CN113446982B - Dynamic calibration method and device for track geometry detection system - Google Patents
Dynamic calibration method and device for track geometry detection system Download PDFInfo
- Publication number
- CN113446982B CN113446982B CN202110705727.XA CN202110705727A CN113446982B CN 113446982 B CN113446982 B CN 113446982B CN 202110705727 A CN202110705727 A CN 202110705727A CN 113446982 B CN113446982 B CN 113446982B
- Authority
- CN
- China
- Prior art keywords
- track
- geometric
- dynamic
- static
- geometry
- 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
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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
Abstract
The invention discloses a dynamic calibration method and a device of a track geometry detection system, wherein the method comprises the following steps: acquiring static parameters of geometric irregularity of the track; acquiring track geometric form and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity position of the track, and the detection vehicle carries a track geometric detection system; and dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry form and position change data. The invention can realize the dynamic calibration of the track geometry detection system, solves the problem that the precision of the track geometry detection system is difficult to calibrate and evaluate in the real line running state in the prior art, improves the reliability and the accuracy of the track geometry dynamic detection result, establishes the traceability relation of the track geometry detection system, and realizes the purpose of the dynamic calibration of the track geometry detection system.
Description
Technical Field
The invention relates to the technical field of railway track detection, in particular to a dynamic calibration method and a dynamic calibration device for a track geometry detection system.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
The track geometry detection is an important means for guaranteeing the railway operation safety. The track geometry detection system is a main measurement device for track geometry dynamic detection, along with the construction development of railways in China, the railway detection mileage is increased year by year, the high-speed railway operation speed is increased year by year, and higher requirements are made on the repeatability and accuracy of track geometry dynamic detection data; meanwhile, as the track geometry detection system is arranged on different detection vehicles, the wheel load effect of the different detection vehicles can cause the change of the geometric position of the steel rail, and the repeatability and consistency of the track geometry dynamic detection result are influenced. In order to ensure the operation safety of the rail transit and improve the accuracy of the geometric dynamic detection data of the rail, a geometric detection system of the rail needs to be calibrated.
At present, two methods are used for calibrating a track geometry detection system, one method is to adopt a portable profile calibration device, the method belongs to a static calibration method, during calibration, the track geometry detection system is kept static, the calibration result is difficult to reflect the measurement precision of the track geometry under a real working state, and the method can not calibrate parameters such as height, track direction and the like, and has a small application range.
The other method is realized by a calibration test bed of an orbit inspection system, and is also a static calibration method. Although the method guarantees the measurement accuracy of the track geometry detection system to a certain extent, the calibration test bed of the track detection system cannot simulate the motion change of the track geometry detection system under the real line running state of the detection vehicle and the geometric shape and position change caused by the wheel load action of the detection vehicle when the detection vehicle passes through, and the calibration result cannot represent the measurement accuracy under the real motion state of the detection vehicle.
At present, although the precision of track geometry detection is greatly improved in China, the conventional track geometry detection system calibration method can only realize static calibration of a track geometry detection system, lacks a dynamic calibration means of a track geometry dynamic detection system, and cannot calibrate the track geometry detection system in a state of detecting the real motion of a vehicle.
Disclosure of Invention
The embodiment of the invention provides a dynamic calibration method of a track geometry detection system, which is used for improving the detection precision of the track geometry detection system and comprises the following steps:
acquiring static parameters of geometric irregularity of the track; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters;
acquiring track geometric form and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system;
and dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry form and position change data.
The embodiment of the invention also provides a dynamic calibration device of the track geometry detection system, which is used for improving the detection precision of the track geometry detection system and comprises the following components:
the track geometric irregularity static parameter acquisition module is used for acquiring geometric irregularity static parameters of the track; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters;
the track geometric shape and position change data acquisition module is used for acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system;
the embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the dynamic calibration module is used for dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry position change data.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program for executing the dynamic calibration method of the track geometry detection system is stored in the computer-readable storage medium.
In the embodiment of the invention, static parameters of geometric irregularity of the track are obtained; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters; acquiring track geometric form and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system; the method comprises the steps of dynamically calibrating a track geometry detection system according to track geometry irregularity static parameters and track geometry form and position change data, realizing dynamic calibration of the track geometry detection system, quantitatively determining dynamic and static difference change of a track steel rail when a detection vehicle runs through the track geometry form and position change data, and further dynamically compensating the track geometry detection system through the track geometry form and position change data, so that reliability and accuracy of track geometry dynamic detection results are improved, the problem that in the prior art, calibration and evaluation of precision of the track geometry detection system under a real line running state are difficult is solved, reliability and accuracy of the track geometry dynamic detection results are improved, a traceability relation of the track geometry detection system is established, and the purpose of dynamically calibrating the track geometry detection system is achieved.
