CN113983984A - Method and device for measuring motion attitude of framework where track detection system is located - Google Patents

Method and device for measuring motion attitude of framework where track detection system is located Download PDF

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Publication number
CN113983984A
CN113983984A CN202111266063.8A CN202111266063A CN113983984A CN 113983984 A CN113983984 A CN 113983984A CN 202111266063 A CN202111266063 A CN 202111266063A CN 113983984 A CN113983984 A CN 113983984A
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frame
triaxial
axis
framework
displacement
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CN113983984B (en
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陈春雷
韩志
祝咏升
郝晋斐
王昊
韩庐平
傅强
贺雨
刘凯
赵紫珅
王富印
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China Academy of Railway Sciences Corp Ltd CARS
Infrastructure Inspection Institute of CARS
Beijing IMAP Technology Co Ltd
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China Academy of Railway Sciences Corp Ltd CARS
Infrastructure Inspection Institute of CARS
Beijing IMAP Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—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 length, width, or thickness
    • 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
    • G01B21/22—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 angles or tapers; for testing the alignment of axes

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Abstract

The invention discloses a method and a device for measuring the motion attitude of a framework where a track detection system is located, wherein the method comprises the following steps: acquiring framework motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle; calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer; calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; and the motion attitude measurement data of the geometric center of the framework comprises displacement and rotation angle of the geometric center of the framework. The invention can accurately measure the motion attitude of the rail detection system framework and assist in improving the measurement precision of the rail detection system.

Description

Method and device for measuring motion attitude of framework where track detection system is located
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a device for measuring the motion attitude of a framework where a rail detection system is located.
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.
As the most sustainable mode of transportation, rail transit is a national important infrastructure and key infrastructure. With the development of railways and the acceleration of trains in China, higher quality requirements are placed on the safety and stability of the rails, and the requirements on the accuracy, reliability and consistency of detection equipment are more and more strict.
The track geometry detection system is a main device for detecting the geometric dynamic irregularity of the track, the track geometry irregularity is measured by being distributed on a detection beam in an integrated mode, the detection beam is rigidly connected with a vehicle frame, and the existing data show that the movement posture of the frame can cause certain influence on the measurement precision of the geometric irregularity of the track; in addition, the laboratory calibration of the track geometry detection system needs to simulate and reproduce the motion state of a framework where the track geometry detection system is installed in a real line state. Therefore, it is necessary to perform measurement for detecting the running attitude of the vehicle frame.
At present, a vertical accelerometer and a transverse accelerometer are generally mounted on a vehicle frame to be detected, so that the vibration state of the frame is measured. However, this method only measures acceleration data of the frame in a single direction due to the use of the single-axis accelerometer, and the motion states of the frame in the vehicle motion process include lateral, vertical, side-rolling, and head-shaking motion states, so that the motion attitude of the vehicle frame on the line cannot be truly reflected only by the above method, and the working state of the track detection system cannot be judged.
Disclosure of Invention
The embodiment of the invention provides a motion attitude measurement method of a framework where a track detection system is located, which is used for accurately measuring the motion attitude of the framework of the track detection system and assisting in improving the measurement precision of the track detection system, and comprises the following steps:
acquiring framework motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer;
calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; and the motion attitude measurement data of the geometric center of the framework comprises displacement and rotation angle of the geometric center of the framework.
The embodiment of the invention also provides a motion attitude measuring device of a framework where the track detection system is arranged, which is used for accurately measuring the motion attitude of the framework of the track detection system and assisting in improving the measurement precision of the track detection system, and the device comprises:
the acceleration data acquisition module is used for acquiring the framework motion acceleration data acquired by the plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
the framework displacement data calculation module is used for calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer;
the calculation processing module is used for performing calculation processing on the triaxial displacement data of the triaxial accelerometers to obtain the movement attitude measurement data of the geometric center of the frame where the track detection system is located; and the motion attitude measurement data of the geometric center of the framework comprises displacement and rotation angle of the geometric center of the framework.
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 when the processor executes the computer program, the motion attitude measurement method of the framework where the track detection system is located is realized.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program for executing the method for measuring a motion attitude of a frame in which the above-described track detection system is located is stored in the computer-readable storage medium.
In the embodiment of the invention, the framework motion acceleration data collected by a plurality of triaxial accelerometers is obtained; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle; calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer; calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the framework, including the displacement and the corner amount of the geometric center of the framework, compare with the technical scheme of using a single-axis accelerometer to carry out the measurement of the vibration state of the framework in the prior art, the accessible sets up a plurality of three-axis accelerometers, acquire the displacement data of the framework in three directions of different positions of the framework, and then realize the calculation of the displacement and the corner amount of the geometric center of the framework, the accurate measurement of the motion attitude of the geometric center of the framework is realized, the problem that the motion attitude of the framework where the rail detection system is located cannot be analyzed under the prior art is solved, the motion attitude of the framework of the rail detection system can be accurately measured, and then the measurement accuracy of the rail detection system can be assisted to be improved.
