CN114485751A - Spatial synchronization system and method for detection data of steel rail flaw detection vehicle - Google Patents
Spatial synchronization system and method for detection data of steel rail flaw detection vehicle Download PDFInfo
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- CN114485751A CN114485751A CN202210070951.0A CN202210070951A CN114485751A CN 114485751 A CN114485751 A CN 114485751A CN 202210070951 A CN202210070951 A CN 202210070951A CN 114485751 A CN114485751 A CN 114485751A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
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Abstract
The invention discloses a spatial synchronization system and a method for detecting data of a rail flaw detection vehicle, wherein the system comprises the following steps: the encoder is for: transmitting an encoder signal; the spatial synchronization unit is configured to: sending the received encoder signals to each detection system; sending a periodic synchronization signal to each detection system; the detection system is used for: after receiving the encoder signals, accumulating and counting the encoder signals; after receiving the periodic synchronization signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of the current detection position, and attaching a steel rail segment value label to detection data of the current detection data acquisition period; and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data. The invention can realize the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a steel rail flaw detection vehicle detection data space synchronization system and method.
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.
During the use of the steel rail, various states which influence and limit the service performance of the steel rail can occur, such as internal cracks of the steel rail, scratches on the top surface of the steel rail, stripping and chipping, fish scale marks, rail head abrasion, wave abrasion and the like. At present, the rail damage detection is completed through a vehicle-mounted detection system, such as a rail flaw detection operation system for detecting internal cracks of a rail, a rail outline detection system for detecting the outline of the rail, a rail surface high-definition imaging system for detecting the surface damage of the rail and the like. With the development of the engineering detection technology, the synchronous detection and data fusion analysis of the damage states of various steel rails become one of the development trends.
The detection systems such as a steel rail flaw detection operation system, an electromagnetic detection system, a steel rail outline detection system, a rail surface high-definition imaging system and the like are installed at different positions on the existing steel rail flaw detection vehicle, and the steel rail flaw detection vehicle can synchronously detect the surface and internal flaws of the steel rail as shown in figure 1.
In order to realize multi-system detection data fusion analysis of rail damage, the detection data of each detection system needs to be accurately aligned. In the prior art, only the mileage synchronization command is sent to each detection system, but the detection data of each system is difficult to realize accurate alignment in mileage synchronization due to transmission delay and storage delay of each system, and the mileage deviation is large. For example: the detection speed of the flaw detection vehicle is 80km/h, and if the transmission delay time is 0.1 second, the mileage deviation is about 2.2 m. The mileage information storage modes of all systems are different, some systems paste the mileage information when the data to be detected is stored under the windows system, some systems paste the mileage information in the original data under the Realtime system, the storage delay can reach 1-10 seconds, and the maximum mileage deviation can reach 20-200 m.
The size of the rail damage is generally less than 20mm, and the data among multiple systems cannot be subjected to fusion analysis due to the fact that the data cannot be aligned due to large mileage deviation. Therefore, a spatial synchronization system for the detection data of the rail flaw detection vehicle is lacked at present so as to realize accurate alignment of data of a plurality of detection systems of the rail flaw detection vehicle.
Disclosure of Invention
The embodiment of the invention provides a spatial synchronization system for detection data of a steel rail flaw detection vehicle, which is used for realizing accurate alignment of the detection data of a plurality of detection systems of the steel rail flaw detection vehicle, and comprises the following components:
a spatial synchronization unit, an encoder and a plurality of detection systems, each connected to the spatial synchronization unit, wherein,
the encoder is for: transmitting an encoder signal to a spatial synchronization unit;
the spatial synchronization unit is configured to: sending the received encoder signals to each detection system; sending periodic synchronization signals to each detection system every other preset encoder count value;
the detection system is used for: after receiving the encoder signals, performing accumulation counting on the encoder signals to obtain an encoder count value; after receiving the periodic synchronization signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of the current detection position, and attaching a steel rail segment value label to detection data of the current detection data acquisition period; and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data.