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. In the drawings:
fig. 1 is a schematic diagram of a measurement of a static parameter of track geometric irregularity according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dynamic measurement process of track geometric irregularity according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an exemplary dynamic calibration method of a track geometry inspection system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a system for monitoring geometric dynamic and static differences of a track according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a dynamic calibration method of a track geometry inspection system according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary dynamic calibration method of a track geometry inspection system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a dynamic calibration apparatus of a track geometry inspection system according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating an exemplary embodiment of a dynamic calibration apparatus of a track geometry inspection system;
FIG. 9 is a diagram illustrating an exemplary embodiment of a dynamic calibration apparatus of a track geometry inspection system according to the present invention;
FIG. 10 is a schematic diagram of a computer apparatus for dynamic calibration of a track geometry inspection system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The dynamic detection of the track geometry is an important means for guaranteeing the railway operation safety. The track geometry detection system is a main measurement device for track geometry dynamic detection, along with the construction and development of railways in China, the railway detection mileage is increased year by year, the high-speed railway operation speed is increased year by year, and higher requirements are made on the repeatability and the accuracy of track geometry dynamic detection data; meanwhile, as the track geometry detection system is arranged on different detection vehicles, the wheel load effect of the different detection vehicles can cause the change of the geometric shape and position of the steel rail, and the repeatability and consistency of the track geometry dynamic detection result are influenced. In order to ensure the operation safety of the rail transit and improve the accuracy of the geometric dynamic detection data of the rail, a geometric detection system of the rail needs to be calibrated.
At present, two methods are used for calibrating a track geometry detection system, one method is to adopt a portable profile calibration device which needs to be installed on a steel rail, and a screw drives a calibration module to translate along the extension direction of the steel rail by adjusting a differential head, so that laser lines of the track profile detection system sequentially fall on each calibration surface of the calibration module, and calibration is realized by calculating the difference between measurement data and preset standard data under the condition of ensuring that the laser lines of the detection system are parallel to the gap of the calibration surfaces and are vertical to the extension direction of the steel rail. The method belongs to a static calibration method, during calibration, a track geometry detection system is kept static, the calibration result is difficult to reflect the measurement precision of the track geometry in a real working state, and the method cannot calibrate parameters such as height, track direction and the like, so that the application range is small.
Another method for calibrating the track geometry inspection system is performed by a calibration test stand of the track inspection system, which is also a static calibration method. The track detection system calibration test bed can provide different types of track geometric irregularity parameters through the track geometric irregularity simulation sub-test bed, provide standard quantity values for the calibration of the track geometric detection system, and compare the track geometric irregularity standard reference values provided by the test bed with the measurement results of the track geometric detection system, so that the calibration of the track geometric detection system can be realized. The track geometric detection system is calibrated by adopting the track inspection system calibration test bed, and although the track geometric detection precision is ensured to a certain extent, a plurality of problems exist. The track geometry detection system is required to be detached from the detection vehicle and then sent to a laboratory for calibration, and the mounting position precision of the track geometry detection system before and after calibration can cause certain influence on the measurement precision of the system; the track inspection system calibration test bed cannot simulate the motion change of a track geometric detection system under the real line running state of a detection vehicle and the geometric shape and position change caused by the wheel load effect of the detection vehicle when the detection vehicle passes through, and the calibration result cannot represent the measurement precision under the real motion state of the detection vehicle.
At present, although the dynamic detection precision of the track is greatly improved in China, the existing track geometry detection system calibration method can only realize the static calibration of the track geometry detection system, the dynamic calibration means and method of the track geometry dynamic detection system are lacked, the calibration of the track geometry detection system can not be carried out under the condition of detecting the real motion state of the vehicle, and the repeatability and the accuracy of the track geometry detection result still have great improvement space.
In order to solve the above problem, an embodiment of the present invention provides a dynamic calibration method for a track geometry detection system, so as to improve the detection accuracy of the track geometry detection system, as shown in fig. 5, the method includes:
step 501: acquiring static parameters of geometric irregularity of the track; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters;
step 502: acquiring track geometric form and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when the detection vehicle passes through the track geometric irregularity preset position, and the detection vehicle carries a track geometric detection system;
step 503: and dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry form and position change data.
In the embodiment of the invention, static parameters of geometric irregularity of the track are obtained; the static parameters of the geometric irregularity of the track comprise track gauge parameters and ultrahigh parameters; acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system; the method comprises the steps of dynamically calibrating a track geometric detection system according to track geometric irregularity static parameters and track geometric shape and position change data, realizing dynamic calibration of the track geometric detection system, quantitatively determining dynamic and static difference change of a steel rail when a detection vehicle runs through the track geometric shape and position change data, and further dynamically compensating the track geometric detection system through the track geometric shape and position change data, so that the reliability and the accuracy of track geometric dynamic detection results are improved, the problem that the precision of the track geometric detection system is difficult to calibrate and evaluate in a real line running state in the prior art is solved, the reliability and the accuracy of the track geometric dynamic detection results are improved, the source tracing relation of the track geometric detection system is established, and the purpose of dynamically calibrating the track geometric detection system is realized.
