CN113983984B - Method and device for measuring motion gesture of framework where track detection system is located - Google Patents

Abstract

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

Description

Method and device for measuring motion posture of frame of track detection system

Technical Field

The present invention relates to the field of rail transportation technology, and in particular to a motion posture measurement method and device for a frame where a rail detection system is located.

Background technique

This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No description herein is admitted to be prior art by inclusion in this section.

As the most sustainable mode of transportation, rail transit is an important national basic industry and key infrastructure. With the development of my country's railways and the increase in train speed, higher quality requirements have been placed on track safety and stability, and the accuracy, reliability and consistency requirements of testing equipment have become increasingly stringent.

The track geometry detection system is the main equipment for detecting dynamic track geometry irregularities. It is distributed on the detection beam in an integrated manner to measure track geometry irregularities. The detection beam is rigidly connected to the vehicle frame. Existing data show that the motion posture of the frame will have a certain impact on the measurement accuracy of track geometry irregularities. In addition, the laboratory calibration of the track geometry detection system requires simulating and reproducing the motion state of the frame where the track geometry detection system is installed under the actual line state. Therefore, it is necessary to measure the running posture of the detection vehicle frame.

At present, two single-axis accelerometers, a vertical accelerometer and a lateral accelerometer, are generally installed on the detection vehicle frame to measure the frame vibration state. However, due to the use of single-axis accelerometers, this method can only measure the acceleration data of the frame in a single direction. Since the movement state of the frame during vehicle movement includes lateral, vertical, rolling, shaking and other movement states, the above method alone cannot truly reflect the movement posture of the vehicle frame on the line, which makes it impossible to judge the working state of the track detection system.

Summary of the invention

The embodiment of the present invention provides a method for measuring the motion posture of a frame of a track detection system, which is used to accurately measure the motion posture of the frame of the track detection system and to assist in improving the measurement accuracy of the track detection system. The method includes:

Acquire frame motion acceleration data collected by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically mounted on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the sides of the vehicle body parallel to the direction of travel of the vehicle;

For each three-axis accelerometer, calculating the three-axis displacement data of the three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer;

The three-axis displacement data of multiple three-axis accelerometers are solved and processed to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame includes the displacement and the angular amount of the geometric center of the frame.

The embodiment of the present invention further provides a motion posture measuring device of a frame of a track detection system, which is used to accurately measure the motion posture of the frame of the track detection system and to assist in improving the measurement accuracy of the track detection system. The device includes:

An acceleration data acquisition module is used to acquire frame motion acceleration data collected by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the two sides of the vehicle body parallel to the direction of travel of the vehicle;

A displacement data calculation module is constructed, which is used to calculate the three-axis displacement data of each three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer;

The solution processing module is used to solve the three-axis displacement data of multiple three-axis accelerometers to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame includes the displacement and rotation angle of the geometric center of the frame.

An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the motion posture measurement method of the architecture of the track detection system when executing the computer program.

An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for executing the motion posture measurement method of the framework in which the track detection system is located.

In an embodiment of the present invention, frame motion acceleration data collected by a plurality of three-axis accelerometers are obtained; the plurality of three-axis accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the two sides of the vehicle body parallel to the direction of travel of the vehicle; for each three-axis accelerometer, the three-axis displacement data of the three-axis accelerometer is calculated according to the acceleration data collected by the three-axis accelerometer; the three-axis displacement data of the plurality of three-axis accelerometers are solved and processed to obtain the motion posture measurement data of the geometric center of the frame where the track detection system is located; the motion of the geometric center of the frame The posture measurement data, including the displacement and angular value of the geometric center of the frame, compared with the technical solution of using a single-axis accelerometer to measure the vibration state of the frame in the prior art, can obtain the frame displacement data in three directions at different positions of the frame by setting up multiple three-axis accelerometers, thereby realizing the calculation of the displacement and angular value of the geometric center of the frame, and realizing the precise measurement of the motion posture of the geometric center of the frame, solving the problem that the motion posture of the frame where the track inspection system is located cannot be analyzed under the prior art, and can accurately measure the motion posture of the frame of the track detection system, thereby helping to improve the measurement accuracy of the track detection system.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

FIG1 is a schematic flow chart of a motion posture measurement method of a track detection system framework according to an embodiment of the present invention;

2 is a schematic diagram of the position of the measuring point of the accelerometer for measuring the attitude of the frame of a track inspection system provided by an embodiment of the present invention;

3 is a schematic diagram of the arrangement of accelerometer measurement points for measuring the attitude of a frame of a track inspection system provided by an embodiment of the present invention;

4 is a schematic diagram of the structure of a motion posture measurement device of a track detection system in an embodiment of the present invention;

5 is a diagram showing the position definition of an accelerometer measuring point of a frame attitude measurement system in an embodiment of the present invention;

6 is a specific example diagram of a motion posture measurement device of a frame in which a track detection system is located in an embodiment of the present invention;

7 is a schematic diagram of solving the lateral displacement of the frame center and the left and right shaking angles of a track inspection system provided by an embodiment of the present invention;

8 is a schematic diagram of solving the vertical displacement and roll angle of the center of a frame of a track inspection system provided by an embodiment of the present invention;

9 is a schematic diagram of the structure of a frame posture simulation device for a track inspection system provided by an embodiment of the present invention;

FIG. 10 is a schematic diagram of a computer device for measuring the motion posture of a frame in which a track detection system is located in an embodiment of the present invention.

Detailed ways

To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

At present, rail transit, as the most sustainable mode of transportation, has always been an important national basic industry and key infrastructure. With the development of my country's railways and the increase in train speed, there are higher quality requirements for track safety and stability, and the accuracy, reliability and consistency requirements of testing equipment are becoming more stringent.

The track geometry detection system is the main equipment for detecting the dynamic irregularity of track geometry. It is distributed on the detection beam in an integrated manner to measure the track geometry irregularity. The detection beam is rigidly connected to the vehicle frame. Existing data show that the motion posture of the frame will have a certain impact on the measurement accuracy of track geometry irregularity.