The embodiment of the invention also provides a spatial synchronization method for the detection data of the steel rail flaw detection vehicle, which is used for realizing the accurate alignment of the detection data of a plurality of detection systems of the steel rail flaw detection vehicle, and comprises the following steps:
sending the received encoder signals to each detection system; after receiving the encoder signals, the detection system carries out accumulation counting on the encoder signals to obtain encoder count values;
sending periodic synchronization signals to each detection system every other preset encoder count value; after receiving the periodic synchronization signal, the detection system calculates a synchronous encoder count value, corrects the current encoder count value into a synchronous encoder count value, calculates a rail segment value of the current detection position, attaches a rail segment value label to detection data of the current detection data acquisition period, and obtains corresponding detection data of the target detection system according to the rail segment value label of the current detection data when searching the corresponding detection data of the target detection system according to the current detection data.
The embodiment of the invention also provides a spatial synchronization method for the detection data of the steel rail flaw detection vehicle, which is used for realizing the accurate alignment of the detection data of a plurality of detection systems of the steel rail flaw detection vehicle, and comprises the following steps:
after receiving the encoder signals sent by the space synchronization unit, performing accumulation counting on the encoder signals to obtain an encoder count value;
after receiving a periodic synchronization signal sent by a space synchronization unit, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of a current detection position, and attaching a steel rail segment value label to detection data of a current detection data acquisition period;
and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data.
The embodiment of the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the spatial synchronization method of the rail flaw detection vehicle detection data.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the spatial synchronization method for the detection data of the steel rail flaw detection vehicle is realized.
The embodiment of the invention also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the spatial synchronization method for the detection data of the steel rail flaw detection vehicle.
In an embodiment of the present invention, the encoder is configured to: transmitting an encoder signal to a spatial synchronization unit; the spatial synchronization unit is configured to: sending the received encoder signals to each detection system; sending periodic synchronization signals to each detection system every other preset encoder count value; the detection system is used for: after receiving the encoder signals, performing accumulation counting on the encoder signals to obtain encoder count values; after receiving the periodic synchronization signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of the current detection position, and attaching a steel rail segment value label to detection data of the current detection data acquisition period; and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data. In the system, the current encoder count value can be corrected through the periodic synchronization signal; by calculating the steel rail segment value of the current detection position and attaching the steel rail segment value label to the detection data of the current detection data acquisition period, when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data, so that the accurate alignment of the detection data of a plurality of detection systems of the steel rail flaw detection vehicle is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a schematic view of a conventional rail-mounted flaw detection system;
FIG. 2 is a first schematic view of a spatial synchronization system for rail vehicle detection data according to an embodiment of the present invention;
FIG. 3 is a first schematic diagram of a spatial synchronization method for rail vehicle detection data in an embodiment of the present invention;
FIG. 4 is a diagram illustrating the periodic synchronization of the encoder count values according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a relationship between a rail segment and a detection system at time t1 of the rail flaw detector vehicle according to the embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a relationship between a rail segment and a detection system at time t2 of the rail flaw detector vehicle according to the embodiment of the present invention;
FIG. 7 is a second schematic view of a spatial synchronization system for rail vehicle detection data according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of the alignment of the test data of the multiple test system in an embodiment of the present invention;
FIG. 9 is a schematic interface diagram of a spatial synchronization unit according to an embodiment of the present invention;
FIG. 10 is a third schematic view of a spatial synchronization system for detecting data of a rail flaw detection vehicle according to an embodiment of the present invention;
FIG. 11 is a schematic diagram II of a spatial synchronization method for detecting data by a rail-defect detecting vehicle according to an embodiment of the present invention;
FIG. 12 illustrates a mileage accumulation principle according to an embodiment of the present invention;
FIG. 13 is a first flowchart of a spatial synchronization method for detecting data of a rail-guided vehicle according to an embodiment of the present invention;
FIG. 14 is a second flowchart of a spatial synchronization method for detecting data of a rail-defect detecting vehicle according to an embodiment of the present invention;
FIG. 15 is a flow chart III of a spatial synchronization method for detecting data by a rail flaw detection vehicle according to an embodiment of the invention;
FIG. 16 is a fourth flowchart of a spatial synchronization method for detecting data of a rail-defect detecting vehicle according to an embodiment of the present invention;
FIG. 17 is a fifth flowchart of a spatial synchronization method for detecting data of a rail-defect detecting vehicle according to an embodiment of the present invention;
FIG. 18 is a diagram of a computer device in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
Fig. 2 is a first schematic diagram of a spatial synchronization system for detecting data of a rail-fault detector vehicle according to an embodiment of the present invention, as shown in fig. 2, the system includes: a spatial synchronization unit 201, an encoder 202 and a plurality of detection systems 203, which are connected to the spatial synchronization unit 201, respectively, wherein,
the encoder 202 is configured to: transmitting an encoder signal to a spatial synchronization unit;
the spatial synchronization unit 201 is configured to: sending the received encoder signals to each detection system; sending periodic synchronization signals to each detection system every other preset encoder count value;
the detection system 203 is configured to: after receiving the encoder signals, performing accumulation counting on the encoder signals to obtain an encoder count value; after receiving the periodic synchronization signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of the current detection position, and attaching a steel rail segment value label to detection data of the current detection data acquisition period; and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data.