In specific implementation, firstly, acquiring a static parameter of geometric irregularity of the track; the track geometric irregularity static parameters comprise track gauge parameters and track super-height parameters at preset track geometric irregularity positions.
In an embodiment, the obtaining of the static parameters of the track geometric irregularity may include:
and acquiring the static parameters of the geometric irregularity of the track measured by the static measuring equipment of the geometric irregularity of the track.
In an embodiment, a track geometric non-smooth static parameter track gauge (i.e. track gauge parameter) and an ultra-high static parameter (i.e. ultra-high parameter of the track) at the installation position of the track geometric dynamic and static difference monitoring system can be measured by using a track geometric static measuring device, such as a track gauge.
Specifically, the track geometric static measurement can adopt not only a track gage but any track geometric static detection equipment which can meet the precision requirement, such as a 0-grade railway track inspection tester, to obtain the track geometric unsmooth static parameters.
In specific implementation, after acquiring the static parameters of the geometric irregularity of the track, acquiring the geometric shape and position change data of the track; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when the detection vehicle passes through the track geometric irregularity preset position, and the detection vehicle carries the track geometric detection system.
In an embodiment, the acquiring the track geometry and position variation data may include: acquiring track geometric form and position change data obtained by a track geometric dynamic and static difference monitoring system; the track geometric dynamic and static difference monitoring system is installed at a position where the track is not geometrically smooth.
In an embodiment, the track geometry dynamic and static difference monitoring system may include:
the image acquisition module is used for acquiring light bar images of steel rails on two sides of a track before a detection vehicle passes through the steel rails and light bar images of the steel rails and wheels when the detection vehicle passes through the steel rails; the light strip image is an image irradiated by the line structure light;
the image processing module is used for comparing and calculating light strip images of the steel rails on the two sides of the track before the detected vehicle passes through the steel rails and the light strip images of the steel rails and the wheels when the detected vehicle passes through the steel rails to obtain the moving amount and the inclination amount of the steel rails on the two sides of the track when the detected vehicle passes through the steel rails; the moving quantity and the inclination quantity of the steel rails on the two sides of the track when the detection vehicle passes are track geometric form and position change data;
and the data processing module is used for performing real-time motion compensation on the track geometric state dynamic detection system according to the movement amount and the inclination amount of the steel rails on the two sides of the track when the detection vehicle passes through the track, so as to obtain compensated track geometric state dynamic detection data.
In an embodiment, the image processing module may be specifically configured to:
performing light bar center extraction processing and coordinate change processing on light bar images of steel rails on two sides of a track before a detected vehicle passes through the steel rails and light bar images of the steel rails and wheels when the detected vehicle passes through the steel rails to obtain spatial physical coordinates of the jaw profile of the steel rails;
based on a profile matching algorithm, the space physical coordinates of the rail jaw profile and the standard rail profile are subjected to matching analysis, and the movement and the inclination of the rails on the two sides of the rail when the detection vehicle passes through are obtained.
In the embodiment, accessible ground firmware and rail road bed rigid connection, and then can fix track geometry dynamic and static difference monitoring system in the track both sides, this fixing bolt is with image acquisition module, fixes in the collection equipment protective housing to accessible adjusting bolt adjusts the incident angle of laser, projects the central region of rail jaw with line structure light center, makes structured light energy cover rail jaw and partial wheel. The track geometry dynamic and static difference monitoring system can be as shown in fig. 4.
The track geometric dynamic and static difference monitoring system in the embodiment can simultaneously acquire light strip images of the modulated left and right steel rails and image changes of the positions of wheels when a vehicle passes by means of a high-speed camera;
according to the embodiment, the collected original light bar image can be processed through links such as preprocessing, light bar center extraction and coordinate transformation to obtain the space physical coordinates of the jaw contour, and then the jaw contour is matched with the standard contour by utilizing a contour matching algorithm to obtain the moving amount and the inclination amount of the left and right steel rails.
In the above embodiment, the track geometry dynamic and static difference monitoring system can realize quantitative calculation of the wheel load effect on the track geometry state dynamic detection data by calculating the movement amount and the inclination amount of the steel rails on the two sides of the track when the detection vehicle passes through, and further can finally determine the track geometry form and position change data according to the movement amount and the inclination amount of the steel rails on the two sides of the track when the detection vehicle passes through.
In specific implementation, the dynamic calibration method for the track geometry detection system provided by the embodiment of the present invention may further include: aligning the line structure light center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail;
the acquiring of the track geometry form and position change data obtained by the track geometry dynamic and static difference monitoring system may include:
after aligning the line structure optical center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail, acquiring track geometric shape and position change data measured by the track geometric dynamic and static difference monitoring system when a detection vehicle passes by.