In addition, laboratory calibration of the track geometry detection system requires simulation and reproduction of the motion state of the structure on which the track geometry detection system is installed under actual line conditions.

Therefore, it is necessary to measure and simulate the running posture of the vehicle frame.

At present, the inspection vehicle monitors the vibration state of the frame by installing vertical and lateral accelerometers on the frame. This method can be used to evaluate the vehicle's motion stability on the line and determine whether the frame has vehicle vibrations that cannot be quickly attenuated. At the same time, according to the assessment and calibration requirements of the inspection system, it is necessary to simulate the working state of the track inspection system on the actual line. However, since the existing frame measurement method only uses two single-axis accelerometers, it is impossible to further analyze the rolling, shaking, nodding and other posture changes of the vehicle body and frame. The data cannot reproduce the actual motion state of the frame and evaluate the measurement capability of the track geometry inspection system.

In addition, although the inertial combination system based on acceleration and gyroscope has been applied to the attitude measurement of ships, aircraft, and missiles at this stage, it has relatively accurate measurement accuracy, but the gyroscope assembly needs to be installed at the center line position of the moving target as much as possible, and the gyroscope with the same accuracy has some defects in the manufacturing process, such as easy damage under large impact force, and difficult to accurately measure under large-scale high-speed movement. Considering the structural problems of the detection vehicle, the inertial combination measurement system cannot be installed at the center of the frame, and it is difficult to achieve the purpose of frame attitude measurement using this method. Therefore, it is necessary to study a method suitable for measuring the frame attitude of the detection vehicle.

In order to solve the above problems, an embodiment of the present invention provides a motion posture measurement method of a frame where a track detection system is located, so as to improve the accuracy of the motion posture measurement of the frame where the track detection system is located. As shown in FIG1 , the method may include:

Step 101: Acquire frame motion acceleration data collected by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the sides of the vehicle body parallel to the direction of travel of the vehicle;

Step 102: for each three-axis accelerometer, calculating the three-axis displacement data of the three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer;

Step 103: The three-axis displacement data of the multiple three-axis accelerometers are resolved to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame may include the displacement and the angular amount of the geometric center of the frame.

In an embodiment of the present invention, frame motion acceleration data collected by a plurality of three-axis accelerometers are obtained; the plurality of three-axis accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the two sides of the vehicle body parallel to the direction of travel of the vehicle; for each three-axis accelerometer, the three-axis displacement data of the three-axis accelerometer is calculated according to the acceleration data collected by the three-axis accelerometer; the three-axis displacement data of the plurality of three-axis accelerometers are solved and processed to obtain the motion posture measurement data of the geometric center of the frame where the track detection system is located; the motion posture measurement data of the geometric center of the frame includes the frame Compared with the technical solution of using a single-axis accelerometer to measure the vibration state of the frame in the prior art, the displacement and angular rotation of the geometric center can be obtained by setting up multiple three-axis accelerometers to obtain the frame displacement data in three directions at different positions of the frame, thereby realizing the calculation of the displacement and angular rotation of the geometric center of the frame, and realizing the precise measurement of the motion posture of the geometric center of the frame, solving the problem that the motion posture of the frame where the track inspection system is located cannot be analyzed under the prior art, and can accurately measure the motion posture of the track detection system frame, thereby supplementing the ability to determine the working state of the track geometry detection system, and assisting in improving the measurement accuracy of the track detection system.

In the specific implementation, the frame motion acceleration data collected by multiple three-axis accelerometers are first obtained; the above-mentioned multiple three-axis accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the above-mentioned left and right sides are the two sides of the vehicle body parallel to the direction of vehicle travel.

In the embodiment, the installation positions of the three-axis accelerometers on the same side of the above-mentioned multiple three-axis accelerometers take the transverse center line of the frame as the symmetry axis; the installation positions of the three-axis accelerometers on different sides take the longitudinal center line of the frame as the symmetry axis.

In one embodiment, the number of triaxial accelerometers may be four, which are installed on the frame where the track inspection system is located and arranged at the four corners of the vehicle frame respectively, and the four accelerometers are symmetrically distributed with the transverse center of the vehicle frame as the symmetry axis and the longitudinal center line.

In one embodiment, the measuring point positions of the above accelerometers can be seen in FIG2 , where the position indicated by 1 in FIG2 is the installation position of the accelerometer on the frame, and the position indicated by 2 in FIG2 is the position of the frame. The specific measuring point arrangement can be seen in FIG3 , where the four acceleration sensors in FIG3 are the installation points of the accelerometers.

In the above embodiment, obtaining the frame motion acceleration data collected by multiple triaxial accelerometers may include: synchronously collecting the frame motion acceleration data collected by multiple triaxial accelerometers to achieve the purpose of synchronously collecting the acceleration data of four accelerometers at the frame measurement point arrangement position where the track inspection system is located.

In a specific implementation, after acquiring the frame motion acceleration data collected by a plurality of three-axis accelerometers, for each three-axis accelerometer, the three-axis displacement data of the three-axis accelerometer is calculated according to the acceleration data collected by the three-axis accelerometer.

In the embodiment, the above-mentioned frame motion acceleration data is used to describe the motion acceleration of the frame where the three-axis accelerometer is located, along the X-axis, Y-axis and Z-axis directions of the three-axis accelerometer; wherein the Y-axis direction is longitudinal, parallel to the direction of travel of the vehicle frame; the X-axis direction is transverse, perpendicular to the direction of travel of the vehicle frame and parallel to the track plane; the Z-axis direction is vertical, perpendicular to the plane where the X-axis and Y-axis are located; wherein the X-axis direction and Y-axis direction mentioned here are shown in Figure 5.

Calculating the three-axis displacement data of the three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer may include:

According to the acceleration data collected by the three-axis accelerometer, the X-axis displacement, Y-axis displacement and Z-axis displacement of the frame at the location of the three-axis accelerometer are calculated according to the acceleration of the frame along the X-axis, Y-axis and Z-axis directions.