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 flow chart of a method for measuring a motion attitude of a frame on which a track detection system is located according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a position of an accelerometer measuring device for measuring an attitude of a frame of a rail inspection system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of an arrangement of measurement points of an attitude measurement accelerometer of a frame where a rail inspection system is provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a motion attitude measurement apparatus of a frame on which a track detection system is located according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a location definition of measurement points of an attitude measurement accelerometer of a frame of a rail inspection system according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary embodiment of a motion attitude measurement device of a frame on which a track detection system is disposed;
fig. 7 is a schematic diagram of solving a transverse displacement of a center of a frame where a rail inspection system is located and a left-right shaking angle according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a solution of a vertical displacement and a roll angle of a center of a frame where a rail inspection system is located according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a posture simulation apparatus of a framework where the rail inspection system is provided in the embodiment of the present invention;
FIG. 10 is a schematic diagram of a computer apparatus for measuring the motion attitude of a frame on which the rail detection system is located 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.
At present, rail transit is always the national important basic industry and key infrastructure as the most sustainable mode of transportation. With the development of railways and the acceleration of trains in China, higher quality requirements are placed on the safety and stability of the rails, and the requirements on the accuracy, reliability and consistency of detection equipment are more and more strict.
The track geometry detection system is a main device for detecting the geometric dynamic irregularity of the track, the track geometry irregularity is measured by being distributed on a detection beam in an integrated mode, the detection beam is rigidly connected with a vehicle frame, and the existing data show that the movement posture of the frame can cause certain influence on the measurement precision of the geometric irregularity of the track;
in addition, the laboratory calibration of the track geometry detection system needs to simulate and reproduce the motion state of a framework where the track geometry detection system is installed in a real line state.
Therefore, the measurement and simulation of the operating posture of the vehicle frame are required.
At present, a vibration state of a framework is monitored by installing vertical and transverse accelerometers on the framework of a detection vehicle, the method can be used for evaluating the motion stability of the vehicle on a line and judging whether the framework is subjected to vehicle vibration which cannot be rapidly attenuated, and meanwhile, according to the evaluation and calibration requirements of a detection system, the working state of a rail detection system on a real line needs to be simulated.
In addition, although the inertial combination system based on acceleration and gyroscope is applied to attitude measurement of ships, aircrafts and missiles at the present stage and has relatively accurate measurement precision, a gyroscope assembly is required to be installed at the central line position of a moving target as far as possible, and a gyroscope with the same precision has some defects in manufacturing process, such as the problems of easy damage under large impact force, difficulty in accurate measurement under large-range high-speed movement and the like. It is therefore desirable to develop a method suitable for detecting attitude measurements of a vehicle frame.
In order to solve the above problem, an embodiment of the present invention provides a method for measuring a motion attitude of a frame where an orbit detection system is located, so as to improve accuracy of measuring the motion attitude of the frame where the orbit detection system is located, as shown in fig. 1, the method may include:
step 101: acquiring framework motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
step 102: calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer;
step 103: calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame may include a displacement amount and a rotation angle amount of the geometric center of the frame.
In the embodiment of the invention, the framework motion acceleration data collected by a plurality of triaxial accelerometers is obtained; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle; calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer; calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the framework comprises displacement and corner amount of the geometric center of the framework, and is compared with the technical scheme that a single-axis accelerometer is used for measuring the vibration state of the framework in the prior art, the multiple three-axis accelerometers are arranged through the access, the displacement data of the framework in three directions of different positions of the framework are acquired, and then the calculation of the displacement and the corner amount of the geometric center of the framework is realized, the accurate measurement of the motion attitude of the geometric center of the framework is realized, the problem that the motion attitude of the framework where the rail detection system is located cannot be analyzed in the prior art is solved, the motion attitude of the framework of the rail detection system can be accurately measured, and then the judgment capability of the working state of the rail geometric detection system can be supplemented, and the measurement precision of the rail detection system is improved in an auxiliary manner.
In specific implementation, firstly, acquiring framework motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left and right sides are both sides of the vehicle body parallel to the traveling direction of the vehicle.
In an embodiment, the mounting position of the triaxial accelerometer on the same side of the plurality of triaxial accelerometers is symmetrical about a transverse center line of the frame; the mounting positions of the three-axis accelerometers on different sides take the longitudinal center line of the framework as a symmetry axis.
In one embodiment, the number of the three-axis accelerometers can be 4, the three-axis accelerometers are arranged on a frame of the rail inspection system and are respectively arranged at four corners of the vehicle frame, and the 4 accelerometers are symmetrically distributed by taking the transverse center of the vehicle frame as a symmetry axis and taking the longitudinal center line as a symmetry axis.
In one embodiment, the positions of the measuring points of the accelerometers are shown in fig. 2, wherein the position pointed to by 1 in fig. 2 is the installation position of the accelerometers on the framework, and the position pointed to by 2 in fig. 2 is the position of the framework. The specific measuring point arrangement can be seen in fig. 3, and 4 acceleration sensors in fig. 3 are installation points of the accelerometer.
