CN114739423A - Automatic calibration device and method for ultrahigh channel of track detection system - Google Patents
Automatic calibration device and method for ultrahigh channel of track detection system Download PDFInfo
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- CN114739423A CN114739423A CN202210238392.XA CN202210238392A CN114739423A CN 114739423 A CN114739423 A CN 114739423A CN 202210238392 A CN202210238392 A CN 202210238392A CN 114739423 A CN114739423 A CN 114739423A
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Abstract
The invention provides an automatic calibration device and method for an ultrahigh channel of a track detection system, wherein in a space rectangular coordinate system taking an X, Y, Z axis as a coordinate axis, the automatic calibration device for the ultrahigh channel of the track detection system comprises a connecting rod (2), an angular table connecting seat (3) and an angular table (4) which are sequentially connected, the connecting rod (2) extends along the X-axis direction, the angular table (4) comprises an upper rotating table (41) and a lower base table (42) which are arranged up and down, the upper rotating table (41) can rotate around a first straight line, and the first straight line is parallel to a Y axis. According to the automatic calibration device and method for the ultrahigh channel of the track detection system, the attitude change of the inertia assembly is driven by accurately controlling the change of the angle and the time, the data curve of the sensor is identified, the ultrahigh calibration device is accurately controlled to perform ultrahigh automatic calibration on the track detection system, the former manual calibration is replaced, and the calibration efficiency and the precision are improved.
Description
Technical Field
The invention relates to an automatic calibration device of an ultrahigh channel of a track detection system, and also relates to an automatic calibration method of the ultrahigh channel of the track detection system.
Background
The rail detection system is a set of instruments which are installed on a train or a motor train unit (or a detection beam) and are used for dynamically detecting the geometric irregularity of the rail in real time, generally adopts an inertial measurement principle and a machine vision measurement technology, and utilizes sensors such as a gyroscope, an accelerometer, an industrial camera and the like to measure the positions of a left steel rail and a right steel rail relative to a detection device and the postures of the detection device, so that the transverse and longitudinal geometric irregularity and the mutual position relation of the left steel rail and the right steel rail are calculated. The main measurement parameters include track gauge, left (right) height, left (right) track direction, level, triangular pit, super height and the like.
The track detection system mainly comprises sensors such as an inertia component, a laser displacement meter and the like, a signal processing part and a data processing part, wherein the scale coefficient of the sensors can change along with long-term application, so that the gain and the phase of a signal processing channel of the sensors need to be calibrated regularly, and the sensors meet the design requirements of the detection system. The main method is to adjust the gain and phase of the signal processing channel of the sensor by inputting standard quantity. Because the equipment is installed on the vehicle and is inconvenient to disassemble, a field calibration tool is needed to calibrate.
The superelevation refers to the difference of the heights of the top surfaces of the left and right steel rails on the same cross section of the track, and is obtained by calculating the angle between a running surface and a horizontal reference surface. The sensor is mainly obtained by jointly measuring three sensors, namely a gyroscope 62, an inclinometer 61 and a displacement measuring sensor 63. Wherein an inclinometer 61(INCL) and a gyro 62(ROLL) are jointly used for measuring the ROLL angle theta of a mounting carrier (detection beam)c. Gyro 62 measures thetacMiddle high frequency component thetacH. The inclinometer 61 measures θcLow frequency component of (including inclination angle when vehicle body is stationary) of (1) thetacL。θcHAnd thetacLThe sum of which is thetac. The displacement measuring transducer 63 (calibrated before leaving the factory) measures the relative angle theta between the detecting beam and the plane of the trackct. Track inclination angle thetatFor vehicle body roll angle thetacAnd the included angle theta between the vehicle body and the wheel axlectThe algebraic sum of (c). By thetatAnd the distance D between the central lines of the two rails (such as 1506mm), and calculating the overhigh value, which is shown in the following formula I and figure 1.
H＝D×sin(θt) Formula one
Wherein H is an ultrahigh value and the unit is mm; d is the distance between the central lines of the two rails and has the unit of mm.