In an embodiment, the detection system comprises one or any combination of an electromagnetic detection system, a rail surface high-definition imaging system, a steel rail outline detection system and a steel rail flaw detection operation system.
Specifically, the encoder counts independently, and after each detection system receives the encoder signal of the spatial synchronization unit, the encoder signal is counted in an accumulation manner to obtain an encoder count value. Due to different counting start times and encoder signal interference, the encoder counting values between the detection systems have accumulated errors, and therefore the spatial synchronization unit needs to perform period synchronization.
Fig. 3 is a first schematic diagram of a spatial synchronization method for detecting data of a rail-fault detector vehicle according to an embodiment of the present invention, where in an embodiment, the spatial synchronization unit is further configured to: before sending periodic synchronization signals to each detection system, sending a next synchronization count value to each detection system;
the detection system is further configured to: recording the next synchronous count value in each detection system after receiving the next synchronous count value; and after receiving the periodic synchronization signal, calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
In the above embodiment, the next-synchronization count value m0From spaceThe synchronization unit sending over the network, m0For each accumulated value, e.g. m, when the rail-fault detector car is first started and sent0When m is transmitted for the second time, 10And 2, sequentially increasing, and sending a periodic synchronous signal at intervals of a preset encoder count value. FIG. 4 is a diagram illustrating the synchronization of the encoder count period according to an embodiment of the present invention.
For example, assuming a flaw vehicle wheel diameter of 915mm, an encoder resolution of 5000ppr, a wheel rotation of 100 revolutions of 287.31m, the preset encoder count value is 500,000 (which, once set, may be constant). The encoder count value synchronization is performed every 500,000 pulses with 500,000 count synchronization units.
E.g. m0When 303, the sync encoder count value is 303 × 500,000 151,500,000.
And the detection systems record the next synchronous count value in each detection system after receiving the next synchronous count value, and then wait for periodic synchronous signals.
For example: the space synchronization unit outputs a periodic synchronization signal, and when each detection system receives the periodic synchronization signal,
after the synchronous encoder count value 151,500,000 is calculated, the current encoder count value is corrected to the synchronous encoder count value 151,500,000.
After the encoder count value is synchronized, spatial synchronization is performed next, and the spatial synchronization principle is introduced first.
The rail is cut into small segments which are closely connected by taking the distance of the flaw detection vehicle moving 1 encoder pulse as a unit to form a complete and continuous rail coordinate system. And the detection data of each detection system are assembled into the corresponding segment of the steel rail coordinate system according to the actual position of the steel rail. The same steel rail segment can correspond to the detection data of a plurality of detection systems, and the detection data of the plurality of systems are synchronous in space.
After the multi-system detection data are spatially synchronized, the detection data of the detection systems arranged at different positions of the rail flaw detection vehicle are mutually aligned through rail segment values.
Fig. 5 is a schematic diagram of a relationship between a rail segment and a detection system at time t1 of the rail flaw detector vehicle according to the embodiment of the invention.
