CN114104034A - Permanent magnet track geometric irregularity detection system - Google Patents
Permanent magnet track geometric irregularity detection system Download PDFInfo
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- CN114104034A CN114104034A CN202111595689.3A CN202111595689A CN114104034A CN 114104034 A CN114104034 A CN 114104034A CN 202111595689 A CN202111595689 A CN 202111595689A CN 114104034 A CN114104034 A CN 114104034A
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- permanent magnet
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- laser displacement
- displacement sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
Abstract
The invention provides a permanent magnet track geometric irregularity detection system. The system comprises: the system comprises two permanent magnet tracks arranged in parallel at intervals, a track inspection vehicle which is arranged above the two permanent magnet tracks and can walk along the extension direction of the permanent magnet tracks, a plurality of laser displacement sensors which are arranged on the track inspection vehicle and are respectively opposite to the top surfaces and the side surfaces of the two permanent magnet tracks, laser profile sensors which are arranged on the track inspection vehicle and are opposite to the top surfaces of the two permanent magnet tracks, and a detection operation platform which is in communication connection with the laser displacement sensors and the laser profile sensors; the detection operation table is used for detecting the overall geometric smoothness of the permanent magnet track according to the sensing data of the laser displacement sensors and a preset detection algorithm and detecting the local surface smoothness of the permanent magnet track according to the sensing image of the laser profile sensor and a preset visual analysis algorithm, and can comprehensively and accurately complete the geometric irregularity detection of the permanent magnet track through the cooperation of the laser displacement sensors and the laser profile sensors.
Description
Technical Field
The invention relates to the technical field of magnetic levitation, in particular to a permanent magnet track geometric irregularity detection system.
Background
For a polymorphic coupling rail transit moving die test platform, a high-temperature superconducting pinning magnetic levitation model vehicle needs to realize test simulation with the highest speed reaching 1500km/h level, which means that the running safety and the reliability of a train need to be ensured to a certain extent.
The permanent magnet track system and the linear motor system are used as two key systems of the high-temperature superconducting pinned magnetic-levitation train, wherein the permanent magnet track system provides a unique magnetic field input source for the high-temperature superconducting pinned magnetic-levitation system to ensure stable and reliable suspension guiding behaviors of the high-temperature superconducting pinned magnetic-levitation train, the linear motor system provides a unique traction power source for the high-temperature superconducting pinned magnetic-levitation system to ensure that the train runs at a high speed along a line, the states and performances of the permanent magnet track system and the linear motor system are directly related to the running safety of the magnetic-levitation train, and the detection of geometric smoothness of the permanent magnet track is necessary in the early stage of high-speed test running.
Disclosure of Invention
The invention aims to provide a permanent magnet track geometric irregularity detection system which can comprehensively and accurately complete the geometric irregularity detection of a permanent magnet track.
In order to achieve the above object, the present invention provides a system for detecting geometric irregularity of a permanent magnet track, comprising: the detection device comprises two permanent magnet tracks arranged in parallel at intervals, a track inspection vehicle which is arranged above the two permanent magnet tracks and can walk along the extension direction of the permanent magnet tracks, a plurality of laser displacement sensors which are arranged on the track inspection vehicle and are respectively opposite to the top surfaces and the side surfaces of the two permanent magnet tracks, a laser profile sensor which is arranged on the track inspection vehicle and is opposite to the top surfaces of the two permanent magnet tracks, and a detection operation platform which is in communication connection with the laser displacement sensors and the laser profile sensor;
the detection operation platform is used for detecting the overall geometric smoothness of the permanent magnet track according to the sensing data of the laser displacement sensors and a preset detection algorithm and detecting the local surface smoothness of the permanent magnet track according to the sensing image of the laser profile sensor and a preset visual analysis algorithm.
The two permanent magnet tracks are respectively a left permanent magnet track and a right permanent magnet track;
the plurality of laser displacement sensors comprise three left laser displacement sensors and three right laser displacement sensors which are respectively opposite to the three left laser displacement sensors;
the three left laser displacement sensors are arranged on the rail inspection vehicle at intervals to form a line and are opposite to the left side surface of the left permanent magnet track;
the three right laser displacement sensors are arranged on the rail inspection vehicle at intervals to form a line and are opposite to the right side surface of the right permanent magnet track.