The gyroscope 62 and inclinometer 61 are typically designed to be mounted as a unit, referred to as an inertial assembly 6 (also known as a gyro platform or inertial platform) in a track detection system. The calibration of the inertia assembly 6 is mainly to adjust the gain of the signal processing channel of the inclinometer 61, and to adjust the gain and phase of the signal processing channel of the gyroscope 62 through the calibrated inclinometer 61, so that the requirements of the inclinometer 61 for mainly measuring low frequency and the gyroscope 62 for measuring high frequency in the detection system for mutual compensation are met.
In the prior art, a common method for calibrating the gain of the signal processing channel of the inclinometer 61 is to use a rigid ruler 1.5 m (standard distance between the center lines of two steel rails) long, fix the inertia assembly in the middle of the rigid ruler according to the using direction, raise one end of the rigid ruler to keep the rigid ruler at a certain angle, and adjust the parameters of the signal processing channel of the inclinometer 61 to make the change angle of the system angle consistent with the change angle of the rigid ruler. During calibration of the signal processing channel of the gyro 62, a screwdriver is usually used to manually pry the gyro platform to simulate and detect the change of a vehicle on a curve, and whether the detection requirement is met is judged by adjusting parameters and observing characteristic points on the curve, as shown in fig. 2.
The method of using the rigid ruler as the calibration equipment is inconvenient to carry due to large volume. And the manual calibration method requires rich experience of calibration personnel. More importantly, because the accuracy requirement of the current data for track detection is continuously improved, the on-site steel ruler and the manual prying method cannot form standard and high-precision input, and the accuracy requirement of the current system is difficult to meet.
Disclosure of Invention
In order to solve the problem of low calibration precision of the existing inertia assembly, the invention provides an automatic calibration device and method for an ultrahigh channel of a track detection system.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an automatic calibration device of track detecting system superelevation passageway, in the space rectangular coordinate system who uses the X, Y, Z axle as the coordinate axis, the automatic calibration device of track detecting system superelevation passageway is including the connecting rod, angle position platform connecting seat and the angle position platform that connect gradually, and the connecting rod extends along X axle direction, and the angle position platform contains the last revolving stage and the lower base station of setting from top to bottom, and lower base station is connected with angle position platform connecting seat, and the upper surface of going up the revolving stage can be on a parallel with the plane at X axle and Y axle place, goes up the revolving stage and can rotate around first straight line, first straight line is parallel with the Y axle.
The automatic calibration method of the track detection system ultrahigh channel adopts the automatic calibration device of the track detection system ultrahigh channel, and further comprises a computer and a control box which are sequentially connected, wherein the angle station is an electric control angle station which is connected with the control box, and the computer can control the rotation angle of an upper turntable;
the automatic calibration method of the track detection system ultrahigh channel comprises the following steps:
step 1, installing field equipment;
placing two ends of a connecting rod on the two steel rails respectively, and installing an inertia assembly on the upper rotary table, wherein the inertia assembly comprises an inclinometer and a gyroscope and is connected with the computer;
and step 3, calibrating the gain and the phase of the gyroscope.
The invention has the beneficial effects that: according to the automatic calibration device and method for the ultrahigh channel of the track detection system, the attitude change of the inertia assembly is driven by accurately controlling the change of the angle and the time, the data curve of the sensor is identified, the ultrahigh calibration device is accurately controlled to perform ultrahigh automatic calibration on the track detection system, the former manual calibration is replaced, and the calibration efficiency and the precision are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic diagram of ultra-high measurement and calculation.
FIG. 2 is a schematic diagram of a calibration mode of a prior art inertial assembly.
Fig. 3 is a schematic diagram of an automatic calibration device for an ultra-high channel of a track detection system.
Fig. 4 is a schematic view of the rail joint assembly location.
Fig. 5 is a schematic view of a connecting rod.
FIG. 6 is a schematic view of an angle table attachment socket.
FIG. 7 is a schematic view of an angular position table.