In the above embodiment, acquiring the frame motion acceleration data acquired by the plurality of triaxial accelerometers may include: and synchronously acquiring the data of the framework motion acceleration data acquired by the plurality of triaxial accelerometers so as to realize the purpose of synchronously acquiring the acceleration data of 4 accelerometers at the arrangement positions of the framework measuring points of the rail inspection system.
In specific implementation, after the framework motion acceleration data acquired by a plurality of triaxial accelerometers is acquired, triaxial displacement data of each triaxial accelerometer is calculated according to the acceleration data acquired by the triaxial accelerometer.
In an embodiment, the frame motion acceleration data is used for describing motion accelerations of a frame at the position of the three-axis accelerometer along three directions of an X axis, a Y axis and a Z axis of the three-axis accelerometer; wherein, the Y-axis direction is longitudinal and parallel to the advancing direction of the vehicle frame; the X-axis direction is transverse, is vertical to the advancing direction of the vehicle frame and is parallel to the rail plane; the Z-axis direction is vertical and is vertical to the plane of the X-axis and the Y-axis; wherein the X-axis direction and the Y-axis direction mentioned herein are shown with reference to fig. 5.
Calculating triaxial displacement data of the triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer may include:
and calculating the X-axis displacement, the Y-axis displacement and the Z-axis displacement of the frame at the position of the three-axis accelerometer according to the motion acceleration of the frame along the X-axis direction, the Y-axis direction and the Z-axis direction, which is described by the acceleration data acquired by the three-axis accelerometer.
In one embodiment, calculating the three-axis displacement data of the three-axis accelerometer from the acceleration data collected by the three-axis accelerometer may include:
and performing mathematical integral calculation on the acceleration data acquired by the triaxial accelerometer based on a frequency domain integral algorithm of fast Fourier transform to obtain triaxial displacement data of the triaxial accelerometer.
In the above embodiment, the mathematical integral calculation may include: and integrating acceleration data of the arrangement positions of the measuring points of the framework, which are obtained in the synchronous data acquisition process, into three-axis displacement data of each three-axis accelerometer respectively, wherein the displacement data of the framework are displacements in three directions of an X axis, a Y axis and a Z axis.
In specific implementation, after triaxial displacement data of each triaxial accelerometer are calculated according to acceleration data acquired by the triaxial accelerometer, the triaxial displacement data of the triaxial accelerometers are resolved to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame may include a displacement amount and a rotation angle amount of the geometric center of the frame.
In one embodiment, the calculation process may include a motion attitude calculation, which calculates displacement data integrated from the accelerometer of the frame into displacement amounts in four directions of transverse direction, vertical direction, roll direction and pan direction and a rotation angle amount of the geometric center of the frame, wherein the rotation angle amount may also be referred to as a rotation angle geometric amount.
In one embodiment, the method provided in the embodiment of the present invention may further include:
and storing and displaying the calculated displacement and corner geometric quantities of the geometric center of the framework in the transverse direction, the vertical direction, the side rolling direction and the shaking direction.
In an embodiment, the displacement of the geometric center of the frame includes: the transverse displacement and the vertical displacement of the geometric center of the frame; the amount of rotation of the geometric center of the frame includes: the rolling angle of the frame side of the geometric center of the frame and the left-right shaking angle of the frame.
In one embodiment, the motion attitude calculation processing may be performed on the triaxial displacement data of the plurality of triaxial accelerometers according to the following formula to obtain the lateral displacement of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000071
wherein, X0The unit of the transverse displacement of the geometric center of the frame where the track detection system is located is millimeter; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively. The positions of the three-axis accelerometer 1 and the three-axis accelerometer 2 can be seen in fig. 5.
In one embodiment, the motion attitude calculation processing may be performed on the triaxial displacement data of the plurality of triaxial accelerometers according to the following formula to obtain the vertical displacement of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000072
wherein Z is0The unit of the vertical displacement of the geometric center of the frame where the track detection system is located is millimeter; a is1And a2Respectively the distances from the positions of a triaxial accelerometer 1 and a triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively. The positions of the three-axis accelerometer 1 and the three-axis accelerometer 4 can be seen in fig. 5.
In one embodiment, the motion attitude calculation processing can be performed on the triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the frame left-right shaking angle amount of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000081
wherein, thetazThe degree of the left-right shaking angle of the frame at the geometric center of the frame where the track detection system is located is expressed in degrees; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively. The positions of the three-axis accelerometer 1 and the three-axis accelerometer 2 can be seen in fig. 5.
In one embodiment, the motion attitude calculation processing may be performed on the triaxial displacement data of the plurality of triaxial accelerometers according to the following formula to obtain the frame roll angle of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000082
wherein, thetayThe number of the side roll angle of the frame of the geometric center of the frame where the track detection system is located is in degrees; a is1And a2Respectively a three-axis accelerometer 1 and a three-axis accelerometer 4 which are arranged on different sides of the framework are arranged at the positions and the structuresDistance of the longitudinal centerline of the rack; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively. The positions of the three-axis accelerometer 1 and the three-axis accelerometer 4 can be seen in fig. 5.
