CN113983984B - Method and device for measuring motion gesture of framework where track detection system is located - Google Patents
Method and device for measuring motion gesture of framework where track detection system is located Download PDFInfo
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- CN113983984B CN113983984B CN202111266063.8A CN202111266063A CN113983984B CN 113983984 B CN113983984 B CN 113983984B CN 202111266063 A CN202111266063 A CN 202111266063A CN 113983984 B CN113983984 B CN 113983984B
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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
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a device for measuring the motion gesture 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 traffic is the national important infrastructure and critical infrastructure. Along with the development of railways and the acceleration of trains in China, the requirements on the safety and stability of the tracks are higher, and the requirements on the accuracy, the reliability and the consistency of detection equipment are also stricter.
The track geometry detection system is main equipment for detecting track geometry dynamic irregularity, is distributed on a detection beam in an integrated mode to measure the track geometry irregularity, and is rigidly connected with a vehicle framework, and the existing data show that the movement posture of the framework can have a certain influence on the track geometry irregularity measurement accuracy; in addition, laboratory calibration of the track geometry detection system requires simulation of the motion state of the framework where the track geometry detection system is installed in a real line state. It is therefore necessary to perform measurements of the operational attitude of the test vehicle frame.
At present, two single-axis accelerometers, namely a vertical accelerometer and a transverse accelerometer, are generally arranged on a detection vehicle framework to realize the measurement of the vibration state of the framework. However, the method only can measure the acceleration data of the framework in a single direction due to the use of the single-axis accelerometer, and the working state of the track detection system cannot be judged because the movement state of the framework in the vehicle movement process comprises the movement states of transverse direction, vertical direction, side rolling, head shaking and the like and the movement gesture of the vehicle framework on the line cannot be truly reflected only by the method.
Disclosure of Invention
The embodiment of the invention provides a method for measuring the movement posture of a framework where a track detection system is positioned, which is used for accurately measuring the movement posture 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 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 embodiment of the invention also provides a motion gesture measuring device of the framework where the track detection system is positioned, which is used for accurately measuring the motion gesture 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 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 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 embodiment of the invention also provides a computer device which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the motion gesture measuring method of the framework where the track detection system is located when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium which stores a computer program for executing the motion gesture measuring method of the framework where the track detection system is located.
In the embodiment of the invention, frame motion acceleration data acquired by a plurality of triaxial accelerometers are acquired; 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, and compared with the technical scheme that the single-axis accelerometer is used for measuring the vibration state of the framework in the prior art, the three-axis accelerometer is arranged to obtain the displacement data of the framework in three directions at different positions of the framework, so that the displacement and rotation angle of the framework geometric center are calculated, the accurate measurement of the motion attitude of the framework geometric center is realized, the problem that the motion attitude of the framework where the track detection system is located cannot be analyzed in the prior art is solved, the motion attitude of the framework of the track detection system can be accurately measured, and the measurement accuracy of the track detection system can be improved in an auxiliary mode.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
FIG. 1 is a schematic flow chart of a method for measuring the motion gesture of a framework where a track detection system is located in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rail inspection system in a frame attitude measuring accelerometer point position according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an accelerometer measurement point arrangement for measuring a frame attitude where a rail inspection system is located according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a motion gesture measurement device of a framework where a track detection system is located in an embodiment of the present invention;
FIG. 5 is a diagram of the position definitions of the measuring points of the accelerometer for measuring the posture of the frame where the rail inspection system is located in an embodiment of the present invention;
FIG. 6 is a diagram showing a specific example of a motion gesture measuring device of a frame where the track detection system is located in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a solution for the lateral displacement and the left and right panning angles of the center of a frame where a rail inspection system is located according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a solution for the vertical displacement and the roll angle of the 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 device for simulating the posture of a framework where a rail inspection system is provided in an embodiment of the present invention;
FIG. 10 is a schematic diagram of a computer device for motion profile measurement of a frame in which a track detection system is located in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The exemplary embodiments of the present invention and their descriptions herein are for the purpose of explaining the present invention, but are not to be construed as limiting the invention.