Fig. 8 is a schematic view of the upper turntable rotation of the angular table.
Fig. 9 is a connection block diagram of the automatic calibration device for the ultra-high channel of the track detection system.
FIG. 10 is a diagram of the relationship of the ultra-high signal processing channel, the inclinometer signal processing channel, and the gyro signal processing channel.
Fig. 11 is a schematic diagram of the upper turntable at different times.
FIG. 12 is a schematic diagram of insufficient gain of the gyro signal processing channel.
Fig. 13 is a schematic diagram of the gyro signal processing channel with excessive gain.
FIG. 14 is a schematic diagram of the gyro signal processing channel in equilibrium.
1. A steel rail connecting assembly; 2. a connecting rod; 3. an angle table connecting seat; 4. an angular position table; 5. a steel rail; 6. an inertial component;
11. an upper pipe clamp; 12. a lower locking seat; 13. mounting a quick-release screw; 14. an upper locking block; 15. an inner locking block;
21. a connecting rod section; 22. an externally threaded barrel;
31. a base plate; 32. a lower pipe clamp; 33. a lower quick-release screw;
41. an upper rotary table; 42. a lower base station; 43. a stepping motor;
51. a railhead;
61. an inclinometer; 62. a top; 63. a displacement measuring sensor; 64. an ultra-high signal processing channel; 65. an inclinometer signal processing channel; 66. and a gyro signal processing channel.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The utility model provides an automatic calibration device of track detecting system superelevation passageway, in the space rectangular coordinate system who uses the X, Y, Z axle as the coordinate axis, the automatic calibration device of track detecting system superelevation passageway is including connecting rod 2, angle position platform connecting seat 3 and angle position platform 4 that connect gradually, and connecting rod 2 extends along the X axle direction, and angle position platform 4 contains upper turntable 41 and lower base station 42 that set up from top to bottom, and lower base station 42 is connected with angle position platform connecting seat 3, and the upper surface of upper turntable 41 can be on a parallel with the plane at X axle and Y axle place, and upper turntable 41 can rotate around first straight line, first straight line is parallel with the Y axle, as shown in figure 3.
The automatic calibration device of the ultrahigh channel of the track detection system (also called as the automatic calibration device of the ultrahigh signal processing channel) can be arranged on the track for field calibration, and the high-precision angular position table is arranged on the steel rail 5 near the detection beam of the track detection system through a connecting rod. The inertial assembly 6 is mounted on the angular table 4. The angular position table 4 is connected to the computer of the detection system via a control box as described below. The inertial assembly 6 is also connected to the computer of the detection system by a data line. The computer drives the attitude change of the inertia assembly 6 by precisely controlling the change of the angle and the time.
In this embodiment, the both ends of connecting rod 2 all are equipped with rail coupling assembling 1, and rail coupling assembling 1's effect makes connecting rod 2 and rail 5 be connected fixedly, and rail coupling assembling 1 contains the top tube clamp 11 and the lower locking seat 12 that set up from top to bottom, and top tube clamp 11 can centre gripping fixed connection pole 2, and lower locking seat 12 can be connected fixedly with rail 5, and rail 5 extends along Y axle direction.
In this embodiment, the upper pipe clamp 11 is connected with an upper quick release screw 13, the lower locking base 12 includes an upper locking block 14 and an inner locking block 15, and the upper locking block 14 and the inner locking block 15 can form a bayonet which can be matched and clamped with the inner side of the rail head 51 of the rail 5. The upper lock block 14 and the inner lock block 15 may be integrally connected, and the upper lock block 14 and the inner lock block 15 may be detachably connected.
Preferably, the upper locking block 14 and the inner locking block 15 are detachably connected, for example, the upper portion of the inner locking block 15 is connected to the upper locking block 14 through a bolt, when the bayonet is engaged with the rail head 51 of the rail 5, that is, when the lower locking seat 12 is connected to the rail head 51 of the rail 5, the upper locking block 14 is located above the rail head 51, and the inner locking block 15 is located inside the rail head 51, as shown in fig. 4.