In an embodiment, aligning a line structured light center of a track geometric dynamic and static difference monitoring system with a rail jaw center of a steel rail may include:
by rotating the adjusting bolt, the center of the line structure light of the track geometric dynamic and static difference monitoring system is aligned with the center of the rail jaw of the steel rail, the position of the line structure light is kept fixed, and the static output result of the track geometric dynamic and static difference monitoring system is marked to be zero.
In the above embodiment, after the line structure optical center of the track geometric dynamic and static difference monitoring system is aligned with the rail jaw center of the steel rail, the track geometric shape and position change data obtained by the track geometric dynamic and static difference monitoring system is obtained, so that the accuracy of the obtained track geometric shape and position change data is improved, and the dynamic and static difference change of the steel rail when the vehicle runs at the track geometric irregularity preset position can be accurately detected.
In the above embodiment, the track geometry dynamic and static difference monitoring system may be installed as follows:
and (3) installing the geometric dynamic and static difference monitoring system of the track on the roadbed at two sides of the steel rail at the geometric preset unsmooth position of the track by using a ground firmware.
Specifically, the track geometry dynamic and static difference monitoring system can be arranged at the position of each track geometry preset irregularity peak value, because the detection vehicle provided with the track geometry detection system carries out dynamic measurement, the measured data waveform has obvious characteristics at the track geometry preset irregularity peak value, so that the data comparison at the same position of the track geometry detection system and the track geometry dynamic and static difference monitoring system is facilitated.
In the embodiment, the dynamic and static difference change of the track when the detection vehicle runs can be quantitatively determined through the track geometric shape and position change data, and the problem that the measurement precision of a track geometric detection system is reduced due to the wheel load effect of the detection vehicle in the prior art is solved.
In specific implementation, after the track geometric shape and position change data are obtained, the track geometric detection system is dynamically calibrated according to the track geometric irregularity static parameters and the track geometric shape and position change data.
In an embodiment, an embodiment of the present invention provides a dynamic calibration method for a track geometry detection system, which may further include:
acquiring track geometry detection data detected by a track geometry detection system;
according to the track geometry irregularity static parameters and the track geometry form and position change data, the dynamic calibration of the track geometry detection system, as shown in fig. 6, may include:
step 601: comparing the combination of the track geometric irregularity static parameters and the track geometric form and position change data with track geometric detection data;
step 602: and according to the comparison result, dynamically calibrating the track geometry detection system.
In an embodiment, the acquiring the track geometry detection data detected by the track geometry detection system may include:
the detection vehicle with the track geometry detection system runs through a railway line for dynamic calibration of the track geometry detection system, and the track geometry detection system is used for dynamically measuring track geometry parameters to obtain track geometry detection data.
In the above embodiment, the track geometry irregularity static parameters measured by the track geometry static measurement device are combined with the track geometry dynamic and static difference monitoring system measurement results, and the combined values are used as standard parameters to be compared with the track geometry detection system dynamic measurement results, so as to realize the dynamic calibration of the track geometry detection system.
In specific implementation, an embodiment of the present invention provides a dynamic calibration method for a track geometry detection system, which may further include:
and acquiring preset track geometric irregularity position parameters.
In an embodiment, the obtaining of the preset track geometric irregularity position parameter may include:
and acquiring preset track geometric irregularity position parameters based on the preset track geometric irregularity mileage position on the line.
In the above embodiment, the track geometric irregularity parameters include track geometric defects common on high-low, track-direction, triangular pits, track gauge, horizontal and the like railway lines, and it is ensured that the measurement result of the track geometric detection system is a real line detection result.
In specific implementation, the obtaining of the track geometry and position change data may include:
and acquiring the track geometric shape and position change data at a preset sampling frequency.
In an embodiment, the preset sampling frequency may be 1000 times per second; the track geometry dynamic and static difference monitoring system measures the change of the geometry and the position of the track when the track geometry detecting system passes through the installation position of the track geometry detecting system, the track geometry dynamic and static difference monitoring system can acquire the position of a wheel and the geometric dynamic and static difference data of the track 1000 times per second, the track geometry detecting system is installed on a vehicle body framework, the distance S (unit is meter) of the wheel closest to the track geometry detecting system, the passing speed v (unit is meter per second) of a detecting vehicle, and the time t (unit is second) taken by the track geometry detecting system to reach the installation position of the track geometry dynamic and static difference monitoring system can be calculated by the following formula.
t＝S/v
Then in this time, the number n of samples completed by the track geometric dynamic and static difference monitoring system is:
n＝1000t
in the above embodiment, when the wheel center reaches the installation position of the track geometry dynamic and static difference monitoring system, the track geometry form and position change data when the track geometry detection system passes through the track geometry dynamic and static difference monitoring system is located in front of the wheel center position measurement data source by n data.