In one embodiment, calculating the three-axis displacement data of the three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer may include:

Based on the frequency domain integration algorithm of fast Fourier transform, mathematical integration calculation is performed on the acceleration data collected by the three-axis accelerometer to obtain the three-axis displacement data of the three-axis accelerometer.

In the above embodiment, the mathematical integration calculation may include: acceleration data integration, which may integrate the acceleration data of the structure measurement point layout position obtained during the above data synchronization acquisition process, and the three-axis displacement data of each three-axis accelerometer respectively, and the structure displacement data is the displacement in the three directions of X-axis, Y-axis and Z-axis.

In a specific implementation, after calculating the three-axis displacement data of each three-axis accelerometer based on the acceleration data collected by the three-axis accelerometer, the three-axis displacement data of multiple three-axis accelerometers are solved and processed to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame may include the displacement and angular amount of the geometric center of the frame.

In one embodiment, the above-mentioned solution processing may include motion posture solution, which refers to solving the displacement data obtained by integrating the frame accelerometer into the displacement and angle of the frame geometric center in four directions: lateral, vertical, roll, and head shaking, where the angle of rotation can also be called the angle geometry.

In one embodiment, the method provided by the embodiment of the present invention may further include:

The calculated displacement and rotation angle geometric quantities of the frame geometric center in the four directions of lateral, vertical, roll and yaw are stored and displayed.

In the embodiment, the displacement of the geometric center of the frame includes: the lateral displacement and vertical displacement of the geometric center of the frame; the rotation angle of the geometric center of the frame includes: the frame roll rotation angle and the frame left and right rotation angle of the geometric center of the frame.

In one embodiment, the three-axis displacement data of multiple three-axis accelerometers can be processed by motion posture calculation according to the following formula to obtain the lateral displacement of the geometric center of the frame where the track detection system is located:

Wherein, _X0 is the lateral displacement of the geometric center of the frame where the track detection system is located, in millimeters; _b1 and _b2 are the distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 2 installed on the same side of the frame to the lateral centerline of the frame; _x1 and _x2 are the X-axis displacements of the triaxial accelerometer 1 and the triaxial accelerometer 2. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 2 can be seen in Figure 5.

In one embodiment, the three-axis displacement data of multiple three-axis accelerometers can be processed by motion posture calculation according to the following formula to obtain the vertical displacement of the geometric center of the frame where the track detection system is located:

Wherein, _Z0 is the vertical displacement of the geometric center of the frame where the track detection system is located, in millimeters; _a1 and _a2 are the distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 installed on different sides of the frame to the longitudinal centerline of the frame; _z1 and _z4 are the Z-axis displacements of the triaxial accelerometer 1 and the triaxial accelerometer 4. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 can be seen in FIG5.

In one embodiment, the three-axis displacement data of multiple three-axis accelerometers can be processed by motion posture analysis according to the following formula to obtain the left and right shaking angle of the frame at the geometric center of the frame where the track detection system is located:

Among them, _θz is the degree of the left and right shaking angle of the frame at the geometric center of the frame where the track detection system is located, in degrees; _b1 and _b2 are respectively the distances from the positions of the three-axis accelerometer 1 and the three-axis accelerometer 2 installed on the same side of the frame to the transverse center line of the frame; _x1 and _x2 are respectively the X-axis displacements of the three-axis accelerometer 1 and the three-axis accelerometer 2. The positions of the three-axis accelerometer 1 and the three-axis accelerometer 2 can be shown in Figure 5.

In one embodiment, the three-axis displacement data of multiple three-axis accelerometers can be processed by motion posture calculation according to the following formula to obtain the frame roll angle of the frame geometric center where the track detection system is located:

Wherein, _θy is the degree of the frame roll angle at the geometric center of the frame where the track detection system is located, in degrees; _a1 and _a2 are respectively the distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 installed on different sides of the frame to the longitudinal centerline of the frame; _z1 and _z4 are respectively the Z-axis displacements of the triaxial accelerometer 1 and the triaxial accelerometer 4. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 can be seen in FIG5.

In specific implementation, a method for measuring the motion attitude of a frame where a track detection system is located provided in an embodiment of the present invention may also include: inputting the motion attitude measurement data of the geometric center of the frame where the track detection system is located into a frame attitude simulation test bench to obtain frame attitude simulation data.

In an embodiment, the collected displacement and angular geometry data of the frame geometric center in the four directions of lateral, vertical, roll and head shaking can be input into a frame posture simulation test bench to simulate and reproduce the motion posture of the frame under the actual line state, thereby realizing the posture reproduction of the vehicle frame for detection.

In one embodiment, by inputting the motion posture measurement data of the geometric center of the frame where the track detection system is located into a frame posture simulation test bench, when the frame simulation test bench undergoes motion posture changes, the frame posture measurement device where the track detection system is located can be installed on the simulated frame for measurement, and the measurement result can be compared with the input data of the frame simulation test bench, thereby confirming the accuracy of the motion posture measurement method for the frame where the track detection system is located provided in the embodiment of the present invention.

In an embodiment of the present invention, frame motion acceleration data collected by a plurality of three-axis accelerometers are obtained; the plurality of three-axis accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the two sides of the vehicle body parallel to the direction of travel of the vehicle; for each three-axis accelerometer, the three-axis displacement data of the three-axis accelerometer is calculated according to the acceleration data collected by the three-axis accelerometer; the three-axis displacement data of the plurality of three-axis accelerometers are solved and processed to obtain the motion posture measurement data of the geometric center of the frame where the track detection system is located; the motion of the geometric center of the frame The posture measurement data includes the displacement and angular value of the frame geometric center. Compared with the technical solution of using a single-axis accelerometer to measure the frame vibration state in the prior art, multiple three-axis accelerometers can be set to obtain the frame displacement data in three directions at different positions of the frame, thereby realizing the calculation of the displacement and angular value of the frame geometric center, realizing the precise measurement of the motion posture of the frame geometric center, solving the problem that the motion posture of the frame where the track inspection system is located cannot be analyzed under the prior art, and can accurately measure the motion posture of the frame of the track inspection system, thereby helping to improve the measurement accuracy of the track inspection system.