In specific implementation, the method for measuring the motion attitude of the framework where the track detection system is located according to the embodiment of the present invention may further include: and inputting the movement attitude measurement data of the geometric center of the framework where the track detection system is positioned into a framework attitude simulation test bed to obtain framework attitude simulation data.
In the embodiment, the acquired displacement and corner geometric quantity data in the transverse direction, the vertical direction, the side rolling direction and the shaking direction of the geometric center of the frame can be input into the frame attitude simulation test bed, and the motion attitude of the frame in a real line state is simulated and reproduced, so that the vehicle frame attitude reproduction is realized and detected.
In one embodiment, the accuracy of the method for measuring the motion attitude of the framework where the track detection system is located provided in the embodiment of the invention can be verified by inputting the motion attitude measurement data of the geometric center of the framework where the track detection system is located into the framework attitude simulation test bed, and measuring the motion attitude of the framework simulation test bed by mounting a track detection system on the simulation framework when the framework attitude is changed, and comparing the measurement result with the input data of the framework simulation test bed.
In the embodiment of the invention, the framework motion acceleration data collected by a plurality of triaxial accelerometers is obtained; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle; calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer; calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the framework, including the displacement and the rotation angle of the geometric center of the framework, compare with the technical scheme of using a single-axis accelerometer to carry out the measurement of the vibration state of the framework in the prior art, the accessible sets up a plurality of three-axis accelerometers, acquire the displacement data of the framework in three directions of different positions of the framework, and then realize the calculation of the displacement and the rotation angle of the geometric center of the framework, realize the accurate measurement of the motion attitude of the geometric center of the framework, solve the problem that the motion attitude of the framework where the rail detection system is located cannot be analyzed in the prior art, can accurately measure the motion attitude of the framework of the rail detection system, and then can assist in improving the measurement accuracy of the rail detection system
As described above, the method for measuring the attitude of the frame of the rail inspection system provided by the embodiment of the invention is beneficial to analyzing and evaluating the influence of the motion attitude of the frame on the measurement precision of the geometric irregularity of the rail, and improves the measurement method and the detection equipment; meanwhile, the motion attitude under the real line condition is provided for the calibration of the track geometry detection system, and the evaluation and calibration capability of the track geometry detection system is improved.
The embodiment of the invention also provides a motion attitude measuring device of a framework on which the track detection system is arranged, and the device is described in the following embodiment. Because the principle of the device for solving the problems is similar to the method for measuring the motion attitude of the framework where the track detection system is located, the implementation of the device can refer to the implementation of the method for measuring the motion attitude of the framework where the track detection system is located, and repeated parts are not described again.
An embodiment of the present invention further provides a device for measuring a motion attitude of a frame where a track detection system is located, so as to improve accuracy of measurement of the motion attitude of the frame where the track detection system is located, as shown in fig. 4, the device includes:
an acceleration data acquisition module 401, configured to acquire frame motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
a frame displacement data calculation module 402, configured to calculate, for each triaxial accelerometer, triaxial displacement data of the triaxial accelerometer according to acceleration data acquired by the triaxial accelerometer;
the resolving module 403 is configured to perform resolving processing on the triaxial displacement data of the multiple triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame may include a displacement amount and a rotation angle amount of the geometric center of the frame.
In one embodiment, the mounting positions of the three-axis accelerometers on the same side in the plurality of three-axis accelerometers are symmetrical about the transverse center line of the frame; the mounting positions of the three-axis accelerometers on different sides take the longitudinal center line of the framework as a symmetry axis.
In one embodiment, the frame motion acceleration data is used for describing motion acceleration of the frame at the position of the three-axis accelerometer along three directions of an X axis, a Y axis and a Z axis of the three-axis accelerometer; wherein, the Y-axis direction is longitudinal and parallel to the advancing direction of the vehicle frame; the X-axis direction is transverse, is vertical to the advancing direction of the vehicle frame and is parallel to the rail plane; the Z-axis direction is vertical and is vertical to the plane of the X-axis and the Y-axis;
the framework displacement data calculation module is specifically used for:
and calculating the X-axis displacement, the Y-axis displacement and the Z-axis displacement of the frame at the position of the three-axis accelerometer according to the motion acceleration of the frame along the X-axis direction, the Y-axis direction and the Z-axis direction, which is described by the acceleration data acquired by the three-axis accelerometer.
In one embodiment, the framework displacement data calculation module is specifically configured to:
and performing mathematical integral calculation on the acceleration data acquired by the triaxial accelerometer based on a frequency domain integral algorithm of fast Fourier transform to obtain triaxial displacement data of the triaxial accelerometer.
In one embodiment, the displacement of the geometric center of the frame includes: the transverse displacement and the vertical displacement of the geometric center of the frame; the amount of turning of the geometric center of the frame includes: the side roll angle quantity and the left-right shaking angle quantity of the geometric center of the framework;
a calculation processing module for:
and carrying out motion attitude calculation processing on the triaxial displacement data of the triaxial accelerometers to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located.