A specific embodiment is given below to illustrate a specific application of the method of the present invention, and in this embodiment, as shown in fig. 3, the method may include:
step S1: the track geometry is preset with non-smooth settings: presetting track geometric irregularity on a line for dynamic calibration of a track geometric detection system;
specifically, the geometric irregularity of the track comprises common geometric defects of the track such as height, track direction, triangular pits, track gauge, level and the like, and the measurement result of the track geometric detection system is a real line detection result.
Step S2: installing a track geometric dynamic and static difference monitoring system: installing a track geometric dynamic and static difference monitoring system on roadbed at two sides of a steel rail at a track geometric preset unsmooth position by using a ground firmware;
specifically, as shown in fig. 2, the track geometry dynamic and static difference monitoring system 5 can be installed at the position of each track geometry preset unsmooth peak value, because when the detection vehicle carrying the track geometry detection system carries out dynamic measurement, the measured data waveform has obvious characteristics at the position of the track geometry preset unsmooth peak value, and the data comparison at the same position of the track geometry detection system and the track geometry dynamic and static difference monitoring system is convenient.
And step S3: calibrating a track geometric dynamic and static difference monitoring system: as shown in fig. 1, the adjusting bolt is rotated to align the center of the line structured light of the track geometric dynamic and static difference monitoring system with the center of the jaw of the steel rail, the position of the line structured light is kept fixed, and the static output result of the track geometric dynamic and static difference monitoring system is marked to be zero;
and step S4: static measurement of geometrical parameters of the track: as shown in fig. 2, a track gauge 1 of a track geometry static measuring device is used for measuring the track gauge and the height of static track geometry irregularity parameters at the installation position of a track geometry dynamic and static difference monitoring system;
specifically, the track geometry static measurement not only can adopt a gauging rule, and any track geometry static detection equipment meeting the precision requirement should be included in the dynamic calibration method provided by the patent, such as a railway track inspection tester can be adopted.
Step S5: dynamic measurement of a track geometry detection system: as shown in fig. 2, an inspection vehicle equipped with a track geometry detection system (i.e., traveling on the inspection vehicle wheel track 3 of fig. 2) travels through a railway line for dynamic calibration of track geometry, and dynamic measurement of track geometry is performed by the track geometry detection system;
step S6: measuring the geometrical dynamic and static difference of the track: as shown in fig. 2, a track geometric dynamic and static difference monitoring system 2 is used for measuring the dynamic and static difference change of the steel rail when the detection vehicle runs through the installation position;
specifically, the track geometry dynamic and static difference monitoring system measures the change of the track geometry and the position when the track geometry detection system passes through the installation position of the track (namely, the track 4 in fig. 2), the track geometry dynamic and static difference monitoring system collects the position of a wheel and the track geometry dynamic and static difference data 1000 times per second, the track geometry detection system is installed on a vehicle body framework, the distance S between the track geometry detection system and the nearest wheel is the speed v of a detection vehicle, and the time t taken for the track geometry detection system to reach the installation position of the track geometry dynamic and static difference monitoring system can be calculated by the following formula.
t＝S/v
Then in this time, the number n of samples completed by the track geometric dynamic and static difference monitoring system is:
n＝1000t
when the wheel center reaches the installation position of the track geometric dynamic and static difference monitoring system, the track geometric detection system measures n data in front of the data source at the wheel center position according to the track dynamic and static difference data when passing through the track geometric dynamic and static difference monitoring system.
Step S7: dynamic calibration of a track geometry detection system: and the combination of the track geometry irregularity static parameters measured by the gauging rule and the measurement results of the track geometry dynamic and static difference monitoring system is used as standard parameters to be compared with the dynamic measurement results of the track geometry detection system, so that the dynamic calibration of the track geometry detection system is realized.
Of course, it is understood that other variations of the above detailed flow can be made, and all such variations are intended to fall within the scope of the present invention.
In the embodiment of the invention, static parameters of geometric irregularity of the track are obtained; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters; acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing dynamic and static difference changes of the steel rail when a detection vehicle passes through a geometric irregularity preset position of the track, and the detection vehicle is carried with a track geometric detection system; the method comprises the steps of dynamically calibrating a track geometry detection system according to track geometry irregularity static parameters and track geometry form and position change data, realizing dynamic calibration of the track geometry detection system, quantitatively determining dynamic and static difference change of a track steel rail when a detection vehicle runs through the track geometry form and position change data, and further dynamically compensating the track geometry detection system through the track geometry form and position change data, so that reliability and accuracy of track geometry dynamic detection results are improved, the problem that in the prior art, calibration and evaluation of precision of the track geometry detection system under a real line running state are difficult is solved, reliability and accuracy of the track geometry dynamic detection results are improved, a traceability relation of the track geometry detection system is established, and the purpose of dynamically calibrating the track geometry detection system is achieved.