As mentioned above, the method for measuring the posture of the frame of the track inspection system provided in the embodiment of the present invention is conducive to analyzing and evaluating the influence of the motion posture of the frame on the measurement accuracy of track geometry irregularity, and improving the measurement method and detection equipment; at the same time, it provides the motion posture under real line conditions for the calibration of the track geometry detection system, and improves the assessment and calibration capabilities of the track geometry detection system.

The present invention also provides a motion posture measurement device for the frame where the track detection system is located, as described in the following embodiments. Since the principle of the device to solve the problem is similar to the motion posture measurement method for the frame where the track detection system is located, the implementation of the device can refer to the implementation of the motion posture measurement method for the frame where the track detection system is located, and the repeated parts will not be repeated.

The embodiment of the present invention further provides a motion posture measurement device of a frame where a track detection system is located, which is used to improve the accuracy of motion posture measurement of the frame where the track detection system is located. As shown in FIG4 , the device includes:

The acceleration data acquisition module 401 is used to acquire the frame motion acceleration data collected by multiple triaxial accelerometers; the multiple triaxial accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the two sides of the vehicle body parallel to the moving direction of the vehicle;

A displacement data calculation module 402 is configured to calculate the three-axis displacement data of each three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer;

The solution processing module 403 is used to solve the three-axis displacement data of multiple three-axis accelerometers to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame may include the displacement and rotation angle of the geometric center of the frame.

In one embodiment, the installation positions of the three-axis accelerometers on the same side of the above-mentioned multiple three-axis accelerometers take the transverse center line of the frame as the symmetry axis; the installation positions of the three-axis accelerometers on different sides take the longitudinal center line of the frame as the symmetry axis.

In one embodiment, the frame motion acceleration data is used to describe the motion acceleration of the frame where the triaxial accelerometer is located, along the three directions of the X-axis, Y-axis and Z-axis of the triaxial accelerometer; wherein the Y-axis direction is longitudinal, parallel to the direction of travel of the vehicle frame; the X-axis direction is transverse, perpendicular to the direction of travel of the vehicle frame and parallel to the track plane; the Z-axis direction is vertical, perpendicular to the plane where the X-axis and Y-axis are located;

The framework displacement data calculation module is specifically used for:

According to the acceleration data collected by the three-axis accelerometer, the X-axis displacement, Y-axis displacement and Z-axis displacement of the frame at the location of the three-axis accelerometer are calculated according to the acceleration of the frame along the X-axis, Y-axis and Z-axis directions.

In one embodiment, a displacement data calculation module is constructed, specifically for:

Based on the frequency domain integration algorithm of fast Fourier transform, mathematical integration calculation is performed on the acceleration data collected by the three-axis accelerometer to obtain the three-axis displacement data of the three-axis accelerometer.

In one embodiment, the displacement of the geometric center of the frame includes: the lateral displacement and the vertical displacement of the geometric center of the frame; the rotation angle of the geometric center of the frame includes: the roll rotation angle and the left and right swing rotation angle of the geometric center of the frame;

Solution processing module, used for:

The three-axis displacement data of multiple three-axis accelerometers are processed by motion attitude solution 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 used to:

The three-axis displacement data of multiple three-axis accelerometers are processed by motion attitude calculation according to the following formula to obtain the lateral displacement of the geometric center of the frame where the track detection system is located:

Wherein, _X0 is the lateral displacement of the geometric center of the frame where the track detection system is located, in millimeters; _b1 and _b2 are the distances from the positions of triaxial accelerometer 1 and triaxial accelerometer 2 installed on the same side of the frame to the lateral centerline of the frame; _x1 and _x2 are the X-axis displacements of triaxial accelerometer 1 and triaxial accelerometer 2, respectively.

In one embodiment, the solution processing module is specifically used to:

The three-axis displacement data of multiple three-axis accelerometers are processed by motion attitude calculation according to the following formula to obtain the vertical displacement of the geometric center of the frame where the track detection system is located:

Wherein, _Z0 is the vertical displacement of the geometric center of the frame where the track detection system is located, in millimeters; _a1 and _a2 are the positions of triaxial accelerometer 1 and triaxial accelerometer 4 installed on different sides of the frame and the distance to the longitudinal center line of the frame; _z1 and _z4 are the Z-axis displacements of triaxial accelerometer 1 and triaxial accelerometer 4, respectively.

In one embodiment, the solution processing module is specifically used to:

The three-axis displacement data of multiple three-axis accelerometers are processed by motion posture calculation according to the following formula to obtain the left and right shaking angle of the frame at the geometric center of the track detection system:

Wherein, _θz is the left and right swing angle of the frame at the geometric center of the frame where the track detection system is located, in degrees; _b1 and _b2 are the positions of triaxial accelerometer 1 and triaxial accelerometer 2 installed on the same side of the frame and the distance to the transverse centerline of the frame; _x1 and _x2 are the X-axis displacements of triaxial accelerometer 1 and triaxial accelerometer 2, respectively.

In one embodiment, the solution processing module is specifically used to:

The three-axis displacement data of multiple three-axis accelerometers are processed by motion attitude calculation according to the following formula to obtain the frame roll angle of the frame geometric center where the track detection system is located:

Wherein, _θy is the degree of the frame roll angle at the geometric center of the frame where the track detection system is located, in degrees; _a1 and _a2 are the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 installed on different sides of the frame and the distance to the longitudinal centerline of the frame; _z1 and _z4 are the Z-axis displacements of the triaxial accelerometer 1 and the triaxial accelerometer 4, respectively.

In one embodiment, the above device may further include:

Data simulation module for:

The motion attitude measurement data of the geometric center of the frame where the track detection system is located is input into the frame attitude simulation test bench to obtain the frame attitude simulation data.