In one embodiment, the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the transverse displacement of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000101
wherein, X0The unit of the transverse displacement of the geometric center of the frame where the track detection system is located is millimeter; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively.
In one embodiment, the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the vertical displacement of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000102
wherein Z is0The unit of the vertical displacement of the geometric center of the frame where the track detection system is located is millimeter; a is1And a2Respectively the distances from the positions of a triaxial accelerometer 1 and a triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively.
In one embodiment, the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the frame left-right shaking angle quantity of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000111
wherein, thetazThe degree of the left-right shaking angle of the frame at the geometric center of the frame where the track detection system is located is expressed in degrees; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively.
In one embodiment, the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the frame side rolling angle of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000112
wherein, thetayThe number of the side roll angle of the frame of the geometric center of the frame where the track detection system is located is in degrees; a is1And a2Respectively the distances from the positions of a triaxial accelerometer 1 and a triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively.
In one embodiment, the apparatus may further include:
a data simulation module to:
and inputting the movement attitude measurement data of the geometric center of the framework where the track detection system is positioned into a framework attitude simulation test bed to obtain framework attitude simulation data.
A specific example is given below to illustrate a specific application of the device of the invention:
in order to solve the problem that the rolling and shaking data of the car body frame cannot be analyzed by using a single-axis accelerometer in the prior art, the embodiment can be used for measuring and reproducing the transverse, vertical, rolling, shaking and other moving postures of the car body frame in a laboratory, and is favorable for judging the working state of the track detection system, as shown in fig. 6, the embodiment can comprise:
1. the data synchronous acquisition module 601 (i.e. the acceleration data acquisition module) is used for synchronously acquiring acceleration data of 4 accelerometers at the arrangement positions of the frame measuring points where the rail inspection system is located;
2. the acceleration data integrating module 602 (i.e., the above-mentioned framework displacement data calculating module) is configured to integrate the acceleration data obtained by the data synchronous acquisition module into displacements along three directions of the three-axis accelerometer X, Y, Z, respectively.
3. The motion attitude calculation module 603 (i.e., the calculation processing module) is configured to calculate the displacement data obtained by the framework accelerometer integration module into the displacement and corner geometric quantities of the geometric center of the framework in the transverse direction, the vertical direction, the lateral rolling direction and the shaking direction.
4. And the waveform display and data storage module 604 is used for storing and displaying the calculated displacement and corner geometric quantities of the geometric center of the framework in the transverse direction, the vertical direction, the side rolling direction and the shaking direction.
5. And the framework posture simulation and reproduction module 605 is used for inputting the collected displacement and corner geometric quantity data of the geometric center of the framework in the transverse direction, the vertical direction, the side rolling direction and the shaking direction into the framework posture simulation test bed and simulating and reproducing the motion posture of the framework in a real line state.
6. And a test and verification module 606 for testing the frame attitude measurement device on which the rail inspection system is installed on the simulation frame when the frame simulation test bed changes the motion attitude, comparing the measurement result with the input data of the frame simulation test bed, and verifying the accuracy of the simulation test bed and the attitude measurement method.
This example is explained in detail below:
when the system is implemented specifically, the data synchronous acquisition module can be used for synchronously acquiring the acceleration data of 4 accelerometers at the arrangement positions of the measuring points of the framework where the rail inspection system is located;
in an embodiment, referring to fig. 2 and 3, the frame accelerometer can be rigidly connected to the vehicle frame, the 4 accelerometers are symmetrically distributed with the frame transverse center as the symmetry axis and the longitudinal center line, the frame accelerometer is a three-axis accelerometer, the three-axis accelerometer has a Z-axis in the direction perpendicular to the rail plane, a Y-axis parallel to the vehicle body extension direction, and an X-axis parallel to the rail plane and perpendicular to the vehicle body extension direction.
Secondly, in specific implementation, the data synchronous acquisition module is used for synchronously acquiring the acceleration data of 4 accelerometers at the arrangement positions of the measuring points of the framework where the rail inspection system is located;
in the embodiment, the data synchronous acquisition module acquires acceleration data of 12 channels in total from 4 triaxial accelerometers at the arrangement positions of the measuring points of the framework where the rail inspection system is located at a specified frequency.
Thirdly, during specific implementation, the acceleration data integration module integrates the acceleration data obtained by the data synchronous acquisition module into displacement along three directions of the triaxial accelerometer X, Y, Z;
in the embodiment, actually acquired framework acceleration data are accompanied by various interference signals, and displacement results obtained by integration are completely distorted along with the accumulation of time. And when the acceleration data is integrated, denoising, smoothing and filtering are carried out on the acceleration signal to remove the interference influence, and then integration is carried out in a frequency domain to obtain X, Y, Z accurate displacement results in three directions.
And fourthly, during specific implementation, the movement posture resolving module resolves the displacement data obtained by the framework accelerometer integration module into the displacement and corner geometric quantities of the geometric center of the framework in the transverse direction, the vertical direction, the side rolling direction and the shaking direction.