The detecting the overall geometric smoothness of the permanent magnet track comprises:
detecting the straightness of the rail-direction plane of the left permanent magnet track through the sensing data of the three left laser displacement sensors and a chord measuring method;
and detecting the straightness of the rail-direction plane of the right permanent magnet track through the sensing data of the three right laser displacement sensors and a chord measuring method.
The detecting the overall geometric smoothness of the permanent magnet track comprises:
selecting one of the three left laser displacement sensors as a left track gauge sensor, and selecting one of the three right laser displacement sensors opposite to the left track gauge sensor as a right track gauge sensor;
acquiring sensing data of the left track gauge sensor and the right track gauge sensor;
calculating the track gauge between the left permanent magnet track and the right permanent magnet track according to a track gauge calculation formula in a preset detection algorithm, wherein the track gauge calculation formula is as follows:
W2= W1-Y1- Y2-2W0
wherein, W0Is half of the transverse distance of the left permanent magnet track or the right permanent magnet track;
W1the width of the mounting bracket used for mounting the left track gauge sensor and the right track gauge sensor on the track inspection vehicle,the left track gauge sensor and the right track gauge sensor are respectively arranged at two end parts of the mounting bracket;
W2the track gauge between the left permanent magnet track and the right permanent magnet track;
Y1sensed data for the left gauge sensor;
Y2is the sensed data of the right gauge sensor.
The two permanent magnet tracks are respectively a left permanent magnet track and a right permanent magnet track;
the plurality of laser displacement sensors comprise three first laser displacement sensors, three second laser displacement sensors and two third laser displacement sensors;
the three first laser displacement sensors and the three second laser displacement sensors are arranged on the rail inspection vehicle at intervals in three rows and two columns, the three first laser displacement sensors are positioned in the same column and are over against the left side edge of the top surface of the left permanent magnet track, and the three second laser displacement sensors are positioned in the same column and are over against the right side edge of the top surface of the right permanent magnet track;
the two third laser displacement sensors are positioned between the first laser displacement sensors and the second laser displacement sensors in the second row and are arranged in a row with the first laser displacement sensors and the second laser displacement sensors, one of the two third laser displacement sensors is over against the right side edge of the top surface of the left permanent magnet track, and the other is over against the left side edge of the top surface of the right permanent magnet track.
The detecting the overall geometric smoothness of the permanent magnet track comprises:
detecting the vertical plane flatness of the left permanent magnet track through the sensing data of the three first laser displacement sensors and a chord measuring method;
and detecting the vertical plane flatness of the right permanent magnet track through the sensing data of the three second laser displacement sensors and a chord measuring method.
The detecting the overall geometric smoothness of the permanent magnet track comprises:
acquiring sensing data of a first laser displacement sensor, two third laser displacement sensors and a second laser displacement sensor in a second row;
comparing the sensing data of the first laser displacement sensor, the two third laser displacement sensors and the second laser displacement sensor to obtain a comparison result;
and determining the transverse plane straightness of the two permanent magnet tracks according to the comparison result.
The detecting the overall geometric smoothness of the permanent magnet track comprises:
acquiring sensing data of a first laser displacement sensor, two third laser displacement sensors and a second laser displacement sensor in a second row;
and calculating to obtain a left and right horizontal measurement difference value according to the sensing data of a first laser displacement sensor, two third laser displacement sensors and a second laser displacement sensor in the second row and a horizontal detection formula in a preset detection algorithm, so as to realize the horizontal detection of the left permanent magnet track and the right permanent magnet track.
The detecting the overall geometric smoothness of the permanent magnet track comprises:
acquiring sensing data of the two third laser displacement sensors;
and obtaining the value of track dislocation according to the difference value of the sensing data of the two third laser displacement sensors.
The preset visual analysis algorithm for detecting the smoothness of the local surface of the permanent magnet track comprises the following steps:
acquiring point cloud data of the surface of a magnetic track in the permanent magnet track through a laser profile sensor;
and analyzing the irregularity characteristics of the magnetic track according to the point cloud data and a preset visual analysis algorithm to obtain an abnormal result of the magnetic track and marking the abnormal result by mileage.