A specific embodiment is given below to illustrate the specific application of the device of the present invention:

In order to solve the problem that the roll and shake data of the vehicle frame cannot be analyzed due to the use of a single-axis accelerometer in the prior art, this embodiment can be used to measure and reproduce the lateral, vertical, rolling, shake and other motion postures of the vehicle frame in the laboratory, which is conducive to judging the working state of the track detection system. As shown in FIG6 , this embodiment may include:

1. Data synchronization acquisition module 601 (i.e. the above-mentioned acceleration data acquisition module), used for synchronously acquiring acceleration data of four accelerometers arranged at the measuring point of the frame where the track inspection system is located;

2. The acceleration data integration module 602 (ie, the above-mentioned frame displacement data calculation module) is used to integrate the acceleration data obtained by the data synchronization acquisition module into displacements along the three directions of X, Y, and Z of the three-axis accelerometer.

3. The motion posture solving module 603 (ie the solving and processing module mentioned above) is used to solve the displacement data obtained by the frame accelerometer integration module into the displacement and angular geometry of the frame geometric center in the four directions of lateral, vertical, roll and head shaking.

4. The waveform display and data storage module 604 is used to store and display the calculated displacement and angular geometry of the frame geometric center in four directions: lateral, vertical, rolling and swaying.

5. The frame attitude simulation and reproduction module 605 is used to input the collected displacement and angular geometry data of the frame geometric center in the four directions of lateral, vertical, roll and head shaking into the frame attitude simulation test bench to simulate and reproduce the motion attitude of the frame under the real line state.

6. Test verification module 606. When the frame simulation test bench undergoes motion posture changes, the frame posture measurement device where the track inspection system is installed on the simulated frame can be used for measurement, and the measurement results can be compared with the input data of the frame simulation test bench to verify the accuracy of the simulation test bench and the posture measurement method.

The following is a detailed description of this embodiment:

1. In specific implementation, the data synchronization acquisition module can be used to synchronously acquire acceleration data of four accelerometers at the measurement point arrangement position of the track inspection system;

In the embodiment, referring to FIG. 2 and FIG. 3 , the frame accelerometer can be rigidly connected to the vehicle frame, and the four accelerometers are symmetrically distributed with the transverse center of the frame as the symmetry axis and the longitudinal center line. The frame accelerometer is a three-axis accelerometer, and the Z-axis of the three-axis accelerometer is perpendicular to the track plane, the Y-axis is parallel to the extension direction of the vehicle body, and the X-axis is parallel to the track plane and perpendicular to the extension direction of the vehicle body.

2. In the specific implementation, the data synchronization acquisition module is used to synchronously acquire the acceleration data of four accelerometers at the measurement point arrangement position of the frame where the track inspection system is located;

In the embodiment, the data synchronization acquisition module acquires acceleration data of 12 channels in total from four triaxial accelerometers arranged at the measuring point of the frame where the track inspection system is located at a specified frequency.

3. In specific implementation, the acceleration data integration module integrates the acceleration data obtained by the data synchronization acquisition module into displacements along the three directions of X, Y, and Z of the three-axis accelerometer;

In the embodiment, the actual collected frame acceleration data is accompanied by various interference signals, and the displacement result obtained by integration is completely distorted as time accumulates. When integrating the acceleration data, the acceleration signal is denoised, smoothed, and filtered to remove the interference effect, and then integrated in the frequency domain to obtain accurate displacement results in the three directions of X, Y, and Z.

4. In the specific implementation, the motion posture solving module solves the displacement data obtained by the frame accelerometer integration module into the displacement and angular geometry of the frame geometric center in four directions: lateral, vertical, roll, and head shaking.

A specific embodiment of the frame posture solution is given below to illustrate the specific application of the motion posture solution module, which may include:

In the embodiment, the schematic diagram of the framework and the arrangement of the measuring points is shown in Figure 5. Four triaxial accelerometers are distributed at the four measuring points. The signals obtained by the actual test are the acceleration signals of the four measuring points. By integrating the measured acceleration into displacement, the displacement data of the four measuring points in the x, y, and z directions are obtained. Here, x _i , y _i , and _zi represent the displacement signals of the x-axis, y-axis, and z-axis of the four measuring points, respectively.

As shown in FIG5 , the distance between sensor 1 and the center of the frame is a ₁ , b ₁ , the distance between sensor 2 and the center of the frame is b ₂ , c ₁ , the distance between sensor 3 and the center of the frame is c ₂ , d ₂ , and the distance between sensor 4 and the center of the frame is a ₂ , d ₁ . The vertical displacement, lateral displacement, roll angle, and deflection angle of the midpoint are calculated through the displacement of 12 groups of measuring points. The lateral displacement, vertical displacement, left and right panning angle, and roll angle of the geometric center of the frame are expressed as X ₀ , Z ₀ , θ _z , and θ _y , respectively.

By analyzing the x-direction displacement of sensor No. 1 and sensor No. 2, the analysis diagram is shown in Figure 7. From the properties of similar triangles, it can be obtained that:

Through the above calculation, the lateral displacement of the geometric center of the frame where the track detection system is located is:

At the same time, the tangent of the frame's left and right swing angle _θz at the frame's geometric center can be expressed as:

Since the angle is small, the left and right shaking angle _θz is approximately equal to its tangent value.

At the same time, the analysis of sensor No. 3 and sensor No. 4 can also obtain the lateral displacement of the midpoint (that is, the lateral displacement of the geometric center of the frame where the above-mentioned track detection system is located) as follows:

The tangent of the left and right shaking angle _θz can be expressed as:

Therefore, the above two results can both calculate the lateral displacement of the midpoint and the left and right shaking angles.

By analyzing the z-direction displacement of sensor No. 1 and sensor No. 4, the analysis diagram is shown in Figure 8. From the properties of similar triangles, it can be obtained that:

Through the above calculation, 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:

At the same time, the tangent of the frame roll angle _θy (which can be referred to as the roll angle) at the frame geometric center can be expressed as:

Due to the small angle, the roll angle _θy is approximately equal to its tangent.