As can be seen from fig. 5, the rail flaw detection vehicle is provided with a "reference point", which means that:
the reference point is always positioned at the rear end of the rail flaw detection vehicle;
when in initial detection, the point is the initial point of the steel rail segment value, and the steel rail segment value is 0;
and along with the walking of the steel rail flaw detection vehicle, the steel rail segment which is larger than the reference point steel rail segment value is still in the detection range of the steel rail flaw detection vehicle, and the segment which is smaller than the reference point steel rail segment value is detected.
the rail segment value of the detection data of each detection system at the time t1 can be obtained by the following calculation:
the steel rail segment value of the detection data of the steel rail flaw detection operation system is as follows:
data rail segment values of detection data of the contour detection system:
rail surface system data rail segment values:
steel rail segment value of detection data of the electromagnetic detection system:
wherein L is the walking distance of each encoder pulse steel rail flaw detection vehicle; m is1A steel rail segment value which is a reference point at the time t1, namely an encoder pulse count value; and e is the distance between the radio frequency tag reader and the reference point.
The detection vehicle continues to run, and when the steel rail flaw detection system happens to pass through the steel rail segment value n detected by the profile system at the time t12At time t2, the schematic diagram is shown in fig. 6, and fig. 6 is a schematic diagram of a relationship between a rail segment and a detection system at time t2 of the rail flaw detector according to the embodiment of the present invention.
Taking a rail flaw detection operation system as an example, the rail segment value n of the detection data2Comprises the following steps:
n at time t12N at time t22The same steel rail segment of the actual position of the steel rail is shown, the detection data of the steel rail flaw detection operation system and the detection data of the steel rail outline operation system are aligned through the steel rail segment value, and the spatial conversion of the multi-system detection data is completed.
In one embodiment, the detection system is further configured to: after receiving a periodic synchronizing signal, attaching a steel rail segment value label to detection data of a current detection data acquisition period, and attaching a first flag bit to the steel rail segment value;
and in each detection data acquisition period which does not receive the period synchronization signal, calculating a steel rail segment value of the current detection position, attaching a steel rail segment value label to the detection data, and attaching a second marker bit to the steel rail segment value.
The steel rail segment value pasted with the first mark bit is an accurate steel rail segment value subjected to periodic synchronization, the steel rail segment value pasted with the second mark bit has errors possibly, and is inaccurate, and the mark bit of the steel rail segment value needs to be identified to calculate by applying the accurate steel rail segment value when space synchronization is subsequently carried out.
Fig. 7 is a second schematic diagram of a spatial synchronization system for detecting data of a rail-fault detector vehicle according to an embodiment of the present invention, where in an embodiment, the system further includes a radio frequency tag reader 701;
the detection system adopts the following formula to calculate the steel rail segment value of the current detection position:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the current time reference point; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; and L is the walking distance of each encoder pulse steel rail flaw detection vehicle.
FIG. 8 is a schematic diagram of the alignment of the detection data of the multiple detection system in an embodiment of the invention.
In one embodiment, the detection system is further configured to: when the corresponding detection data of the target detection system is searched according to the current detection data, the steel rail segment value label n of the current detection data1Searching the rail segment value m which is closest to the rail segment value of the current detection position and is adhered with the first flag bit1Calculating the difference value n between the segment value of the steel rail at the current detection position and the segment value of the steel rail which is the nearest and is attached with the first marker bit1-m1(ii) a Searching the nearest steel rail segment value attached with the first zone bit in all detection data of the target detection system to obtain a steel rail segment value m attached with the first zone bit of the target detection system1According to said difference n1-m1And the value m of the steel rail segment of the target detection system stuck with the first zone bit1And acquiring corresponding detection data of the target detection system.
In one embodiment, the detection system and the spatial synchronization unit are connected through a differential synchronization cable, and the differential synchronization cable is used for transmitting periodic synchronization signals.
In one embodiment, the detection system is connected to the encoder via an encoder cable, which is used to transmit encoder signals.