At present, rail transit is always a national important basic industry and a key infrastructure as the most sustainable transportation mode. Along with the development of railways and the acceleration of trains in China, the requirements on the safety and stability of the tracks are higher, and the requirements on the accuracy, the reliability and the consistency of detection equipment are also stricter.
The track geometry detection system is main equipment for detecting track geometry dynamic irregularity, is distributed on a detection beam in an integrated mode to measure the track geometry irregularity, and is rigidly connected with a vehicle framework, and the existing data show that the movement posture of the framework can have a certain influence on the track geometry irregularity measurement accuracy;
in addition, laboratory calibration of the track geometry detection system requires simulation of the motion state of the framework where the track geometry detection system is installed in a real line state.
It is therefore necessary to perform measurements and simulations of the operational attitude of the vehicle frame.
At present, the vibration state of the framework is monitored by installing vertical and transverse accelerometers on the framework for detecting the vehicle, the mode can be used for evaluating the motion stability of the vehicle on a line, judging whether the framework generates vehicle vibration which cannot be attenuated rapidly or not, and meanwhile, according to the evaluation and calibration requirements of a detection system, the working state of a rail detection system on a true solid line needs to be simulated.
In addition, although the inertial combination system based on acceleration and gyroscopes is applied to attitude measurement of ships, aircrafts and missiles at the present stage, the inertial combination system has more accurate measurement precision, but a gyroscopes component is required to be installed at the central line position of a moving object as far as possible, and the gyroscopes with the same precision have some defects in the manufacturing process, such as easy damage under a large impact force, difficult accurate measurement under a large-scale high-speed movement and the like. There is therefore a need to develop a method suitable for detecting vehicle frame attitude measurements.
In order to solve the above-mentioned problems, an embodiment of the present invention provides a method for measuring a motion gesture of a frame where a track detection system is located, for improving accuracy of motion gesture measurement of a frame where a track detection system is located, as shown in fig. 1, the method may include:
step 101: acquiring frame motion acceleration data acquired by a plurality of triaxial accelerometers; the three-axis 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 positioned; the left side and the right side are two sides of the vehicle body parallel to the running direction of the vehicle;
Step 102: for each triaxial accelerometer, calculating triaxial displacement data of the triaxial accelerometer according to acceleration data acquired by the triaxial accelerometer;
step 103: 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 frame geometric center can comprise displacement and rotation angle of the frame geometric center.
In the embodiment of the invention, frame motion acceleration data acquired by a plurality of triaxial accelerometers are acquired; 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, and compared with the technical scheme that the single-axis accelerometer is used for measuring the vibration state of the framework in the prior art, the three-axis accelerometer is arranged to obtain the displacement data of the framework in three directions at different positions of the framework, so that the displacement and rotation angle of the framework geometric center are calculated, the accurate measurement of the motion attitude of the framework geometric center is realized, the problem that the motion attitude of the framework where the track detection system is located cannot be analyzed in the prior art is solved, the motion attitude of the framework of the track detection system can be accurately measured, the judgment capability of the working state of the track geometric detection system can be further supplemented, and the measurement accuracy of the track detection system is improved in an auxiliary mode.
When the method is implemented, firstly, framework motion acceleration data acquired by a plurality of triaxial accelerometers are acquired; the three-axis 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 positioned; the left and right sides are the two sides of the vehicle body parallel to the running direction of the vehicle.
In an embodiment, the mounting positions of the triaxial accelerometers on the same side of the triaxial accelerometers take the transverse center line of the framework as a symmetry axis; the mounting positions of the triaxial 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 may be 4, which are mounted on the frame where the track inspection system is located, and are respectively arranged on four corners of the vehicle frame, and the 4 accelerometers are symmetrically distributed by taking the transverse center of the vehicle frame as a symmetrical axis and a longitudinal center line.
In one embodiment, the measuring point of the accelerometer is shown in fig. 2, where the position 1 in fig. 2 is the installation position of the accelerometer on the frame, and the position 2 in fig. 2 is the position of the frame. And a specific measuring point arrangement can be seen in fig. 3, and 4 acceleration sensors in fig. 3 are the mounting points of the accelerometer.