5. In the specific implementation, the waveform display and data storage module is used to store and display the calculated displacement and angular geometry of the frame geometric center in the four directions of lateral, vertical, roll and yaw.

6. In the specific implementation, the frame attitude simulation and reproduction module is used to input the collected displacement and angular geometry data of the vertical, lateral, rolling and shaking directions of the frame geometric center into the frame attitude simulation test bench to simulate and reproduce the movement attitude of the frame under the real line state.

In the embodiment, as shown in FIG9 , the frame posture simulation and reproduction module includes a six-degree-of-freedom experimental platform 3, an adapter 4, and a simulation frame 5. The six-degree-of-freedom experimental platform can read the displacement and angular geometry of the frame geometric center in the vertical, lateral, rolling, and shaking directions stored in the data storage module, and simulate the motion state of the frame geometric center. The adapter is used to connect the six-degree-of-freedom experimental platform and the simulation frame, so that the simulation frame moves according to the posture of the six-degree-of-freedom platform, and reproduces the motion posture of the vehicle body frame under the real line state;

During specific implementation, the test and verification module can measure the displacement and angular geometry of the vertical, lateral, roll and head rotation directions of the simulated frame center, and compare the measurement results with the input data of the frame simulation test bench to verify the accuracy of the simulation test bench and the attitude measurement method.

In the embodiment, the principle of the measurement and verification module is the same as that of the frame attitude measurement module. The measurement is performed by a three-axis accelerometer installed on the four feet of the simulated frame, and finally solved into the displacement and angular geometry of the four directions of vertical, lateral, roll and head shaking of the geometric center. The repetitions are not repeated here.

Of course, it is understandable that the above detailed process may have other variations, and the relevant variations should all fall within the protection scope of the present invention.

The embodiment of the present invention provides an embodiment of a computer device for implementing all or part of the content of the motion posture measurement method of the framework of the track detection system. The computer device specifically includes the following content:

Processor, memory, communication interface and bus; wherein the processor, memory and communication interface communicate with each other through the bus; the communication interface is used to realize information transmission between related devices; the computer device can be a desktop computer, a tablet computer and a mobile terminal, etc., but the present embodiment is not limited thereto. In the present embodiment, the computer device can be implemented with reference to the embodiment of the method for measuring the motion posture of the frame where the track detection system is located and the embodiment of the device for measuring the motion posture of the frame where the track detection system is located, and the contents thereof are incorporated herein, and the repeated parts are not repeated.

FIG10 is a schematic block diagram of the system structure of a computer device 1000 according to an embodiment of the present application. As shown in FIG10 , the computer device 1000 may include a central processor 1001 and a memory 1002; the memory 1002 is coupled to the central processor 1001. It is worth noting that FIG10 is exemplary; other types of structures may also be used to supplement or replace the structure to implement telecommunication functions or other functions.

In one embodiment, the motion posture measurement function of the frame where the track detection system is located can be integrated into the central processor 1001. The central processor 1001 can be configured to perform the following control:

Acquire frame motion acceleration data collected by a plurality of triaxial accelerometers; the plurality of triaxial accelerometers are symmetrically mounted on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the sides of the vehicle body parallel to the direction of travel of the vehicle;

For each three-axis accelerometer, calculating the three-axis displacement data of the three-axis accelerometer according to the acceleration data collected by the three-axis accelerometer;

The three-axis displacement data of multiple three-axis accelerometers are solved and processed to obtain the motion attitude measurement data of the geometric center of the frame where the track detection system is located; the motion attitude measurement data of the geometric center of the frame includes the displacement and the angular amount of the geometric center of the frame.

In another embodiment, the motion posture measurement device of the frame where the track detection system is located can be configured separately from the central processor 1001. For example, the motion posture measurement device of the frame where the track detection system is located can be configured as a chip connected to the central processor 1001, and the motion posture measurement function of the frame where the track detection system is located is realized through the control of the central processor.

As shown in FIG10 , the computer device 1000 may further include: a communication module 1003, an input unit 1004, an audio processor 1005, a display 1006, and a power supply 1007. It is worth noting that the computer device 1000 does not necessarily include all the components shown in FIG10 ; in addition, the computer device 1000 may also include components not shown in FIG10 , and reference may be made to the prior art.

As shown in FIG. 10 , the central processor 1001 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor devices and/or logic devices. The central processor 1001 receives inputs and controls the operations of various components of the computer device 1000 .

The memory 1002 may be, for example, a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices, or one or more thereof. The above-mentioned information related to the failure may be stored, and a program for executing the related information may also be stored. The central processing unit 1001 may execute the program stored in the memory 1002 to implement information storage or processing, etc.

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 provide power to the computer device 1000. The display 1006 is used to display display objects such as images and text. 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 a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 1002 may also be some other type of device. The memory 1002 includes a buffer memory 1021 (sometimes referred to as a buffer). The memory 1002 may include an application/function storage unit 1022, which is used to store application programs and function programs or processes for executing the operation of the computer device 1000 through the central processor 1001.

The memory 1002 may also include a data storage unit 1023 for storing data, such as contacts, digital data, pictures, sounds, and/or any other data used by the computer device. The driver storage unit 1024 of the memory 1002 may include various drivers for the computer device for communication functions and/or for executing other functions of the computer device (such as messaging applications, address book applications, etc.).

The communication module 1003 is a transmitter/receiver 1003 that sends and receives signals via the antenna 1008. The communication module (transmitter/receiver) 1003 is coupled to the central processor 1001 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

Based on different communication technologies, multiple communication modules 1003 may be provided in the same computer device, such as a cellular network module, a Bluetooth module and/or a wireless local area network module, etc. The communication module (transmitter/receiver) 1003 is also coupled to a speaker 1009 and a microphone 1010 via an audio processor 1005 to provide an audio output via the speaker 1009 and receive an audio input from the microphone 1010, thereby realizing a common telecommunication function. The audio processor 1005 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 1005 is also coupled to the central processor 1001, so that recording can be performed on the local machine through the microphone 1010, and the sound stored on the local machine can be played through the speaker 1009.