The invention has the beneficial effects that: the invention provides a permanent magnet track geometric irregularity detection system, which comprises: the detection device comprises two permanent magnet tracks arranged in parallel at intervals, a track inspection vehicle which is arranged above the two permanent magnet tracks and can walk along the extension direction of the permanent magnet tracks, a plurality of laser displacement sensors which are arranged on the track inspection vehicle and are respectively opposite to the top surfaces and the side surfaces of the two permanent magnet tracks, a laser profile sensor which is arranged on the track inspection vehicle and is opposite to the top surfaces of the two permanent magnet tracks, and a detection operation platform which is in communication connection with the laser displacement sensors and the laser profile sensor; the detection operation platform is used for detecting the overall geometric smoothness of the permanent magnet track according to the sensing data of the laser displacement sensors and a preset detection algorithm and detecting the local surface smoothness of the permanent magnet track according to the sensing image of the laser profile sensor and a preset visual analysis algorithm, and the geometric irregularity detection of the permanent magnet track can be comprehensively and accurately completed through the cooperation of the laser displacement sensors and the laser profile sensors.
Drawings
For a better understanding of the nature and technical aspects of the present invention, reference should be made to the following detailed description of the invention, taken in conjunction with the accompanying drawings, which are provided for purposes of illustration and description and are not intended to limit the invention.
In the drawings, there is shown in the drawings,
FIG. 1 is a schematic structural diagram of a permanent magnet track geometric irregularity detection system of the present invention;
FIG. 2 is a schematic diagram of the positions of the left and right laser displacement sensors and the permanent magnet track of the permanent magnet track geometric irregularity detecting system of the present invention;
FIG. 3 is a schematic diagram of the positions of the first, second and third laser displacement sensors and the permanent magnet track of the permanent magnet track geometric irregularity detection system of the present invention;
FIG. 4 is a schematic diagram of a chord measurement method used in the permanent magnet track geometric irregularity detection system of the present invention;
fig. 5 to 9 are schematic diagrams illustrating the results of the geometric irregularity detection system for a permanent magnet track according to the present invention when detecting the transverse plane straightness of the permanent magnet track;
FIG. 10 is a schematic diagram of the detection system for detecting geometric irregularity of a permanent magnet track according to the present invention for detecting horizontal detection of the permanent magnet track;
FIG. 11 is a schematic diagram of the detection system for geometric irregularity of a permanent magnet track according to the present invention for detecting track dislocation of the permanent magnet track;
FIG. 12 is a schematic diagram of the relative positions of the laser profile sensor and the permanent magnet track in the permanent magnet track geometric irregularity detection system of the present invention;
fig. 13 is a schematic diagram of a splicing gap between magnetic track sections in the permanent magnet track geometric irregularity detection system according to the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Referring to fig. 1, the present invention provides a system for detecting geometric irregularity of a permanent magnet track, including: the detection system comprises two permanent magnet tracks arranged in parallel at intervals, a track inspection vehicle 20 which is arranged above the two permanent magnet tracks and can walk along the extension direction of the permanent magnet tracks, a plurality of laser displacement sensors which are arranged on the track inspection vehicle 20 and are respectively opposite to the top surfaces and the side surfaces of the two permanent magnet tracks, a laser profile sensor 40 which is arranged on the track inspection vehicle 20 and is opposite to the top surfaces of the two permanent magnet tracks, and a detection operation platform which is in communication connection with the laser displacement sensors and the laser profile sensor 40; the detection operation table is used for detecting the overall geometric smoothness of the permanent magnet track according to the sensing data of the laser displacement sensors and a preset detection algorithm and detecting the local surface smoothness of the permanent magnet track according to the sensing image of the laser profile sensor 40 and a preset visual analysis algorithm.
Specifically, as shown in fig. 1 to 3, the two permanent magnet tracks are a left permanent magnet track 11 and a right permanent magnet track 12 respectively; the plurality of laser displacement sensors comprise three left laser displacement sensors 301 and three right laser displacement sensors 302 which are respectively opposite to the three left laser displacement sensors 301; the three left laser displacement sensors 301 are arranged on the rail inspection vehicle 20 at intervals in a line and are opposite to the left side surface of the left permanent magnet rail 11; the three right laser displacement sensors 302 are arranged in a line at intervals on the rail inspection vehicle 20, and are aligned with the right side surface of the right permanent magnet rail 12.