In the above embodiment, acquiring the skeleton motion acceleration data acquired by the plurality of triaxial accelerometers may include: and synchronously acquiring the frame motion acceleration data acquired by the plurality of triaxial accelerometers so as to realize the purpose of synchronously acquiring the acceleration data of the 4 accelerometers at the arrangement positions of the frame measuring points of the rail inspection system.
In the implementation, after framework motion acceleration data acquired by a plurality of triaxial accelerometers are acquired, triaxial displacement data of each triaxial accelerometer are calculated according to the acceleration data acquired by the triaxial accelerometer.
In an embodiment, the frame motion acceleration data is used for describing motion acceleration of a position frame where the triaxial accelerometer is located along three directions of an X axis, a Y axis and a 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; wherein the X-axis direction and the Y-axis direction mentioned herein are shown with reference to fig. 5.
According to the acceleration data collected by the triaxial accelerometer, calculating triaxial displacement data of the triaxial accelerometer can comprise:
And calculating the X-axis displacement, Y-axis displacement and Z-axis displacement of the framework at the position of the triaxial accelerometer according to the motion acceleration of the framework along the X-axis, Y-axis and Z-axis described by the acceleration data acquired by the triaxial accelerometer.
In one embodiment, calculating triaxial displacement data of the triaxial accelerometer based on acceleration data acquired by the triaxial accelerometer may include:
and carrying out 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 integration calculation may include: and integrating acceleration data, wherein the acceleration data of the arrangement position of the framework measuring points obtained in the synchronous data acquisition process can be integrated into three-axis displacement data of each three-axis accelerometer respectively, and the framework displacement data are displacements in three directions of an X axis, a Y axis and a Z axis.
In the implementation, after three-axis displacement data of each three-axis accelerometer are calculated according to acceleration data acquired by the three-axis accelerometer, three-axis displacement data of a plurality of three-axis accelerometers are calculated, and motion attitude measurement data of the geometric center of a framework where the track detection system is located are obtained; the motion attitude measurement data of the frame geometric center can comprise displacement and rotation angle of the frame geometric center.
In one embodiment, the above-described resolving process may include motion gesture resolving, which refers to integrating displacement data of the frame accelerometer into displacement amounts and rotation angle amounts in four directions of transverse, vertical, roll, and yaw of the geometric center of the frame, where the rotation angle amounts may also be referred to as rotation angle geometric amounts.
In one embodiment, the method provided by the embodiment of the invention can further include:
and storing and displaying the displacement and corner geometric quantities of the geometric center of the framework obtained through calculation in the four directions of transverse, vertical, side rolling and head shaking.
In an embodiment, the displacement of the geometric center of the frame includes: 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 components: the frame side roll angle amount and the frame left and right roll angle amount of the geometric center of the frame.
In one embodiment, motion gesture calculation processing can be performed on triaxial displacement data of a plurality of triaxial accelerometers according to the following formula to obtain a transverse displacement amount 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. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 2 can be seen in fig. 5.
In one embodiment, motion gesture calculation processing can be performed on triaxial displacement data of a 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. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 can be seen in fig. 5.
In one embodiment, motion attitude calculation processing can be performed on triaxial displacement data of a plurality of triaxial accelerometers according to the following formula to obtain a frame left-right shaking angle of a frame geometric center where a 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. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 2 can be seen in fig. 5.
In one embodiment, motion attitude calculation processing can be performed on triaxial displacement data of a plurality of triaxial accelerometers according to the following formula to obtain a truss side roll angle quantity of a truss 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. The positions of the triaxial accelerometer 1 and the triaxial accelerometer 4 can be seen in fig. 5.
In specific implementation, the method for measuring the motion gesture of the framework where the track detection system is located provided by the embodiment of the invention further comprises the following steps: 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.