The embodiment of the invention also provides a dynamic calibration device of the track geometry detection system, which is described in the following embodiments. Because the principle of the device for solving the problems is similar to the dynamic calibration method of the track geometry detection system, the implementation of the device can refer to the implementation of the dynamic calibration method of the track geometry detection system, and repeated details are not repeated.
An embodiment of the present invention further provides a dynamic calibration apparatus for a track geometry detection system, so as to improve detection accuracy of the track geometry detection system, as shown in fig. 7, the apparatus includes:
the track geometric irregularity static parameter acquisition module 01 is used for acquiring track geometric irregularity static parameters; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters;
the track geometric shape and position change data acquisition module 02 is used for acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing dynamic and static difference changes of the steel rail when the detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle is carried with a track geometric detection system;
and the dynamic calibration module 03 is configured to dynamically calibrate the track geometry detection system according to the track geometry irregularity static parameters and the track geometry shape and position change data.
In one embodiment, the track geometric irregularity static parameter obtaining module is specifically configured to:
and acquiring the static parameters of the geometric irregularity of the track measured by the static measuring equipment of the geometric irregularity of the track.
In one embodiment, the track geometry position change data acquisition module is specifically configured to:
acquiring track geometric form and position change data obtained by a track geometric dynamic and static difference monitoring system; the track geometric dynamic and static difference monitoring system is installed at a track geometric irregularity preset position.
In an embodiment, the dynamic calibration apparatus for a track geometry detecting system provided in an embodiment of the present invention, as shown in fig. 8, may further include:
an alignment module 04 for:
aligning the line structure light center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail;
the track geometry position change data acquisition module is specifically used for:
after aligning the line structure optical center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail, acquiring track geometric shape and position change data measured by the track geometric dynamic and static difference monitoring system when a detection vehicle passes by.
In one embodiment, the track geometry position change data acquisition module is specifically configured to:
and acquiring the track geometric shape and position change data at a preset sampling frequency.
In an embodiment, the dynamic calibration apparatus for a track geometry detecting system provided in an embodiment of the present invention, as shown in fig. 9, may further include:
the track geometry dynamic detection data acquisition module 05 is configured to:
acquiring track geometry dynamic detection data detected by a track geometry detection system;
the dynamic calibration module is specifically configured to:
and comparing standard data formed by combining the track geometric irregularity static parameters and the track geometric shape and position change data with track geometric dynamic detection data detected by a track geometric detection system, and dynamically calibrating the track geometric detection system.
An embodiment of the present invention provides a computer device for implementing all or part of contents in the dynamic calibration method of the track geometry detecting system, where the computer device specifically includes the following contents:
a processor (processor), a memory (memory), a communication Interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission between related devices; the computer device may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the computer device may be implemented with reference to the embodiment of the dynamic calibration method for implementing the track geometry detection system and the embodiment of the dynamic calibration apparatus for implementing the track geometry detection system in the embodiments, which are incorporated herein, and repeated details are not repeated.
Fig. 10 is a schematic block diagram of a system configuration of a computer apparatus 1000 according to an embodiment of the present application. As shown in fig. 10, the computer apparatus 1000 may include a central processing unit 1001 and a memory 1002; the memory 1002 is coupled to the cpu 1001. Notably, this fig. 10 is exemplary; other types of structures may also be used in addition to or in place of the structures to implement telecommunications or other functions.
In one embodiment, the dynamic calibration function of the track geometry inspection system may be integrated into the cpu 1001. The cpu 1001 may perform the following control:
acquiring static parameters of geometric irregularity of the track; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters;
acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing dynamic and static difference changes of the steel rail when the detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle is carried with a track geometric detection system;
and dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry form and position change data.
In another embodiment, the dynamic calibration device of the track geometry detecting system may be configured separately from the central processing unit 1001, for example, the dynamic calibration device of the track geometry detecting system may be configured as a chip connected to the central processing unit 1001, and the dynamic calibration function of the track geometry detecting system is realized through the control of the central processing unit.
As shown in fig. 10, the computer device 1000 may further include: a communication module 1003, an input unit 1004, an audio processor 1005, a display 1006, a power supply 1007. It is noted that the computer device 1000 does not necessarily include all of the components shown in FIG. 10; furthermore, the computer device 1000 may also comprise components not shown in fig. 10, which can be referred to in the prior art.
As shown in fig. 10, the central processing unit 1001, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, and the central processing unit 1001 receives input and controls the operation of the various components of the computer apparatus 1000.
The memory 1002 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the cpu 1001 can execute the program stored in the memory 1002 to realize information storage or processing, or the like.