Further, the plurality of laser displacement sensors further include three first laser displacement sensors 31, three second laser displacement sensors 32, and two third laser displacement sensors 33;
the three first laser displacement sensors 31 and the three second laser displacement sensors 32 are arranged on the rail inspection vehicle 20 at intervals in three rows and two columns, the three first laser displacement sensors 31 are located in the same column and are opposite to the left side edge of the top surface of the left permanent magnet track 11, and the three second laser displacement sensors 32 are located in the same column and are opposite to the right side edge of the top surface of the right permanent magnet track 12;
the two third laser displacement sensors 33 are located between the first laser displacement sensor 31 and the second laser displacement sensor 32 in the second row and are aligned with the first laser displacement sensor 31 and the second laser displacement sensor 32, one of the two third laser displacement sensors 33 is over against the right side of the top surface of the left permanent magnet rail 11, and the other is over against the left side of the top surface of the right permanent magnet rail 12.
Specifically, the detecting the overall geometric smoothness of the permanent magnet track specifically includes: the method comprises the steps of detecting the straightness of a permanent magnet track in the track direction, detecting the track distance between a left permanent magnet track 11 and a right permanent magnet track 12, detecting the flatness of the vertical surface of the permanent magnet track, detecting the straightness of the transverse plane of the permanent magnet track, detecting the levelness of the permanent magnet track and detecting the track dislocation of the permanent magnet track.
Specifically, the detecting the overall geometric smoothness of the permanent magnet track includes: detecting the straightness of the rail-direction plane of the left permanent magnet rail 11 through the sensing data of the three left laser displacement sensors 301 and a chord measuring method; and detecting the straightness of the rail-direction plane of the right permanent magnet track 12 through the sensing data of the three right laser displacement sensors 302 and a chord measuring method.
In detail, as shown in fig. 1 and 2, a specific method for detecting the straightness of the permanent magnet track in the rail plane is as follows:
the method is characterized in that 6 laser displacement sensors are adopted, 3 laser displacement sensors are respectively arranged in the left rail direction and the right rail direction, namely three left laser displacement sensors 301 and three right laser displacement sensors 302, a three-point equal-chord measuring system is used for testing, the vehicle body of the rail inspection vehicle 20 is used as a measuring reference, a connecting line of two measuring points on a permanent magnet rail is used as a measuring chord, a chord measuring value from a middle measuring point to the chord is used as a measuring value of the permanent magnet rail, the three left laser displacement sensors 301 and three right laser displacement sensors 302 can respectively detect the straightness of the rail-direction planes of the left permanent magnet rail 11 and the right permanent magnet rail 12, and the principle of the chord measuring method is briefly introduced as follows:
as shown in fig. 3, fig. 3 is a schematic diagram of a principle of a chord measuring method, wherein Y1, Y2 and Y3 are divided into measurement values of three left laser displacement sensors 31 or three right laser displacement sensors 32, and a calculation formula of the straightness Y of the left permanent magnet track 11 and the right permanent magnet track 12 in the rail-wise plane is as follows:
Y=Y2-(Y1+Y3)/2
the curve is drawn according to the change of the value of the straightness Y of the rail-oriented plane, so that the rail-oriented curved surface can be restored, and the straightness of the rail-oriented plane of the left permanent magnet track 11 and the right permanent magnet track 12 can be measured.
Specifically, as shown in fig. 2, when the track distance between the left permanent magnet track 11 and the right permanent magnet track 12 fluctuates significantly, there is a direct threat to the operation safety of the tracks, and it goes without saying that the importance of detecting the track distance between the left permanent magnet track 11 and the right permanent magnet track 12 is that the specific method for detecting the track distance between the left permanent magnet track 11 and the right permanent magnet track 12 of the present invention is:
selecting one of the three left laser displacement sensors 301 as a left track gauge sensor, and selecting one of the three right laser displacement sensors 302 opposite to the left track gauge sensor as a right track gauge sensor;
acquiring sensing data of the left track gauge sensor and the right track gauge sensor;
calculating the track gauge between the left permanent magnet track 11 and the right permanent magnet track 12 according to a track gauge calculation formula in a preset detection algorithm, wherein the track gauge calculation formula is as follows:
W2= W1-Y1- Y2-2W0
wherein, W0Is a left permanent magnet rail 11 or a right permanent magnet railHalf the lateral distance of the track 12;
W1the width of a mounting bracket 21 for mounting a left track gauge sensor and a right track gauge sensor on the track inspection vehicle 20 is set, and the left track gauge sensor and the right track gauge sensor are respectively mounted at two end parts of the mounting bracket 21;
W2the track gauge between the left permanent magnet track 11 and the right permanent magnet track 12;
Y1sensed data for the left gauge sensor;
Y2is the sensed data of the right gauge sensor.