In the embodiment, the acquired geometric quantity data of the displacement and the rotation angle of the geometric center of the framework in the four directions of transverse, vertical, side rolling and shaking can be input into a framework gesture simulation test bed to simulate and reproduce the motion gesture of the framework in a real line state, so that the gesture reproduction of the framework of the vehicle is realized and detected.
In one embodiment, the motion gesture measurement data of the geometric center of the framework where the track detection system is located is input to the framework gesture simulation test bed, when the framework simulation test bed changes the motion gesture, the measurement can be performed by simulating the framework gesture measurement device where the track detection system is arranged on the framework, and the measurement result is compared with the input data of the framework simulation test bed, so that the accuracy of the motion gesture measurement method of the framework where the track detection system is arranged in the embodiment of the invention can be verified.
In the embodiment of the invention, frame motion acceleration data acquired by a plurality of triaxial accelerometers are acquired; 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; compared with the technical scheme of measuring the vibration state of the framework by using single-axis accelerometers in the prior art, the motion attitude measurement data of the framework geometric center comprises displacement and rotation angle of the framework geometric center, and the displacement data of the framework in three directions at different positions of the framework are obtained by arranging a plurality of triaxial accelerometers, so that the calculation of the displacement and rotation angle of the framework geometric center is realized, the accurate measurement of the motion attitude of the framework geometric center is realized, the problem that the motion attitude of the framework where the track detection system is located cannot be analyzed in the prior art is solved, the motion attitude of the framework of the track detection system can be accurately measured, and the measurement accuracy of the track detection system can be further improved in an auxiliary manner
As described above, the method for measuring the posture of the framework where the rail inspection system is provided in the embodiment of the invention is beneficial to analyzing and evaluating the influence of the motion posture of the framework on the measurement accuracy of geometric irregularity of the track, and improves the measurement method and the detection equipment; meanwhile, the motion gesture under the real line condition is provided for the calibration of the track geometry detection system, and the assessment and calibration capability of the track geometry detection system is improved.
The embodiment of the invention also provides a motion attitude measuring device of the framework where the track detection system is located, as described in the following embodiment. Because the principle of the device for solving the problem is similar to that of the method for measuring the motion gesture of the framework where the track detection system is located, the implementation of the device can be referred to the implementation of the method for measuring the motion gesture of the framework where the track detection system is located, and the repetition is omitted.
The embodiment of the invention also provides a motion gesture measuring device of a framework where the track detection system is located, which is used for improving accuracy of motion gesture measurement of the framework where the track detection system is located, as shown in fig. 4, and the device comprises:
the acceleration data acquisition module 401 is configured to acquire frame motion acceleration data acquired by a plurality of triaxial accelerometers; the three-axis 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 positioned; the left side and the right side are two sides of the vehicle body parallel to the running 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 processing module 403 is configured to perform resolving processing on triaxial displacement data of the plurality of triaxial accelerometers to obtain motion gesture measurement data of a geometric center of a framework where the track detection system is located; the motion attitude measurement data of the frame geometric center can comprise displacement and rotation angle of the frame geometric center.
In one embodiment, the mounting positions of the triaxial accelerometers on the same side of the triaxial accelerometers take the transverse center line of the framework as a symmetry axis; the mounting positions of the triaxial 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 the motion acceleration of the position frame of the triaxial accelerometer along the X axis, Y axis and 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:
and calculating the X-axis displacement, Y-axis displacement and Z-axis displacement of the framework at the position of the triaxial accelerometer according to the motion acceleration of the framework along the X-axis, Y-axis and Z-axis described by the acceleration data acquired by the triaxial accelerometer.
In one embodiment, the frame displacement data calculation module is specifically configured to:
and carrying out 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 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.
In one embodiment, the resolving 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.
In one embodiment, the resolving 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.
In one embodiment, the resolving 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 frame is rotated left and right at the geometric center of the frame where the track detection system isThe degrees of the angle are in degrees; 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.
In one embodiment, the resolving 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.
In one embodiment, the apparatus may further include:
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.