The input unit 1004 provides input to the cpu 1001. The input unit 1004 is, for example, a key or a touch input device. The power supply 1007 is used to supply power to the computer apparatus 1000. The display 1006 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory 1002 may be a solid state memory such as Read Only Memory (ROM), random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes referred to as an EPROM or the like. The memory 1002 may also be some other type of device. Memory 1002 includes buffer memory 1021 (sometimes referred to as a buffer). The memory 1002 may include an application/function storage 1022, the application/function storage 1022 being used to store application programs and function programs or a flow for executing the operations of the computer device 1000 by the central processing unit 1001.
The memory 1002 may also include a data store 1023, the data store 1023 being used to store data such as contacts, digital data, pictures, sounds and/or any other data used by the computer device. Driver storage 1024 of memory 1002 may include various drivers for the computer device for communication functions and/or for performing other functions of the computer device (e.g., messaging applications, directory applications, etc.).
The communication module 1003 is a transmitter/receiver 1003 that transmits and receives signals via an antenna 1008. A communication module (transmitter/receiver) 1003 is coupled to the central processor 1001 to provide an input signal and receive an output signal, which may be the same as the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 1003, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same computer device. The communication module (transmitter/receiver) 1003 is further coupled via an audio processor 1005 to a speaker 1009 and a microphone 1010 for providing audio output via the speaker 1009 and for receiving audio input from the microphone 1010 for carrying out the usual telecommunications functions. The audio processor 1005 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 1005 is also coupled to the central processor 1001, so that sound can be recorded locally through the microphone 1010, and so that locally stored sound can be played through the speaker 1009.
An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program for executing the dynamic calibration method of the track geometry detection system.
In the embodiment of the invention, static parameters of geometric irregularity of the track are obtained; the static parameters of the geometric irregularity of the track comprise track gauge parameters and ultrahigh parameters; acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system; the method comprises the steps of dynamically calibrating a track geometry detection system according to track geometry irregularity static parameters and track geometry change data, realizing dynamic calibration of the track geometry detection system, quantitatively determining dynamic and static difference changes of a track steel rail when a detection vehicle runs through the track geometry change data, and further dynamically compensating the track geometry detection system through the track geometry change data, so that the reliability and the accuracy of track geometry dynamic detection results are improved, the problem that the precision of the track geometry detection system is difficult to calibrate and evaluate in a real line running state in the prior art is solved, the reliability and the accuracy of the track geometry dynamic detection results are improved, the source relation of the track geometry detection system is established, and the purpose of dynamically calibrating the track geometry detection system is realized.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for dynamic calibration of a track geometry inspection system, comprising:
acquiring static parameters of geometric irregularity of the track; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters; acquiring static parameters of geometric irregularity of the track, including: acquiring a track geometric irregularity static parameter measured by a track geometric static measuring device;
acquiring track geometric form and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system; acquiring track geometry position change data, comprising: acquiring track geometric form and position change data obtained by a track geometric dynamic and static difference monitoring system; the track geometric dynamic and static difference monitoring system is arranged at a track geometric irregularity preset position;
dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry shape and position change data;
the method further comprises the following steps:
acquiring dynamic detection data of the track geometry detected by a track geometry detection system;
according to the track geometry irregularity static parameter and the track geometry shape and position change data, the track geometry detection system is dynamically calibrated, which comprises the following steps:
and comparing standard data formed by combining the track geometric irregularity static parameters and the track geometric form and position change data with track geometric dynamic detection data detected by a track geometric detection system, and dynamically calibrating the track geometric detection system.
2. The method of claim 1, further comprising:
aligning the line structure light center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail;
the method for acquiring the track geometric form and position change data obtained by the track geometric dynamic and static difference monitoring system comprises the following steps:
after aligning the line structure optical center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail, acquiring track geometric shape and position change data measured by the track geometric dynamic and static difference monitoring system when a detection vehicle passes by.
3. The method of claim 1, wherein obtaining track geometry position change data comprises:
and acquiring the track geometric shape and position change data at a preset sampling frequency.
4. A dynamic calibration apparatus for a track geometry inspection system, comprising:
the track geometric irregularity static parameter acquisition module is used for acquiring geometric irregularity static parameters of the track; the track geometric irregularity static parameters comprise track gauge parameters and ultrahigh parameters; track geometry irregularity static parameter acquisition module specifically is used for: acquiring a track geometric irregularity static parameter measured by a track geometric static measuring device;
the track geometric shape and position change data acquisition module is used for acquiring track geometric shape and position change data; the track geometric shape and position change data are used for describing the dynamic and static difference change of the steel rail when a detection vehicle passes through the geometric irregularity preset position of the track, and the detection vehicle carries a track geometric detection system; the track geometry position change data acquisition module is specifically used for: acquiring track geometric form and position change data obtained by a track geometric dynamic and static difference monitoring system; the track geometric dynamic and static difference monitoring system is arranged at a geometric irregularity preset position of the track;
the dynamic calibration module is used for dynamically calibrating the track geometry detection system according to the track geometry irregularity static parameters and the track geometry shape and position change data;
the device, still include: the track geometry dynamic detection data acquisition module is used for:
acquiring track geometry dynamic detection data detected by a track geometry detection system;
the dynamic calibration module is specifically configured to:
and comparing standard data formed by combining the track geometric irregularity static parameters and the track geometric form and position change data with track geometric dynamic detection data detected by a track geometric detection system, and dynamically calibrating the track geometric detection system.