Fig. 9 is an interface schematic diagram of a space synchronization unit in an embodiment of the present invention, where a network port is used for exchanging with a network switch, a radio frequency tag signal input interface is used for communicating with a radio frequency tag reader, an encoder signal input interface is used for communicating with an encoder, a latitude and longitude data input interface is used for communicating with a latitude and longitude acquisition antenna, a keypad signal input interface is used for communicating with a mileage input keypad, an encoder signal output interface is used for communicating with each detection system, and a period synchronization signal output interface is used for communicating with each detection system.
Besides space synchronization, the system provided by the embodiment of the invention can also realize mileage synchronization, and the same encoder and period synchronization method as the space synchronization is used.
Fig. 10 is a third schematic diagram of a rail flaw detection vehicle detection data space synchronization system in an embodiment of the present invention, fig. 11 is a second schematic diagram of a rail flaw detection vehicle detection data space synchronization method in an embodiment of the present invention, fig. 11 corresponds to fig. 10, in an embodiment, the system further includes a network switch 1001 connected to the space synchronization unit and the detection system, and a mileage correction unit 1002 connected to the space synchronization unit, the mileage correction unit including a mileage input keypad, a latitude and longitude acquisition antenna, and a manual input module;
the mileage correcting unit is configured to: transmitting a mileage correction signal to a space synchronization unit;
the spatial synchronization unit is further configured to: and sending the received mileage correction signal to a detection system through a network switch.
The following gives a specific procedure of mileage synchronization. In the rail flaw detection vehicle, a plurality of detection systems are arranged at different positions on a vehicle body of the rail flaw detection vehicle, synchronous detection is carried out in the running process of the rail flaw detection vehicle, and for certain flaw on a rail, data of different detection systems correspond to the same rail position, so that mileage synchronization among the plurality of detection systems is required.
Mileage synchronization is accomplished by 3 steps: mileage accumulation, mileage correction and deviation correction.
(1) Mileage accumulation
Each detection system counts up the signals (pulse signals) of an encoder (such as a photoelectric encoder), and the product of the pulse count value and the pulse distance is the relative position of mileage. The principle of mileage accumulation is shown in fig. 12, wherein the mileage at point b can be calculated as b ═ a + mxl.
And each detection system receives the encoder signal, sets the same pulse distance value and performs mileage accumulation on the encoder signal.
(2) Mileage correction
And the space synchronization unit sends a network synchronization packet to each detection system through the network switch to carry out mileage correction. There are 4 ways for the mileage correction source: a mileage correction keypad, a radio frequency tag Reader (RFID), a latitude and longitude acquisition antenna (GNSS mileage calibration) and a manual input module.
First, mileage input keypad
The mileage input keypad (abbreviated as ' keypad ') is located on the vehicle driver's platform and is in two-way communication with the space synchronization unit through RS 232. When a mileage corrector inputs information such as line identification, mileage and the like by pressing keys of a keypad, the space synchronization unit sends a display data packet to the keypad at regular time, and the contents such as detection speed, current mileage and the like are displayed on a screen of the keypad.
And after receiving the mileage correction information input by the keypad, the space synchronization unit sends the mileage correction information to each detection system through the network to perform mileage correction.
Second, radio frequency tag reader
The radio frequency tag readers are installed on two sides of the flaw detection vehicle body, read RFID mileage information pre-buried on a railway line when passing through the radio frequency tags pre-buried in the line, and are in two-way communication with the space synchronization unit through RS 232. And after receiving the mileage correction information input by the radio frequency tag reader, the space synchronization unit sends the mileage correction information to each detection system through a network to perform mileage correction.
Third, longitude and latitude acquisition antenna
The space synchronization unit acquires longitude and latitude data in real time through a longitude and latitude acquisition antenna (a Beidou or GPS antenna) arranged on the roof, and sends mileage correction information to each detection system through a network for mileage correction when the longitude and latitude data are matched with the mileage correction database correction point.
Fourth, manual input module
The operator can manually input mileage on the interface of a manual input module of the space synchronization unit software, and the space synchronization unit sends mileage correction information to each detection system through a network to correct the mileage.