Specifically, the detecting the overall geometric smoothness of the permanent magnet track includes: detecting the vertical flatness of the left permanent magnet rail 11 through the sensing data of the three first laser displacement sensors 31 and a chord measuring method; and detecting the vertical plane flatness of the right permanent magnet rail 12 through the sensing data of the three second laser displacement sensors 32 and a chord measuring method.
Further, the method for detecting the flatness of the vertical surface of the permanent magnet track is a chord measuring method, and specifically comprises the following steps:
the method comprises the steps of selecting a sensor with a proper chord length, utilizing data of three test points to test the vertical high-low flatness of the permanent magnet track, installing 2 groups of sensors on each permanent magnet track to test the high-low flatness, and measuring the flatness (left and right heights) of the vertical surface of the detection magnetic track, wherein 8 laser displacement sensors are needed.
As shown in fig. 3, for the detection of the upper surface of the left permanent magnet track 11, the 1 st group of sensors are: at the three first laser displacement sensor 31 that is relative and lie in same water flat line installation with left permanent magnetism track 11 left side limit, detect the track smoothness of left permanent magnetism track 11 upper surface, 2 nd group's sensor is: and a third laser displacement sensor 33 which is arranged on a straight line opposite to the right side edge of the left permanent magnet track 11 and is positioned with a first laser displacement sensor 31 in the middle of the group 1 of sensors, wherein data values detected by the third laser displacement sensor 33 and the first laser displacement sensor 31 which are arranged on the straight line can reflect whether the permanent magnet track is arranged obliquely or not, if the values are the same, the permanent magnet track is arranged without errors, otherwise, the permanent magnet track is required to be adjusted.
For the detection of the upper surface of the right permanent magnet track 12, group 1 sensors are: at the three second laser displacement sensor 32 that is relative and lie in same water flat line installation with the right side on the right permanent magnet track 12, the track smoothness of right permanent magnet track 12 upper surface can be detected through the chord survey method to the first group sensor, and 2 nd group sensor is: and a third laser displacement sensor 33 which is arranged on a straight line opposite to the left side edge of the right permanent magnet track 12 and is positioned on the middle of the 1 st group of sensors with a second laser displacement sensor 32, wherein data values detected by the third laser displacement sensor 33 and the second laser displacement sensor 32 which are arranged on the straight line can reflect whether the permanent magnet track is arranged obliquely or not, if the values are the same, the installation is correct, otherwise, the adjustment is required.
In order to ensure that the height levels of the permanent magnets on the left side and the right side are consistent, four first laser displacement sensors 31, two third laser displacement sensors 33 and one second laser displacement sensor 32 which are positioned on the same straight line (the same row) need to be positioned on the same horizontal base line to correct the error when the left permanent magnet track 11 and the right permanent magnet track 12 are not positioned at the same height, and the left permanent magnet track and the right permanent magnet track are kept at the same height level.
Specifically, the detecting the overall geometric smoothness of the permanent magnet track includes:
acquiring sensing data of a first laser displacement sensor 31, two third laser displacement sensors 33 and a second laser displacement sensor 32 in the second row;
comparing the sensing data of the first laser displacement sensor 31, the two third laser displacement sensors 33 and the second laser displacement sensor 32 to obtain a comparison result;
and determining the transverse plane straightness of the two permanent magnet tracks 10 according to the comparison result.
Specifically, the specific method for detecting the straightness of the transverse plane of the two permanent magnet tracks 10 includes:
the first, second and third laser displacement sensors for multiplexing left and right height measurement correspond to the first laser displacement sensor 31, the two third laser displacement sensors 33 and the second laser displacement sensor 32 which are positioned on the same straight line (the same row), the first laser displacement sensor 31 and the second laser displacement sensor 32 are used as reference, two points on the left permanent magnet track 11 and the right permanent magnet track 12 are hit to form a straight line, the positions of the measurement of the two third laser displacement sensors 33 are marked, whether the four points are on another straight line is observed, and the detection is the definition of the straightness of the transverse plane.