A specific embodiment of the framework attitude solution is given below to illustrate a specific application of the motion attitude solution module, which may include:
in the embodiment, a schematic diagram of the framework and the station arrangement is shown in FIG. 5. 4 triaxial accelerometers are distributed at 4 measuring points, the signal obtained by actual test is an acceleration signal of 4 measuring points, and displacement data in x, y and z directions of the 4 measuring points are obtained by integrating the measured acceleration into displacement, wherein x isi，yi，ziThe X-axis, Y-axis and Z-axis displacement signals for the 4 stations are shown, respectively.
Wherein, referring to FIG. 5, the sensor 1 is positioned at a distance a from the center of the frame1,b1The distance between the position of the sensor 2 and the center of the frame is b2,c1The distance between the position of the sensor 3 and the center of the frame is c2,d2The position of the sensor 4 is a from the center of the frame2,d1. And calculating the vertical displacement, the transverse displacement, the side rolling angle and the deflection angle of the middle point through the displacement of the 12 groups of measuring points. The transverse displacement, the vertical displacement, the left-right oscillating angle and the side rolling angle of the geometric center of the framework are respectively expressed as X0、Z0、θz、θy。
By analyzing the x-displacement of sensor No. 1 and sensor No. 2, an analysis chart is shown in fig. 7, which can be obtained from the properties of similar triangles:
Figure BDA0003326947230000131
the calculation according to the above formula can obtain the transverse displacement of the geometric center of the frame where the track detection system is located:
Figure BDA0003326947230000132
meanwhile, the degree theta of the left-right shaking angle of the framework at the geometric center of the frameworkzThe tangent of (d) can be expressed as:
Figure BDA0003326947230000133
because the angle is smaller, the left-right shaking angle thetazApproximately equal to its tangent value.
Meanwhile, the transverse displacement of the midpoint (i.e. the transverse displacement of the geometric center of the frame where the track detection system is located) obtained by analyzing the sensor No. 3 and the sensor No. 4 is as follows:
Figure BDA0003326947230000134
angle of rotation theta of left and right oscillatingzThe tangent of (d) can be expressed as:
Figure BDA0003326947230000135
therefore, the transverse displacement and the left-right shaking angle of the midpoint can be obtained by the two results.
By analyzing the z-displacement of sensor No. 1 and sensor No. 4, an analysis chart is shown in fig. 8, which can be obtained from the properties of similar triangles:
Figure BDA0003326947230000141
the vertical displacement of the midpoint (i.e. the vertical displacement of the geometric center of the frame where the track detection system is located) is calculated by the above formula:
Figure BDA0003326947230000142
at the same time, the frame side roll angle amount theta of the frame geometric centeryThe tangent (which may be referred to simply as the roll angle) may be expressed as:
Figure BDA0003326947230000143
due to the smaller angle, the side roll angle thetayApproximately equal to its tangent value.
And fifthly, in specific implementation, the waveform display and data storage module is used for storing and displaying the calculated displacement and corner geometric quantities of the geometric center of the framework in the transverse direction, the vertical direction, the side rolling direction and the shaking direction.
And sixthly, during specific implementation, the framework posture simulation and reproduction module is used for inputting the collected displacement and corner geometric quantity data of the geometric center of the framework in the vertical direction, the transverse direction, the side rolling direction and the shaking direction into the framework posture simulation test bed, and simulating and reproducing the motion posture of the framework in a real line state.
In the embodiment, as shown in fig. 9, the framework posture simulation and reproduction module includes a six-degree-of-freedom experiment platform 3, an adaptor 4, and a simulation framework 5. The six-degree-of-freedom experimental platform can read the vertical displacement, the horizontal displacement, the side rolling displacement and the oscillating displacement in four directions of the geometric center of the frame and the angular geometry of the frame, which are stored by the data storage module, and simulate the motion state of the geometric center of the recurring frame;
during specific implementation, the test and calibration module can measure the displacement and corner geometric quantities of the simulation framework center in the vertical direction, the transverse direction, the side rolling direction and the shaking direction, compare the measurement result with the input data of the framework simulation test bed, and calibrate the precision of the simulation test bed and the attitude measurement method.
In the embodiment, the principle of the measurement and verification module is the same as that of the framework attitude measurement module, measurement is performed through a three-axis accelerometer arranged on 4 feet of the simulation framework, and finally, the measurement is resolved into the vertical, transverse, side rolling and shaking head displacement and corner geometric quantities of a geometric center, and repeated parts are not repeated.
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.
The embodiment of the present invention provides a computer device for implementing all or part of the content in the motion attitude measurement method of the framework in which the above-mentioned orbit detection system is located, where the computer device specifically includes the following content:
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 method for measuring a motion posture of a frame where the trajectory detection system is located and the embodiment of the device for measuring a motion posture of a frame where the trajectory detection system is located in the embodiment, and the contents of the method and the device 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 structure to implement telecommunications or other functions.
In one embodiment, the motion attitude measurement function of the frame on which the track detection system is located may be integrated into the cpu 1001. The cpu 1001 may be configured to perform the following control:
acquiring framework motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer;
calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; and the motion attitude measurement data of the geometric center of the framework comprises displacement and rotation angle of the geometric center of the framework.