An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for executing the motion posture measurement method of the framework of the track detection system.

In an embodiment of the present invention, frame motion acceleration data collected by a plurality of three-axis accelerometers are obtained; the plurality of three-axis accelerometers are symmetrically installed on the left and right sides of the frame of the track detection vehicle where the track detection system is located; the left and right sides are the two sides of the vehicle body parallel to the direction of travel of the vehicle; for each three-axis accelerometer, the three-axis displacement data of the three-axis accelerometer is calculated according to the acceleration data collected by the three-axis accelerometer; the three-axis displacement data of the plurality of three-axis accelerometers are solved and processed to obtain the motion posture measurement data of the geometric center of the frame where the track detection system is located; the motion of the geometric center of the frame The posture measurement data, including the displacement and angular value of the geometric center of the frame, compared with the technical solution of using a single-axis accelerometer to measure the vibration state of the frame in the prior art, can obtain the frame displacement data in three directions at different positions of the frame by setting up multiple three-axis accelerometers, thereby realizing the calculation of the displacement and angular value of the geometric center of the frame, and realizing the precise measurement of the motion posture of the geometric center of the frame, solving the problem that the motion posture of the frame where the track inspection system is located cannot be analyzed under the prior art, and can accurately measure the motion posture of the frame of the track detection system, thereby helping to improve the measurement accuracy of the track detection system.

Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

The present invention is described with reference to the flowchart and/or block diagram of the method, device (system), and computer program product according to the embodiment of the present invention. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the process and/or box in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims (16)

1. A method for measuring the motion attitude of a frame in which a track detection system is located, comprising:

acquiring 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 arranged; the left side and the right side are two sides of the vehicle body parallel to the running direction of the vehicle;

for each triaxial accelerometer, calculating triaxial displacement data of the triaxial accelerometer according to acceleration data acquired by the triaxial accelerometer; the frame motion acceleration data are used for describing the motion acceleration of the position frame where the triaxial accelerometer is located along the X axis, the Y axis and the Z axis of the triaxial accelerometer; wherein the Y-axis direction is longitudinal and parallel to the travelling direction of the vehicle frame; the X-axis direction is transverse, perpendicular to the traveling direction of the vehicle frame and parallel to the track plane; the Z-axis direction is vertical and is vertical to the plane where the X-axis and the Y-axis are located; according to the acceleration data collected by the triaxial accelerometer, calculating triaxial displacement data of the triaxial accelerometer comprises the following steps: according to the motion acceleration of the framework along the X axis, the Y axis and the Z axis, which are described by the acceleration data collected by the triaxial accelerometer, the X axis displacement, the Y axis displacement and the Z axis displacement of the triaxial accelerometer are calculated; according to the acceleration data collected by the triaxial accelerometer, calculating triaxial displacement data of the triaxial accelerometer comprises the following steps: performing mathematical integral calculation on 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;

Carrying out resolving processing on triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of the geometric center of a framework where the track detection system is located; the motion attitude measurement data of the framework geometric center comprises displacement and rotation angle of the framework geometric center; the displacement of the geometric center of the framework comprises the following steps: the lateral displacement and the vertical displacement of the geometric center of the framework; the rotation angle of the geometric center of the framework comprises the following steps: a side roll angle amount and a left and right roll angle amount of the geometric center of the frame; carrying out resolving processing on triaxial displacement data of a plurality of triaxial accelerometers to obtain motion attitude measurement data of a geometric center of a framework where a track detection system is located, wherein the method comprises the following steps: and carrying out motion attitude resolving processing on the triaxial displacement data of the triaxial accelerometers to obtain motion attitude measurement data of the geometric center of the framework where the track detection system is located.

2. The method of claim 1, wherein the mounting locations of the tri-axial accelerometers on the same side of the plurality of tri-axial accelerometers are about a transverse centerline of the frame as an axis of symmetry; the mounting positions of the triaxial accelerometers on different sides take the longitudinal center line of the framework as a symmetry axis.

3. The method of claim 1, wherein the motion gesture calculation process is performed on the triaxial displacement data of the plurality of triaxial accelerometers according to the following formula to obtain a lateral displacement of a geometric center of a framework where the track detection system is located:

wherein X is ₀ The transverse displacement is the transverse displacement of the geometric center of the framework where the track detection system is positioned, and the unit is millimeter; b ₁ And b ₂ The distance from the position of the triaxial accelerometer 1 and the triaxial accelerometer 2 which are arranged on the same side of the framework to the transverse central line of the framework; x is x ₁ And x ₂ The X-axis displacement amounts of the triaxial accelerometer 1 and the triaxial accelerometer 2 respectively.

4. The method of claim 1, wherein the motion gesture calculation process is performed on the triaxial displacement data of the plurality of triaxial accelerometers according to the following formula to obtain a vertical displacement amount of a geometric center of a framework where the track detection system is located:

wherein Z is ₀ The vertical displacement is the vertical displacement of the geometric center of the framework where the track detection system is positioned, and the unit is millimeter; a, a ₁ And a ₂ The distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework are respectively; z ₁ And z ₄ The Z-axis displacement of the three-axis accelerometer 1 and the three-axis accelerometer 4 respectively.

5. The method of claim 1, wherein the motion attitude calculation process is performed on the triaxial displacement data of the plurality of triaxial accelerometers according to the following formula to obtain the left and right swing angle amounts of the framework in the geometrical center of the framework where the track detection system is located:

wherein θ _z The unit is the degree of the left and right shaking head rotation angle of the framework in which the track detection system is positioned; b ₁ And b ₂ The distance from the position of the triaxial accelerometer 1 and the triaxial accelerometer 2 which are arranged on the same side of the framework to the transverse central line of the framework; x is x ₁ And x ₂ The X-axis displacement amounts of the triaxial accelerometer 1 and the triaxial accelerometer 2 respectively.