As shown in fig. 5 to 9, x1, x2, x3 and x4 are the measured values of one first laser displacement sensor 31, two third laser displacement sensors 33 and one second laser displacement sensor 32, which are arranged in sequence from left to right, respectively;
as shown in fig. 5, when x1= x2= x3= x4, the left permanent magnet track 11 and the right permanent magnet track 12 are on the same plane, and meet the measurement standard, which is called transverse plane straightness;
the situations that the left permanent magnet track 11 and the right permanent magnet track 12 do not satisfy the straightness of the transverse plane include the following four situations;
raising the top: the straight line is determined with the positions of x1 and x4, and is convex when x2< x1 and x3< x4, as shown in fig. 6.
Concave-down: the straight line is determined by the positions of x1 and x4, and is concave when x2> x1 and x3> x4, as shown in fig. 7.
High left and low right: the straight line is determined by the positions of x1 and x4, and is high right low when x2< x1 and x3> x4, as shown in fig. 8.
Low left and high right: the straight line is determined with the positions of x1 and x4, and when x2> x1 and x3< x4, the straight line is low left and high right as shown in fig. 9.
Specifically, the detecting the overall geometric smoothness of the permanent magnet track includes:
acquiring sensing data of a first laser displacement sensor 31, two third laser displacement sensors 33 and a second laser displacement sensor 32 in the second row;
and calculating to obtain a left and right horizontal measurement difference value according to the sensing data of the first laser displacement sensor 31, the two third laser displacement sensors 33 and the second laser displacement sensor 32 in the second row and a horizontal detection formula in a preset detection algorithm, so as to realize horizontal detection of the left permanent magnet track 11 and the right permanent magnet track 12.
Specifically, the calculation formula of the horizontal detection formula x' is:
x1, x2, x3 and x4 are respectively the measured values of a first laser displacement sensor 31, two third laser displacement sensors 33 and a second laser displacement sensor 32 which are sequentially arranged from left to right, and a left and right horizontal measurement difference value x' is detected by measuring the measured values of the first laser displacement sensor 31, the two third laser displacement sensors 33 and the second laser displacement sensor 32 which are sequentially arranged from left to right to detect whether the left and right horizontal measurement difference value is 0, so that the left and right track horizontal detection is realized.
Specifically, the detecting the overall geometric smoothness of the permanent magnet track includes:
acquiring sensing data of the two third laser displacement sensors 33;
and obtaining the track dislocation value according to the difference value of the sensing data of the two third laser displacement sensors 33.
Further, as shown in fig. 11, the track dislocation refers to the height difference of adjacent track panels in the same track in the vertical direction, and the track dislocation is defined as the height difference between the track panel 1 and the track panel 2 according to the track dislocation detection principle:
wherein z1 and z2 are the measurement values of the left and right third laser displacement sensors 33, Δ z is the measurement value of the track dislocation, and further, the track heights of the end parts of the track panel are detected by multiplexing the two third laser displacement sensors 33, and the track heights of the adjacent track panels are subtracted to obtain the value of the track dislocation.
Specifically, the detecting the local surface smoothness of the permanent magnet track by the preset visual analysis algorithm includes: acquiring point cloud data of a magnetic track surface in the permanent magnet track through a laser profile sensor 40; and analyzing the irregularity characteristics of the magnetic track according to the point cloud data and a preset visual analysis algorithm to obtain an abnormal result of the magnetic track and marking the abnormal result by mileage.
Specifically, as shown in fig. 13, a gap exists between the magnetic track sections and the joints, and the size of the gap affects the working performance of the permanent magnet, so the present invention further adopts an optical measurement and visual analysis method to detect the local surface smoothness of the permanent magnet track, and the optical measurement method includes technologies such as structured light, laser triangulation, spectrum confocal, and interference, and is respectively applied to measurement scenes with different surfaces, measurement ranges, and precision levels. The optical measurement method has high sampling rate on the surface, more abundant sampling data can be obtained, and the error of measuring the flatness by using the method is reduced from the statistical viewpoint.