5. The apparatus of claim 4, further comprising: an alignment module to:
aligning the line structure light center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail;
the track geometry position change data acquisition module is specifically used for:
after aligning the line structure optical center of the track geometric dynamic and static difference monitoring system with the rail jaw center of the steel rail, acquiring track geometric shape and position change data measured by the track geometric dynamic and static difference monitoring system when a detection vehicle passes by.
6. The apparatus of claim 4, wherein the track geometry position change data acquisition module is specifically configured to:
and acquiring the track geometric shape and position change data at a preset sampling frequency.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 3 when executing the computer program.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110705727.XA CN113446982B (en) | 2021-06-24 | 2021-06-24 | Dynamic calibration method and device for track geometry detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110705727.XA CN113446982B (en) | 2021-06-24 | 2021-06-24 | Dynamic calibration method and device for track geometry detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113446982A CN113446982A (en) | 2021-09-28 |
| CN113446982B true CN113446982B (en) | 2023-01-24 |
Family
ID=77812514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110705727.XA Active CN113446982B (en) | 2021-06-24 | 2021-06-24 | Dynamic calibration method and device for track geometry detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113446982B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102030016A (en) * | 2010-11-03 | 2011-04-27 | 西南交通大学 | Structured light vision-based track irregularity state detection method |
| CN102496064B (en) * | 2011-12-01 | 2014-10-29 | 北京交通大学 | Method for acquiring unevenness of track |
| CN105000033B (en) * | 2015-08-13 | 2017-06-20 | 哈尔滨工业大学 | A kind of check and evaluation system of track geometry irregularities |
| CN108032868B (en) * | 2017-11-30 | 2019-02-19 | 中国铁道科学研究院集团有限公司 | A kind of train rail detection system and method |
| CN110425977B (en) * | 2019-07-10 | 2021-03-26 | 上海工程技术大学 | Contact rail geometric parameter detection system and detection method |
| DE102019129296A1 (en) * | 2019-10-30 | 2021-05-06 | Deutsche Bahn Ag | Device and method for the acquisition of geometric data of a track formed from two rails with a frame that can be moved on the track |
-
2021
- 2021-06-24 CN CN202110705727.XA patent/CN113446982B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113446982A (en) | 2021-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9869064B2 (en) | Device for inspecting shape of road travel surface | |
| EP2305533A2 (en) | Apparatus for detecting hunting and angle of attack of a rail vehicle wheelset | |
| CN102628811B (en) | Verifying device of grating groove defect | |
| CN110954026A (en) | On-line detection device for measuring geometric profile of steel rail | |
| CN112965135B (en) | Nondestructive detection comprehensive method for spatial heterogeneous distribution of grotto cliff body cracks | |
| US20120253722A1 (en) | Electronic device and method for measurement of flatness of objects using the electronic device | |
| CN102749336A (en) | Structured light-based surface defect high-speed detection system and detection method thereof | |
| CN113071529B (en) | Track elasticity detection method and device | |
| CN113446946B (en) | Dynamic compensation method and device for track geometric detection data | |
| CN106123757A (en) | A kind of bent axle many gauge heads follow-up detector | |
| CN104005324A (en) | Pavement texture information detection system | |
| CN113446982B (en) | Dynamic calibration method and device for track geometry detection system | |
| CN206049709U (en) | A kind of railroad survey gauge measures detection means | |
| CN116930210A (en) | Rail flaw detection method and rail flaw detection equipment | |
| CN104742937A (en) | Dynamic detection platform for parameters in track operating process | |
| CN103174072A (en) | Rail surface detection method based on asymmetrical chord offset method | |
| CN106274980A (en) | Track condition on-line monitoring method based on laser monitoring | |
| Koc et al. | Determining horizontal curvature of railway track axis in mobile satellite measurements | |
| CN109895808B (en) | Track gap detection method and speed measurement system | |
| CN106989671A (en) | A kind of train wheel optical measuring device | |
| CN107974907B (en) | Calibrating device and calibrating method for road surface flatness detector | |
| CN203148899U (en) | Acoustic detection system for cast iron material defects | |
| CN115685164A (en) | Three-dimensional laser imager working parameter testing system and method | |
| CN112781618B (en) | Dynamic test precision evaluation method for inclinometer | |
| CN207714102U (en) | A kind of calibrating installation of surface evenness detector |
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 |