6. The method of claim 1, wherein the motion attitude calculation process is performed on the three-axis displacement data of the plurality of three-axis accelerometers according to the following formula to obtain a frame side roll angle quantity of a frame geometric center where the track detection system is located:

wherein θ _y The degree of the side rolling angle of the framework is the degree of the geometrical center of the framework where the track detection system is positioned; a, a ₁ And a ₂ The distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework are respectively; z ₁ And z ₄ The Z-axis displacement of the three-axis accelerometer 1 and the three-axis accelerometer 4 respectively.

7. The method as recited in claim 1, further comprising:

and inputting the motion gesture measurement data of the geometric center of the framework where the track detection system is positioned into a framework gesture simulation test bed to obtain framework gesture simulation data.

8. A motion attitude measurement device of a frame in which a track detection system is located, comprising:

the acceleration data acquisition module is used for acquiring frame 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 arranged; the left side and the right side are two sides of the vehicle body parallel to the running direction of the vehicle;

the framework displacement data calculation module is used for calculating triaxial displacement data of each triaxial accelerometer according to acceleration data acquired by the triaxial accelerometer; the frame motion acceleration data are used for describing the motion acceleration of the position frame where the triaxial accelerometer is located along the X axis, the Y axis and the Z axis of the triaxial accelerometer; wherein the Y-axis direction is longitudinal and parallel to the travelling direction of the vehicle frame; the X-axis direction is transverse, perpendicular to the traveling direction of the vehicle frame and parallel to the track plane; the Z-axis direction is vertical and is vertical to the plane where the X-axis and the Y-axis are located; the framework displacement data calculation module is specifically used for: according to the motion acceleration of the framework along the X axis, the Y axis and the Z axis, which are described by the acceleration data collected by the triaxial accelerometer, the X axis displacement, the Y axis displacement and the Z axis displacement of the triaxial accelerometer are calculated; the framework displacement data calculation module is specifically used for: performing mathematical integral calculation on 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;

The resolving processing module is used for resolving triaxial displacement data of the plurality of triaxial accelerometers to obtain motion attitude measurement data of the geometrical center of the framework where the track detection system is located; the motion attitude measurement data of the framework geometric center comprises displacement and rotation angle of the framework geometric center; the displacement of the geometric center of the framework comprises the following steps: the lateral displacement and the vertical displacement of the geometric center of the framework; the rotation angle of the geometric center of the framework comprises the following steps: a side roll angle amount and a left and right roll angle amount of the geometric center of the frame; the resolving processing module is used for: and carrying out motion attitude resolving processing on the triaxial displacement data of the triaxial accelerometers to obtain motion attitude measurement data of the geometric center of the framework where the track detection system is located.

9. The apparatus of claim 8, wherein the mounting locations of the tri-axial accelerometers on the same side of the plurality of tri-axial accelerometers are about a transverse centerline of the frame as an axis of symmetry; the mounting positions of the triaxial accelerometers on different sides take the longitudinal center line of the framework as a symmetry axis.

10. The apparatus of claim 8, wherein the resolution processing module is specifically configured to:

And carrying out motion attitude calculation processing on triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the transverse displacement of the geometrical center of the framework where the track detection system is located:

wherein X is ₀ The transverse displacement is the transverse displacement of the geometric center of the framework where the track detection system is positioned, and the unit is millimeter; b ₁ And b ₂ The distance from the position of the triaxial accelerometer 1 and the triaxial accelerometer 2 which are arranged on the same side of the framework to the transverse central line of the framework; x is x ₁ And x ₂ The X-axis displacement amounts of the triaxial accelerometer 1 and the triaxial accelerometer 2 respectively.

11. The apparatus of claim 8, wherein the resolution processing module is specifically configured to:

and carrying out motion attitude calculation processing on triaxial displacement data of the triaxial accelerometers according to the following formula to obtain the vertical displacement of the geometrical center of the framework where the track detection system is located:

wherein Z is ₀ The vertical displacement is the vertical displacement of the geometric center of the framework where the track detection system is positioned, and the unit is millimeter; a, a ₁ And a ₂ The distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework are respectively; z ₁ And z ₄ The Z-axis displacement of the three-axis accelerometer 1 and the three-axis accelerometer 4 respectively.

12. The apparatus of claim 8, wherein the resolution processing module is specifically configured to:

and carrying out motion attitude calculation processing on triaxial displacement data of a plurality of triaxial accelerometers according to the following formula to obtain the left and right shaking head rotation angle of the framework in the geometrical center of the framework where the track detection system is positioned:

wherein θ _z The unit is the degree of the left and right shaking head rotation angle of the framework in which the track detection system is positioned; b ₁ And b ₂ The distance from the position of the triaxial accelerometer 1 and the triaxial accelerometer 2 which are arranged on the same side of the framework to the transverse central line of the framework; x is x ₁ And x ₂ The X-axis displacement amounts of the triaxial accelerometer 1 and the triaxial accelerometer 2 respectively.

13. The apparatus of claim 8, wherein the resolution processing module is specifically configured to:

and carrying out motion attitude calculation processing on triaxial displacement data of a plurality of triaxial accelerometers according to the following formula to obtain a framework side rolling angle quantity of a framework geometric center where the track detection system is positioned:

wherein θ _y The degree of the side rolling angle of the framework is the degree of the geometrical center of the framework where the track detection system is positioned; a, a ₁ And a ₂ The distances from the positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 which are arranged on different sides of the framework to the longitudinal center line of the framework are respectively; z ₁ And z ₄ The Z-axis displacement of the three-axis accelerometer 1 and the three-axis accelerometer 4 respectively.

14. The apparatus as recited in claim 8, further comprising:

the data simulation module is used for:

and inputting the motion gesture measurement data of the geometric center of the framework where the track detection system is positioned into a framework gesture simulation test bed to obtain framework gesture simulation data.

15. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1 to 7 when executing the computer program.

16. 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 7.