Further, as shown in fig. 12, the optical measurement of the present invention is embodied as a laser profile sensor 40, the laser profile sensor 40 is arranged right opposite to the top surface of the permanent magnet track, when in application, the laser profile sensor 40 is fixed on the track inspection vehicle 20, the left and the right are respectively positioned at the center right above the permanent magnet track, and the laser profile sensor 40 is set to be larger than the width of the permanent magnet track, so that the track surface is within the test range of the laser profile sensor 40, for example, the width of the permanent magnet track is 91mm, the scanning width of the laser profile sensor 40 is set to be 120mm, and when the laser profile sensor works, keeping the rail inspection vehicle 20 running stably and at a constant speed, collecting point cloud data on the surface of the magnetic track of the permanent magnet rail, and then, transmitting the acquired data to a detection operation console in real time, observing the point cloud data on the surface of the magnetic track, and analyzing the irregularity characteristics of the magnetic track by a machine vision method.
Specifically, machine vision mainly analyzes acquired point cloud data, and the analysis content includes transverse and longitudinal gaps, surface peeling, local dislocation, settlement protrusions, magnet breakage, magnet cracks and the like. The local abnormal position can be marked by mileage, and the gap and defect map of the upper surface is restored.
In summary, the present invention provides a system for detecting geometric irregularity of a permanent magnet track, including: the detection device comprises two permanent magnet tracks arranged in parallel at intervals, a track inspection vehicle which is arranged above the two permanent magnet tracks and can walk along the extension direction of the permanent magnet tracks, a plurality of laser displacement sensors which are arranged on the track inspection vehicle and are respectively opposite to the top surfaces and the side surfaces of the two permanent magnet tracks, a laser profile sensor which is arranged on the track inspection vehicle and is opposite to the top surfaces of the two permanent magnet tracks, and a detection operation platform which is in communication connection with the laser displacement sensors and the laser profile sensor; the detection operation platform is used for detecting the overall geometric smoothness of the permanent magnet track according to the sensing data of the laser displacement sensors and a preset detection algorithm and detecting the local surface smoothness of the permanent magnet track according to the sensing image of the laser profile sensor and a preset visual analysis algorithm, and the geometric irregularity detection of the permanent magnet track can be comprehensively and accurately completed through the cooperation of the laser displacement sensors and the laser profile sensors.
As described above, it will be apparent to those skilled in the art that other various changes and modifications may be made based on the technical solution and concept of the present invention, and all such changes and modifications are intended to fall within the scope of the appended claims.
Claims (10)
1. A permanent magnet track geometric irregularity detection system, comprising: the system comprises two permanent magnet tracks arranged in parallel at intervals, a track inspection vehicle (20) which is arranged above the two permanent magnet tracks and can walk along the extension direction of the permanent magnet tracks, a plurality of laser displacement sensors which are arranged on the track inspection vehicle (20) and are respectively opposite to the top surfaces and the side surfaces of the two permanent magnet tracks, a laser profile sensor (40) which is arranged on the track inspection vehicle (20) and is opposite to the top surfaces of the two permanent magnet tracks, and a detection operation platform which is in communication connection with the laser displacement sensors and the laser profile sensor (40);
the detection operation table is used for detecting the overall geometric smoothness of the permanent magnet track according to the sensing data of the laser displacement sensors and a preset detection algorithm and detecting the local surface smoothness of the permanent magnet track according to the sensing image of the laser profile sensor (40) and a preset visual analysis algorithm.
2. The permanent magnet track geometric irregularity detection system of claim 1, wherein said two permanent magnet tracks are a left permanent magnet track (11) and a right permanent magnet track (12), respectively;
the plurality of laser displacement sensors comprise three left laser displacement sensors (301) and three right laser displacement sensors (302) which are respectively opposite to the three left laser displacement sensors (301);
the three left laser displacement sensors (301) are arranged on the rail inspection vehicle (20) at intervals in a row and are opposite to the left side face of the left permanent magnet rail (11);
the three right laser displacement sensors (302) are arranged on the rail inspection vehicle (20) at intervals to form a line and are opposite to the right side face of the right permanent magnet track (12).
3. The system of claim 2, wherein the detecting the overall geometric smoothness of the permanent magnet track comprises:
detecting the straightness of the rail-direction plane of the left permanent magnet rail (11) through the sensing data of the three left laser displacement sensors (301) and a chord measuring method;
and detecting the straightness of the rail-direction plane of the right permanent magnet rail (12) through the sensing data of the three right laser displacement sensors (302) and a chord measuring method.