(3) Offset correction
The installation deviation can be caused by installing each detection system at different positions of the flaw detection vehicle. The mounting deviation is solved by a mounting deviation correction value built in each detection system. And taking the radio frequency tag reader as an original point o of installation deviation, and measuring the distance between each detection system and the radio frequency tag reader as a deviation correction value. And in the detection process, correcting the installation deviation according to the form direction and mileage increase and decrease of the train. As shown in fig. 1, when detecting forward mileage subtraction, the mileage correction information o corrects the mileage value of each detection system to: the system comprises a steel rail flaw detection operation system o + d, an electromagnetic detection system o-d, a rail surface high-definition imaging system o-b and a steel rail outline detection system o + c.
In summary, the system provided in the embodiment of the present invention has the following beneficial effects:
(1) the steel rail is used as a complete and continuous coordinate system, and the data of each detection system is accurately mapped into the steel rail coordinate system in a mode of independent counting of an encoder and periodic synchronization, so that the spatial synchronization of each detection system is completed.
(2) The synchronous starting or the detection of each detection system is not needed, the space synchronous system can be accessed after the system is started at any time, and the use is flexible and convenient.
(3) The current encoder count value can be corrected through the periodic synchronization signal; by calculating the steel rail segment value of the current detection position and attaching the steel rail segment value label to the detection data of the current detection data acquisition period, when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data, so that the accurate alignment of the detection data of a plurality of detection systems of the steel rail flaw detection vehicle is realized.
(4) The space synchronization can be realized, and simultaneously the mileage synchronization can be realized.
The embodiment of the invention also provides a spatial synchronization method for the detection data of the rail flaw detection vehicle, which is described in the following embodiment. Because the principle of solving the problems by the method is similar to that of the system, the implementation of the method can be referred to the implementation of the system, and repeated details are not repeated.
Fig. 13 is a first flowchart of a spatial synchronization method for detecting data of a rail-fault detector vehicle according to an embodiment of the present invention, where the method is applied to the above system, and includes:
Fig. 14 is a second flowchart of a spatial synchronization method for detecting data of a rail-fault detector vehicle according to an embodiment of the present invention, and in an embodiment, before sending a periodic synchronization signal to each detection system, the method further includes:
1401, sending a next synchronization count value to each detection system, wherein the detection system records the next synchronization count value in each detection system after receiving the next synchronization count value; and after receiving the periodic synchronization signal, calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
The embodiment of the invention also provides another spatial synchronization method for the detection data of the steel rail flaw detection vehicle, and fig. 15 is a flow chart three of the spatial synchronization method for the detection data of the steel rail flaw detection vehicle in the embodiment of the invention, and the method is applied to the system and comprises the following steps:
and 1503, when the corresponding detection data of the target detection system is searched according to the current detection data, obtaining the corresponding detection data of the target detection system according to the steel rail segment value label of the current detection data.
Fig. 16 is a fourth flowchart of a spatial synchronization method for detecting data of a rail-fault detector vehicle according to an embodiment of the present invention, where in an embodiment of the present invention, the method further includes:
calculating a synchronous encoder count value, comprising: and calculating the count value of the synchronous encoder according to the next synchronous count value and the preset encoder count value.
Fig. 17 is a flowchart of a fifth method for spatially synchronizing detection data of a rail flaw detection vehicle according to an embodiment of the present invention, where in an embodiment of the present invention, the method further includes:
In an embodiment, the method further comprises:
calculating the steel rail segment value of the current detection position by adopting the following formula:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the current time reference point; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; and L is the walking distance of each encoder pulse steel rail flaw detection vehicle.
In an embodiment, obtaining corresponding detection data of the target detection system according to the rail segment value tag of the current detection data includes:
according to the steel rail segment value label of the current detection data, searching a steel rail segment value which is closest to the steel rail segment value of the current detection position and is pasted with a first zone bit;
calculating the difference value between the steel rail segment value of the current detection position and the nearest steel rail segment value attached with the first flag bit;
searching the nearest steel rail segment value attached with the first zone bit in all detection data of the target detection system to obtain the steel rail segment value attached with the first zone bit of the target detection system;
and acquiring corresponding detection data of the target detection system according to the difference and the steel rail segment value attached with the first zone bit of the target detection system.
