') cos φ - (Y1 '-Y2' -2S1) sin ψ ]
b＝-(Xl”-X2”)sinφcosθ-(Y1”-Y2”-2S1)cosφcosθ+(Z1”-Z2”)sinθ
X0’＝X1-(cosψcosφ-sinψsinφcosθ)X1’+(cosψsinφ+sinψcosφcosθ)(Y1”-S1)-(sinθsinψ)(Z1”+S2)
Y0’＝Y1-(sinψcosφ+cosψsinφcosθ)Xl”+(sinψsinφ-cosψcosφcosθ)(Y1”-S1)+(sinθcosψ)(Z1”+S2)
Z0’＝Z1-γ1Xl”-γ2(Y1”-S1)-[(Z1-Z2)-γ1(X1”-X2”)-γ1(Y1”-Y2”-2S1)]/[Zl”-Z2”]*(Zl”+S2)
The above-mentioned S1 and S2 are derived from: the distance from the origin of the total station coordinate system to the origin of the rail inspection trolley coordinate system in the X ' direction is defined as O, the distance in the Y ' direction is defined as S1, and the distance in the Z ' direction is defined as S2.
In addition, the invention adopts a result mode of double prisms to calculate the transverse inclination angle and the longitudinal inclination angle of the advancing direction of the trolley, not only can replace the function of one inclination angle sensor, but also can improve the detection precision. Under some special conditions, if the trolley deforms to a certain degree, the alarm can be given through the inclination angle sensor and the transverse inclination angle error obtained through calculation. The double-prism detection can assist or even replace an electronic level, integrates elevation operation and rail direction and height into data of the total station, and has better data consistency.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The utility model provides a biprism rail inspection dolly measurement system, is including installing dolly, total powerstation, a mileage measurement sensor, a gauge measurement sensor, an inclination sensor, slant push rod, pushing away handle and the industrial computer on the rail, its characterized in that: the trolley beam structure is characterized by further comprising two detection prisms, wherein the two detection prisms are installed on the upper portion of the trolley beam at intervals in the vertical direction respectively, and the projections of the two detection prisms in the vertical direction are overlapped with the center of the trolley.
2. The dual prism rail inspection trolley measurement system of claim 1 wherein the two inspection prisms are vertically spaced apart by a distance of no less than 30 cm.
3. A biprism rail inspection trolley measuring method is characterized by comprising the following steps:
s1, placing the trolley on a rail to be detected, installing two detection prisms on the upper part of a trolley beam, wherein the two detection prisms are respectively installed on the upper part of the trolley beam at intervals in the vertical direction, and the projections of the two detection prisms in the vertical direction are coincided with the center of the trolley;
s2, collecting the three-dimensional space coordinates of the two prisms at the first measuring point by using a total station, and calculating to obtain the three-dimensional space coordinates of the centers of the two prisms, wherein the three-dimensional space coordinates are as follows:
prism center on first measurement point: (X1)up，Y1up，H1up)；
Prism center under first measurement point: (X1)down，Y1down，H1down)；
First measurement point biprism center: (X1)middle，Y1middle，H1middle)
Wherein the content of the first and second substances,
X1middle＝(X1up+X1down)/2；
Y1middle＝(Y1up+Y1down)/2；
H1middle＝(H1up+H1down)/2；
s3, pushing the trolley forward for a distance D, recording the three-dimensional space coordinates of the two prisms at the second measuring point at the moment again, and calculating to obtain the three-dimensional space coordinates of the centers of the two prisms at the moment, wherein the method specifically comprises the following steps:
prism center on second measurement point: (X2)up，Y2up，H2up)；
Prism center under second measurement point: (X2)down，Y2down，H2down)；
Second measurement point biprism center: (X2)middle，Y2middle，H2middle)；
Wherein the content of the first and second substances,
X2middle＝(X2up+X2down)/2；
Y2middle＝(Y2up+Y2down)/2；
H2middle＝(H2up+H2down)/2；
s4, connecting the three-dimensional space coordinates of the midpoints of the two prisms obtained through calculation in the steps S2 and S3 to serve as the advancing direction of the rail inspection trolley;
s5, performing angle operation according to the advancing direction of the trolley, and calculating the transverse inclination angle and the longitudinal inclination angle of the connecting line of the two prisms at the first measuring point;
s6, calculating the transverse inclination angle and the longitudinal inclination angle of the trolley from the second measuring point to the Nth measuring point by analogy according to the methods of the steps S1-S5.
4. The method as claimed in claim 3, further comprising fusing the lateral tilt angle with the test result of the electronic level, calculating the rail surface elevation difference of the rail detection point by combining the measured rail distance, and alarming if the rail surface elevation difference is too large.
5. The biprism rail inspection trolley measuring method of claim 3 further comprising: according to the transverse inclination angle and the longitudinal inclination angle, six parameters of a rigid equation of the trolley are inversely calculated, the posture of the trolley is solved, and the rail direction and the height of the rail are calculated through a fitted rail space curve.
6. The biprism rail inspection trolley measuring method according to claim 3, wherein the angle operation is performed according to the travelling direction of the trolley, and the transverse inclination angle and the longitudinal inclination angle of the first measuring point are calculated, specifically:
the direction of travel of the car is represented as a vector connecting the centers of two prisms:
the projection of the travelling direction of the trolley on the horizontal plane is represented as:
the projection of the trolley beam in the horizontal plane is represented as:
the projection of the inclination angle vector formed by the double prisms of the first measuring point on the horizontal plane is represented as:
the projection value of the inclination angle vector formed by the double prisms of the first measuring point in the horizontal beam direction is represented as:
the projection value of the inclination angle vector formed by the double prisms of the first measuring point in the horizontal advancing direction is as follows:
the tangent of the transverse inclination α of the first measuring point is:
the tangent of the longitudinal inclination β of the first measuring point is:
the transverse inclination angle alpha and the longitudinal inclination angle beta of the first measuring point are respectively as follows:
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