In another embodiment, the motion attitude measurement device of the frame where the track detection system is located may be configured separately from the cpu 1001, for example, the motion attitude measurement device of the frame where the track detection system is located may be configured as a chip connected to the cpu 1001, and the motion attitude measurement function of the frame where the track detection system is located is realized by the control of the cpu.
As shown in fig. 10, the computer apparatus 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 called 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 part 1022, the application/function storage part 1022 being used for storing application programs and function programs or a flow for executing the operation 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 also coupled to a speaker 1009 and a microphone 1010 via an audio processor 1005 to provide audio output via the speaker 1009 and receive audio input from the microphone 1010 to implement general 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 motion attitude measurement method of the framework where the track detection system is located.
In the embodiment of the invention, the framework motion acceleration data collected by a plurality of triaxial accelerometers is obtained; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle; calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer; calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; the motion attitude measurement data of the geometric center of the framework, including the displacement and the corner amount of the geometric center of the framework, compare with the technical scheme of using a single-axis accelerometer to carry out the measurement of the vibration state of the framework in the prior art, the accessible sets up a plurality of three-axis accelerometers, acquire the displacement data of the framework in three directions of different positions of the framework, and then realize the calculation of the displacement and the corner amount of the geometric center of the framework, the accurate measurement of the motion attitude of the geometric center of the framework is realized, the problem that the motion attitude of the framework where the rail detection system is located cannot be analyzed under the prior art is solved, the motion attitude of the framework of the rail detection system can be accurately measured, and then the measurement accuracy of the rail detection system can be assisted to be improved.
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 (22)

1. A motion attitude measurement method of a framework where a track detection system is located is characterized by comprising the following steps:
acquiring framework motion acceleration data acquired by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer;
calculating triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a frame where the track detection system is located; and the motion attitude measurement data of the geometric center of the framework comprises displacement and rotation angle of the geometric center of the framework.
2. The method of claim 1, wherein the mounting locations of the tri-axis accelerometers on the same side of the plurality of tri-axis accelerometers are symmetrical about a transverse centerline of the frame; the mounting positions of the three-axis accelerometers on different sides take the longitudinal center line of the framework as a symmetry axis.
3. The method of claim 1, wherein the frame motion acceleration data is used to describe the motion acceleration of the frame in the three directions of the X-axis, Y-axis, and Z-axis of the three-axis accelerometer; wherein, the Y-axis direction is longitudinal and parallel to the advancing direction of the vehicle frame; the X-axis direction is transverse, is vertical to the advancing direction of the vehicle frame and is parallel to the rail plane; the Z-axis direction is vertical and is vertical to the plane of the X-axis and the Y-axis;
calculating triaxial displacement data of the triaxial accelerometer according to acceleration data acquired by the triaxial accelerometer, including:
and calculating the X-axis displacement, the Y-axis displacement and the Z-axis displacement of the three-axis accelerometer according to the motion acceleration of the framework along the three directions of the X axis, the Y axis and the Z axis, which is described by the acceleration data acquired by the three-axis accelerometer.
4. The method of claim 1, wherein calculating three-axis displacement data for the three-axis accelerometer from the acceleration data collected by the three-axis accelerometer comprises:
and performing mathematical integral calculation on the acceleration data acquired by the triaxial accelerometer based on a frequency domain integral algorithm of fast Fourier transform to obtain triaxial displacement data of the triaxial accelerometer.
5. The method of claim 1, wherein the displacement of the geometric center of the frame comprises: the transverse displacement and the vertical displacement of the geometric center of the frame; the amount of turning of the geometric center of the frame includes: the side roll angle quantity and the left-right shaking angle quantity of the geometric center of the framework;
the triaxial displacement data of a plurality of triaxial accelerometers are resolved to obtain the movement attitude measurement data of the geometric center of the frame where the track detection system is located, and the method comprises the following steps:
and carrying out motion attitude calculation processing on the triaxial displacement data of the triaxial accelerometers to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located.
6. The method of claim 5, wherein the motion attitude calculation processing is performed on the triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the transverse displacement of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000021
wherein, X0The unit of the transverse displacement of the geometric center of the frame where the track detection system is located is millimeter; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2Respectively, a three-axis accelerometer 1 and threeThe X-axis displacement of the axial accelerometer 2.
7. The method of claim 5, wherein the motion attitude calculation processing is performed on the triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the vertical displacement of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000022
wherein Z is0The unit of the vertical displacement of the geometric center of the frame where the track detection system is located is millimeter; a is1And a2Respectively the distances from the positions of a triaxial accelerometer 1 and a triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively.
8. The method of claim 5, wherein the motion attitude calculation processing is performed on the triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the frame yaw angle amount of the frame at the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000023
wherein, thetazThe degree of the left-right shaking angle of the frame at the geometric center of the frame where the track detection system is located is expressed in degrees; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively.