In summary, the method provided in the embodiment of the present invention has the following beneficial effects:
(1) the steel rail is used as a complete and continuous coordinate system, and the data of each detection system is accurately mapped into the steel rail coordinate system in a mode of independent counting of an encoder and periodic synchronization, so that the spatial synchronization of each detection system is completed.
(2) The synchronous starting or the detection of each detection system is not needed, the space synchronous system can be accessed after the system is started at any time, and the use is flexible and convenient.
(3) The current encoder count value can be corrected through the periodic synchronization signal; by calculating the steel rail segment value of the current detection position and attaching the steel rail segment value label to the detection data of the current detection data acquisition period, when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data, so that the accurate alignment of the detection data of a plurality of detection systems of the steel rail flaw detection vehicle is realized.
(4) The space synchronization can be realized, and simultaneously the mileage synchronization can be realized.
Fig. 18 is a schematic diagram of a computer device according to an embodiment of the present invention, where the computer device 1800 includes a memory 1810, a processor 1820, and a computer program 1830 stored in the memory 1810 and executable on the processor 1820, and when the processor 1820 executes the computer program 1830, the rail-defect detector data spatial synchronization method is implemented.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the spatial synchronization method for the detection data of the steel rail flaw detection vehicle is realized.
The embodiment of the invention also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the spatial synchronization method for the detection data of the steel rail flaw detection vehicle.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (19)
1. The utility model provides a rail flaw detection car detects data space synchronization system which characterized in that includes: a spatial synchronization unit, an encoder and a plurality of detection systems, each connected to the spatial synchronization unit, wherein,
the encoder is for: transmitting an encoder signal to a spatial synchronization unit;
the spatial synchronization unit is configured to: sending the received encoder signals to each detection system; sending periodic synchronization signals to each detection system every other preset encoder count value;
the detection system is used for: after receiving the encoder signals, performing accumulation counting on the encoder signals to obtain an encoder count value; after receiving the periodic synchronization signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of the current detection position, and attaching a steel rail segment value label to detection data of the current detection data acquisition period; and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data.
2. The system of claim 1, wherein the spatial synchronization unit is further to: before sending periodic synchronization signals to each detection system, sending a next synchronization count value to each detection system;
the detection system is further configured to: recording the next synchronous count value in each detection system after receiving the next synchronous count value; and after receiving the periodic synchronization signal, calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
3. The system of claim 1, wherein the detection system is further configured to: after receiving a periodic synchronizing signal, attaching a steel rail segment value label to detection data of a current detection data acquisition period, and attaching a first flag bit to the steel rail segment value;
and in each detection data acquisition period which does not receive the period synchronization signal, calculating a steel rail segment value of the current detection position, attaching a steel rail segment value label to the detection data, and attaching a second marker bit to the steel rail segment value.
4. The system of claim 3, wherein the system further comprises a radio frequency tag reader;
the detection system adopts the following formula to calculate the steel rail segment value of the current detection position:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the current time reference point; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; and L is the walking distance of each encoder pulse steel rail flaw detection vehicle.
5. The system of claim 3, wherein the detection system is further configured to: when the corresponding detection data of the target detection system is searched according to the current detection data, according to the steel rail segment value label of the current detection data, the steel rail segment value which is closest to the steel rail segment value of the current detection position and is pasted with a first mark bit is searched, and the difference value between the steel rail segment value of the current detection position and the closest steel rail segment value which is pasted with the first mark bit is calculated; and searching the nearest steel rail segment value attached with the first zone bit in all detection data of the target detection system to obtain the steel rail segment value attached with the first zone bit of the target detection system, and obtaining corresponding detection data of the target detection system according to the difference value and the steel rail segment value attached with the first zone bit of the target detection system.
6. The system of claim 1, wherein the detection system comprises one or any combination of an electromagnetic detection system, a rail surface high definition imaging system, a rail profile detection system, and a rail inspection operation system.