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 vehicle body frame cannot be analyzed by using the single-axis accelerometer in the prior art, the embodiment can be used for measuring and reproducing the motion postures of the vehicle body frame such as transverse, vertical, rolling, shaking and the like in a laboratory, which is beneficial to 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 configured to synchronously acquire acceleration data of 4 accelerometers at the arrangement positions of the framework measuring points where the rail inspection system is located;
2. the acceleration data integrating module 602 (i.e. the framework displacement data calculating module described above) is configured to integrate the acceleration data obtained by the data synchronous acquisition module into displacements along three directions of the triaxial accelerometer X, Y, Z.
3. The motion gesture resolving module 603 (i.e. the resolving processing module described above) is configured to resolve the displacement data obtained by the framework accelerometer integrating module into displacement and rotation angle geometric quantities in the four directions of transverse, vertical, side rolling and head shaking of the framework geometric center.
4. The waveform display and data storage module 604 is used for storing and displaying the calculated displacement and rotation angle geometric quantities of the framework geometric center in the four directions of transverse direction, vertical direction, rolling and shaking.
5. The frame posture simulation reproduction module 605 is used for inputting the acquired displacement and rotation angle geometric quantity data of the geometric center of the frame in the four directions of transverse, vertical, side rolling and shaking to the frame posture simulation test bed, and simulating and reproducing the motion posture of the frame in the real line state.
6. The test and verification module 606 can measure by simulating the frame posture measuring device where the rail inspection system is arranged on the frame when the frame simulation test bed changes the motion posture, and compare the measurement result with the input data of the frame simulation test bed to verify the accuracy of the simulation test bed and the posture measuring method.
This embodiment is described in detail as follows:
1. in specific implementation, the data synchronous acquisition module can be used for synchronously acquiring acceleration data of 4 accelerometers at the arrangement positions of the framework measuring points of the rail detection system;
in an embodiment, referring to fig. 2 and 3, the frame accelerometers may be rigidly connected to the vehicle frame, the 4 accelerometers are symmetrically distributed about the transverse center of the frame as symmetry axes and about the longitudinal center line, the frame accelerometers are triaxial accelerometers, the triaxial accelerometers have a Z-axis perpendicular to the track plane direction, the Y-axis is parallel to the vehicle body along the extension direction, and the X-axis is parallel to the track plane and perpendicular to the vehicle body along the extension direction.
2. In specific implementation, the data synchronous acquisition module is used for synchronously acquiring acceleration data of 4 accelerometers at the arrangement positions of the framework measuring points of the rail detection system;
in the embodiment, the data synchronous acquisition module acquires acceleration data of 12 channels in total by 4 triaxial accelerometers at the arrangement position of the framework measuring point where the rail inspection system is located at a designated frequency.
3. In the specific implementation, the acceleration data integration module integrates the acceleration data obtained by the data synchronous acquisition module into displacements along three directions of the triaxial accelerometer X, Y, Z respectively;
in an embodiment, the actual acquired frame acceleration data is accompanied by various disturbance signals, and the displacement results obtained by integration are completely distorted by accumulation over time. And denoising, smoothing and filtering the acceleration signal to remove interference influence when integrating the acceleration data, and integrating in a frequency domain to obtain a X, Y, Z displacement result with accurate three directions.
4. In the implementation, the motion gesture resolving module resolves the displacement data obtained by the framework accelerometer integrating module into displacement and corner geometric quantities in the four directions of transverse, vertical, side rolling and head shaking of the framework geometric center.
A specific embodiment of the framework gesture resolving is given below to illustrate a specific application of the motion gesture resolving module, which may include:
in an embodiment, a schematic diagram of the frame and the station arrangement is shown in fig. 5. 4 triaxial accelerometers are distributed at 4 measuring points, the signals obtained by actual test are acceleration signals of the 4 measuring points, and displacement data of x, y and z directions of the 4 measuring points are obtained by integrating the measured acceleration into displacement, wherein x is the same as the displacement data of the measuring points i ，y i ，z i X-axis, Y-axis and Z-axis displacement signals of the 4 measuring points are respectively represented.