9. The method of claim 5, wherein the motion attitude calculation processing is performed on the triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the frame roll angle of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000031
wherein, thetayThe number of the side roll angle of the frame of the geometric center of the frame where the track detection system is located is in degrees; a is1And a2Respectively the distances from the positions of a triaxial accelerometer 1 and a triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively.
10. The method of claim 1, further comprising:
and inputting the movement attitude measurement data of the geometric center of the framework where the track detection system is positioned into a framework attitude simulation test bed to obtain framework attitude simulation data.
11. A motion attitude measurement device of a frame on which a rail detection system is located, comprising:
the acceleration data acquisition module is used for acquiring the framework motion acceleration data acquired by the plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically arranged on the left side and the right side of a framework of the track detection vehicle where the track detection system is located; the left side and the right side are two sides of the vehicle body parallel to the traveling direction of the vehicle;
the framework displacement data calculation module is used for calculating triaxial displacement data of each triaxial accelerometer according to the acceleration data acquired by the triaxial accelerometer;
the calculation processing module is used for performing calculation processing on the triaxial displacement data of the triaxial accelerometers to obtain the movement attitude measurement data of the geometric center of the frame where the track detection system is located; and the motion attitude measurement data of the geometric center of the framework comprises displacement and rotation angle of the geometric center of the framework.
12. The apparatus of claim 11, wherein the mounting locations of the same one of the plurality of tri-axial accelerometers are symmetrical about a transverse centerline of the frame; the mounting positions of the three-axis accelerometers on different sides take the longitudinal center line of the framework as a symmetry axis.
13. The apparatus of claim 11, wherein the frame motion acceleration data is used to describe the acceleration of motion of the frame in three directions, the X-axis, the Y-axis, and the Z-axis, of the three-axis accelerometer; wherein, the Y-axis direction is longitudinal and parallel to the advancing direction of the vehicle frame; the X-axis direction is transverse, is vertical to the advancing direction of the vehicle frame and is parallel to the rail plane; the Z-axis direction is vertical and is vertical to the plane of the X-axis and the Y-axis;
the framework displacement data calculation module is specifically used for:
and calculating the X-axis displacement, the Y-axis displacement and the Z-axis displacement of the frame at the position of the three-axis accelerometer according to the motion acceleration of the frame along the X-axis direction, the Y-axis direction and the Z-axis direction, which is described by the acceleration data acquired by the three-axis accelerometer.
14. The apparatus of claim 11, wherein the framework displacement data calculation module is specifically configured to:
and performing mathematical integral calculation on the acceleration data acquired by the triaxial accelerometer based on a frequency domain integral algorithm of fast Fourier transform to obtain triaxial displacement data of the triaxial accelerometer.
15. The apparatus of claim 11, wherein the displacement of the geometric center of the frame comprises: the transverse displacement and the vertical displacement of the geometric center of the frame; the amount of turning of the geometric center of the frame includes: the side roll angle quantity and the left-right shaking angle quantity of the geometric center of the framework;
a calculation processing module for:
and carrying out motion attitude calculation processing on the triaxial displacement data of the triaxial accelerometers to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located.
16. The apparatus of claim 15, wherein the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the transverse displacement of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000041
wherein, X0The unit of the transverse displacement of the geometric center of the frame where the track detection system is located is millimeter; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively.
17. The apparatus of claim 15, wherein the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the vertical displacement of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000042
wherein Z is0The unit of the vertical displacement of the geometric center of the frame where the track detection system is located is millimeter; a is1And a2Respectively are three-shaft arranged on different sides of the frameworkThe speedometer 1 and the three-axis accelerometer 4 are located at a distance from the longitudinal center line of the frame; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively.
18. The apparatus of claim 15, wherein the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the frame left-right shaking angle quantity of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000051
wherein, thetazThe degree of the left-right shaking angle of the frame at the geometric center of the frame where the track detection system is located is expressed in degrees; b1And b2Respectively the positions of a triaxial accelerometer 1 and a triaxial accelerometer 2 which are arranged on the same side of the framework and the distance from the triaxial accelerometer to the transverse center line of the framework; x is the number of1And x2The X-axis displacement of the triaxial accelerometer 1 and the triaxial accelerometer 2, respectively.
19. The apparatus of claim 15, wherein the solution processing module is specifically configured to:
calculating the three-axis displacement data of the three-axis accelerometers according to the following formula to obtain the frame side rolling angle of the geometric center of the frame where the track detection system is located:
Figure FDA0003326947220000052
wherein, thetayThe number of the side roll angle of the frame of the geometric center of the frame where the track detection system is located is in degrees; a is1And a2Respectively a three-axis accelerometer 1 and a three-axis accelerometer 4 which are arranged on different sides of the frameworkPosition, distance to the longitudinal centerline of the frame; z is a radical of1And z4The Z-axis displacement of the frame of the triaxial accelerometer 1 and the triaxial accelerometer 4 respectively.
20. The apparatus of claim 11, further comprising:
a data simulation module to:
and inputting the movement attitude measurement data of the geometric center of the framework where the track detection system is positioned into a framework attitude simulation test bed to obtain framework attitude simulation data.
21. 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 10 when executing the computer program.
22. 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 10.
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