7. The system of claim 1, wherein the detection system and the spatial synchronization unit are connected by a differential synchronization cable, the differential synchronization cable being configured to communicate a periodic synchronization signal.
8. The system of claim 1, wherein the detection system is coupled to the encoder via an encoder cable, the encoder cable configured to convey an encoder signal.
9. The system of claim 1, further comprising a network switch connected to the space synchronization unit and the detection system, respectively, a mileage correction unit connected to the space synchronization unit, the mileage correction unit comprising a mileage input keypad, a latitude and longitude acquisition antenna, a manual input module;
the mileage correcting unit is configured to: transmitting a mileage correction signal to a space synchronization unit;
the spatial synchronization unit is further configured to: and sending the received mileage correction signal to a detection system through a network switch.
10. A rail flaw detection vehicle detection data space synchronization method is applied to the system of any one of claims 1 to 9, and comprises the following steps:
sending the received encoder signals to each detection system; after receiving the encoder signals, the detection system carries out accumulation counting on the encoder signals to obtain encoder count values;
sending periodic synchronization signals to each detection system every other preset encoder count value; after receiving the periodic synchronization signal, the detection system calculates a synchronous encoder count value, corrects the current encoder count value into a synchronous encoder count value, calculates a rail segment value of the current detection position, attaches a rail segment value label to detection data of the current detection data acquisition period, and obtains corresponding detection data of the target detection system according to the rail segment value label of the current detection data when searching the corresponding detection data of the target detection system according to the current detection data.
11. The method of claim 10, prior to transmitting the periodic synchronization signal to each detection system, further comprising:
sending the next synchronous count value to each detection system, wherein the detection systems record the next synchronous count value in each detection system after receiving the next synchronous count value; and after receiving the periodic synchronization signal, calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
12. A rail flaw detection vehicle detection data space synchronization method is applied to the system of any one of claims 1 to 9, and comprises the following steps:
after receiving the encoder signals sent by the space synchronization unit, performing accumulation counting on the encoder signals to obtain an encoder count value;
after receiving a periodic synchronization signal sent by a space synchronization unit, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail segment value of a current detection position, and attaching a steel rail segment value label to detection data of a current detection data acquisition period;
and when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail segment value label of the current detection data.
13. The method of claim 12, further comprising:
recording the next synchronous count value sent by the space synchronization unit in each detection system after receiving the next synchronous count value;
calculating a synchronous encoder count value, comprising: and calculating the count value of the synchronous encoder according to the next synchronous count value and the preset encoder count value.
14. The method of claim 12, further comprising:
after receiving a periodic synchronizing signal, attaching a steel rail segment value label to detection data of a current detection data acquisition period, and attaching a first flag bit to the steel rail segment value;
and in each detection data acquisition period which does not receive the period synchronization signal, calculating a steel rail segment value of the current detection position, attaching a steel rail segment value label to the detection data, and attaching a second marker bit to the steel rail segment value.
15. The method of claim 14, further comprising:
calculating the steel rail segment value of the current detection position by adopting the following formula:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the current time reference point; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; and L is the walking distance of each encoder pulse steel rail flaw detection vehicle.
16. The method of claim 14, wherein obtaining corresponding detection data for the target detection system based on the rail segment value tag of the current detection data comprises:
according to the steel rail segment value label of the current detection data, searching a steel rail segment value which is closest to the steel rail segment value of the current detection position and is pasted with a first zone bit;
calculating the difference value between the steel rail segment value of the current detection position and the nearest steel rail segment value attached with the first flag bit;
searching the nearest steel rail segment value attached with the first zone bit in all detection data of the target detection system to obtain the steel rail segment value attached with the first zone bit of the target detection system;
and acquiring corresponding detection data of the target detection system according to the difference and the steel rail segment value attached with the first zone bit of the target detection system.
17. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 10 to 16 when executing the computer program.
18. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method of any of claims 10 to 16.
19. A computer program product, characterized in that the computer program product comprises a computer program which, when being executed by a processor, carries out the method of any one of claims 10 to 16.
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