Wherein, referring to FIG. 5, the dimensions of the sensor 1 at the position from the center of the frame are a respectively 1 ,b 1 The size of the position of the sensor 2 from the center of the frame is b respectively 2 ,c 1 The size of the position of the sensor 3 from the center of the framework is c respectively 2 ,d 2 The size of the position of the sensor 4 from the center of the framework is a respectively 2 ,d 1 . And calculating the vertical displacement, the transverse displacement, the side rolling angle and the deflection angle of the midpoint through the displacement of 12 groups of measuring points. The horizontal displacement, vertical displacement, left-right shaking rotation angle and side rolling angle of the frame geometric center are respectively expressed as X 0 、Z 0 、θ z 、θ y 。
By analyzing the x displacement of sensor No. 1 and sensor No. 2, the analysis chart is shown in fig. 7, and can be obtained by the similar triangle property:
The transverse displacement of the geometric center of the framework where the track detection system is located is calculated by the method:
at the same time, the degree theta of the left and right swing angles of the framework in the framework geometric center z The tangent of (c) can be expressed as:
because the angle is smaller, the left and right shaking head angle theta z Approximately equal to its tangent.
Meanwhile, the transverse displacement of the midpoint (namely the transverse displacement of the geometric center of the framework where the track detection system is located) can be obtained by analyzing the sensor No. 3 and the sensor No. 4 as follows:
left-right swing angle theta z Can be expressed as:
therefore, both the results can be used for obtaining the transverse displacement of the middle point and the left and right shaking head rotation angles.
By analyzing the z-displacement of sensor No. 1 and sensor No. 4, the analysis chart is shown in fig. 8, and can be obtained by the similar triangle property:
as can be obtained by 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 frame side roll angle quantity theta of the frame geometric center y The tangent (which may be referred to simply as the roll angle) may be expressed as:
side roll angle θ due to the smaller angle y Approximately equal to its tangent.
5. In the concrete implementation, the waveform display and data storage module is used for storing and displaying the displacement and corner geometric quantities of the calculated framework geometric center in the four directions of transverse direction, vertical direction, side rolling and shaking.
6. In specific implementation, the framework gesture simulation reproduction module is used for inputting the acquired displacement and corner geometric quantity data of the framework geometric center in the vertical direction, the transverse direction, the side rolling direction and the shaking direction into the framework gesture simulation test bed to simulate and reproduce the motion gesture of the framework in a real line state.
In an embodiment, as shown in fig. 9, the framework posture simulation reproduction module includes a six-degree-of-freedom experiment platform 3, an adapter 4, and a simulation framework 5. The six-degree-of-freedom experimental platform can read displacement and corner geometric quantities in the vertical direction, the transverse direction, the side rolling direction and the shaking direction of the geometric center of the framework stored by the data storage module, simulate and reproduce the motion state of the geometric center of the framework, and the adapter is used for connecting the six-degree-of-freedom experimental platform and the simulated framework so that the simulated framework moves according to the posture of the six-degree-of-freedom platform and reproduces the motion posture of the vehicle body framework in a real line state;
in the specific implementation, the test and verification module can measure the displacement and the corner geometric quantity in the vertical, transverse, side rolling and shaking directions of the center of the simulation framework, and compare the measurement result with the input data of the framework simulation test bed to verify the precision of the simulation test bed and the gesture measurement method.
In the embodiment, the principle of the measurement and verification module is the same as that of the framework gesture measurement module, the measurement is performed through the triaxial accelerometers arranged on 4 feet of the simulation framework, and the measurement and verification module is finally calculated into the displacement and corner geometric quantities in the four directions of vertical, transverse, side rolling and head shaking of the geometric center, and the repetition is omitted.
Of course, it is to be understood that other variations of the above detailed procedures are also possible, and all related variations should fall within the protection scope of the present invention.
The embodiment of the invention provides a computer device for realizing all or part of contents in a motion gesture measurement method of a framework where the track detection system is located, wherein the computer device specifically comprises the following contents:
a processor (processor), a memory (memory), a communication interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete communication with each other 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, or the like, and the embodiment is not limited thereto. In this embodiment, the computer device may be implemented with reference to an embodiment for implementing a method for measuring a motion gesture of a frame where the track detection system is located and an embodiment for implementing a device for measuring a motion gesture of a frame where the track detection system is located, and the contents of the embodiments are incorporated herein, and are not repeated herein.