4. The system of claim 2, wherein the detecting the overall geometric smoothness of the permanent magnet track comprises:
selecting one of the three left laser displacement sensors (301) as a left track gauge sensor, and selecting one of the three right laser displacement sensors (302) opposite to the left track gauge sensor as a right track gauge sensor;
acquiring sensing data of the left track gauge sensor and the right track gauge sensor;
calculating the track gauge between a left permanent magnet track (11) and a right permanent magnet track (12) according to a track gauge calculation formula in a preset detection algorithm, wherein the track gauge calculation formula is as follows:
W2= W1-Y1- Y2-2W0
wherein, W0Is half of the transverse distance of the left permanent magnet track (11) or the right permanent magnet track (12);
W1the width of a mounting bracket (21) used for mounting a left track gauge sensor and a right track gauge sensor on the track inspection vehicle (20) is set, and the left track gauge sensor and the right track gauge sensor are respectively mounted at two end parts of the mounting bracket (21);
W2the track gauge between the left permanent magnet track (11) and the right permanent magnet track (12);
Y1sensed data for the left gauge sensor;
Y2is the sensed data of the right gauge sensor.
5. The permanent magnet track geometric irregularity detection system of claim 1, wherein said two permanent magnet tracks are a left permanent magnet track (11) and a right permanent magnet track (12), respectively;
the plurality of laser displacement sensors comprise three first laser displacement sensors (31), three second laser displacement sensors (32) and two third laser displacement sensors (33);
the three first laser displacement sensors (31) and the three second laser displacement sensors (32) are arranged on the rail inspection vehicle (20) at intervals in three rows and two columns, the three first laser displacement sensors (31) are located in the same column and are opposite to the left side edge of the top surface of the left permanent magnet track (11), and the three second laser displacement sensors (32) are located in the same column and are opposite to the right side edge of the top surface of the right permanent magnet track (12);
the two third laser displacement sensors (33) are located between the first laser displacement sensor (31) and the second laser displacement sensor (32) in the second row and are arranged in a row with the first laser displacement sensor (31) and the second laser displacement sensor (32), one of the two third laser displacement sensors (33) is over against the right side edge of the top surface of the left permanent magnet track (11), and the other is over against the left side edge of the top surface of the right permanent magnet track (12).
6. The system of claim 5, wherein the detecting the overall geometric smoothness of the permanent magnet track comprises:
detecting the vertical plane flatness of the left permanent magnet rail (11) through sensing data of the three first laser displacement sensors (31) and a chord measuring method;
and detecting the vertical plane flatness of the right permanent magnet track (12) through the sensing data of the three second laser displacement sensors (32) and a chord measuring method.
7. The system of claim 5, wherein the detecting the overall geometric smoothness of the permanent magnet track comprises:
acquiring sensing data of a first laser displacement sensor (31), two third laser displacement sensors (33) and a second laser displacement sensor (32) in a second row;
comparing the sensing data of the first laser displacement sensor (31), the two third laser displacement sensors (33) and the second laser displacement sensor (32) to obtain a comparison result;
and determining the transverse plane straightness of the two permanent magnet tracks according to the comparison result.
8. The system of claim 5, wherein the detecting the overall geometric smoothness of the permanent magnet track comprises:
acquiring sensing data of a first laser displacement sensor (31), two third laser displacement sensors (33) and a second laser displacement sensor (32) in a second row;
and calculating to obtain a left and right horizontal measurement difference value according to the sensing data of a first laser displacement sensor (31), two third laser displacement sensors (33) and a second laser displacement sensor (32) in the second row and a horizontal detection formula in a preset detection algorithm, so as to realize the horizontal detection of the left permanent magnet track (11) and the right permanent magnet track (12).
9. The system of claim 5, wherein the detecting the overall geometric smoothness of the permanent magnet track comprises:
acquiring sensing data of two third laser displacement sensors (33);
and obtaining the value of track dislocation according to the difference value of the sensing data of the two third laser displacement sensors (33).
10. The system of claim 5, wherein the predetermined visual analysis algorithm to detect the local surface smoothness of the permanent magnet track comprises:
collecting point cloud data of a magnetic track surface in a permanent magnet track through a laser profile sensor (40);
and analyzing the irregularity characteristics of the magnetic track according to the point cloud data and a preset visual analysis algorithm to obtain an abnormal result of the magnetic track and marking the abnormal result by mileage.
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