Fig. 10 is a schematic block diagram of a system configuration of a computer device 1000 of an embodiment of the present application. As shown in fig. 10, the computer device 1000 may include a central processor 1001 and a memory 1002; the memory 1002 is coupled to the central processor 1001. Notably, this fig. 10 is exemplary; other types of structures may also be used in addition to or in place of the structures to implement telecommunications functions or other functions.
In one embodiment, the motion profile measurement function of the frame in which the track detection system is located may be integrated into the central processor 1001. The central processor 1001 may be configured to control, among other things, the following:
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.
In another embodiment, the motion gesture measuring device of the framework where the track detection system is located may be configured separately from the central processing unit 1001, for example, the motion gesture measuring device of the framework where the track detection system is located may be configured as a chip connected to the central processing unit 1001, and the motion gesture measuring function of the framework where the track detection system is located is implemented by the control of the central processing unit.
As shown in fig. 10, the computer device 1000 may further include: a communication module 1003, an input unit 1004, an audio processor 1005, a display 1006, a power supply 1007. It is noted that the computer device 1000 need not include all of the components shown in FIG. 10; in addition, the computer device 1000 may further include components not shown in fig. 10, to which reference is made to the related art.
As shown in fig. 10, the central processor 1001, sometimes also referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, and the central processor 1001 receives input and controls the operation of the various components of the computer device 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 about failure may be stored, and a program for executing the information may be stored. And the central processor 1001 can execute the program stored in the memory 1002 to realize information storage or processing, and the like.
The input unit 1004 provides input to the central processor 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 for displaying display objects such as images and characters. The display may be, for example, but not limited to, an LCD display.
The memory 1002 may be a solid state memory such as Read Only Memory (ROM), random Access Memory (RAM), SIM card, and the like. But also a memory which holds information even when powered down, can be selectively erased and provided with further data, an example of which is sometimes referred to as EPROM or the like. Memory 1002 may also be some other type of device. Memory 1002 includes a buffer memory 1021 (sometimes referred to as a buffer). The memory 1002 may include an application/function storage 1022, the application/function storage 1022 for storing application programs and function programs or for executing a flow of operations of the computer apparatus 1000 by the central processor 1001.
The memory 1002 may also include a data store 1023, the data store 1023 for storing data such as contacts, digital data, pictures, sounds, and/or any other data used by a computer device. The driver store 1024 of the memory 1002 can include various drivers for the computer device for communication functions and/or for performing other functions of the computer device (e.g., messaging applications, address book 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 in 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 lan module, etc., 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 to receive audio input from the microphone 1010 to implement usual telecommunications functionality. The audio processor 1005 may include any suitable buffers, decoders, amplifiers and so forth. In addition, an 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 sound stored locally can be played through the speaker 1009.
The embodiment of the invention also provides a computer readable storage medium which stores a computer program for executing the method for measuring the motion gesture of the framework where the track detection system is located.
In the embodiment of the invention, frame motion acceleration data acquired by a plurality of triaxial accelerometers are acquired; 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, and compared with the technical scheme that the single-axis accelerometer is used for measuring the vibration state of the framework in the prior art, the three-axis accelerometer is arranged to obtain the displacement data of the framework in three directions at different positions of the framework, so that the displacement and rotation angle of the framework geometric center are calculated, the accurate measurement of the motion attitude of the framework geometric center is realized, the problem that the motion attitude of the framework where the track detection system is located cannot be analyzed in the prior art is solved, the motion attitude of the framework of the track detection system can be accurately measured, and the measurement accuracy of the track detection system can be improved in an auxiliary mode.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the 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.
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| CN112748258A (en) * | 2019-10-31 | 2021-05-04 | 美新半导体（无锡）有限公司 | Triaxial accelerometer based on single mass block |
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