In this embodiment, the automatic calibration device for the ultra-high channel of the track detection system includes two parallel connecting rods 2, the two connecting rods 2 are arranged at intervals along the Y-axis direction, the connecting rod 2 includes a plurality of connecting rod joints 21, the plurality of connecting rod joints 21 are arranged along the X-axis direction, and two adjacent connecting rod joints 21 are connected through an external thread cylinder 22. For example, each connecting rod 2 comprises four connecting rod segments 21 and three externally threaded cylinders 22, as shown in fig. 5.
In this embodiment, the angle table connecting seat 3 includes a base plate 31 and a lower pipe clamp 32 connected up and down, the lower pipe clamp 32 is connected with a lower quick-release screw 33, the connecting rod 2 is cylindrical, the angle table connecting seat 3 can move along the extending direction of the connecting rod 2, the lower pipe clamp 32 clamps and fixes the connecting rod 2, and the upper surface of the base plate 31 is parallel to the plane of the X axis and the Y axis, as shown in fig. 6.
In this embodiment, the automatic calibration device for the ultra-high channel of the track detection system further includes a computer and a control box, which are sequentially connected, the angular table 4 may be an existing electronic control angular table, the angular table 4 is connected to the control box, the computer can control the rotation angle of the upper rotating table 41, and the computer is installed with software for implementing automatic calibration of the ultra-high channel. The control box is internally provided with components such as a motor power supply, a driver and the like, the computer sends a rotation instruction to the control box, and the driver in the control box drives the motor to operate according to the instruction, as shown in fig. 7.
The angular table 4 is an electric control angular table, and adopts a worm gear structure to convert the rotary motion of a motor into an electric device with angular swing at a certain point of the table space. The transmission mode is that the stepping motor 43 drives the worm to rotate through the coupler, and the worm drives the worm wheel to slide along the guide rail through the gear teeth. The rotation angle of the upper table 41 can be controlled by controlling the stepping motor 43. The angle selection variation range of the angular position table 4 is +/-10 degrees, the angle resolution is less than 0.001 degree, the repeated positioning angle is less than 0.0001 degree, and the requirement that the system calibration is not more than 0.03 is met, as shown in fig. 8.
The following describes an automatic calibration method for an ultra-high channel of a track inspection system, which uses the above automatic calibration device for an ultra-high channel of a track inspection system, and aims to automatically calibrate an ultra-high signal processing channel of an inertia assembly 6 of an existing track inspection system, wherein the ultra-high signal processing channel 64 is an inclinometer signal processing channel 65 plus a gyro signal processing channel 66, as shown in fig. 9 and 10.
The automatic calibration method of the track detection system ultrahigh channel (also called an automatic calibration method of an ultrahigh signal processing channel) is a method for performing ultrahigh automatic calibration of the track detection system by identifying a sensor data curve through a computer and accurately controlling an ultrahigh calibration device, replaces the conventional manual calibration, and improves the calibration efficiency and precision.
The automatic calibration is accomplished by running an automatic calibration program on the computer of the detection system. The calibration program adds a user interaction interface, a synthetic data measuring module, a control module and a parameter adjusting module in an original computer acquisition and calculation module. An automatic calibration program is designed on the user interface, and two buttons of zero position and balance are designed on the program interface. Respectively corresponding to the whole processes of zero adjustment and automatic calibration of the gyro platform. The automatic calibration principle of the scheme is that a computer is adopted to control a high-precision angle station 4, an inertia assembly 6 arranged on the angle station 4 rotates according to requirements, parameters of a sensor channel are automatically adjusted through calculation of data of a sensor in the inertia assembly 6, so that gain and phase meet system detection requirements, and the automatic calibration function of the system is achieved, and a functional block diagram is shown in fig. 9.
The automatic calibration method of the track detection system ultrahigh channel comprises the following steps:
step 1, installing field equipment;
the on-site calibration is generally carried out under the condition of a straight track, and an automatic calibration device of the ultrahigh channel of the track detection system is arranged on the steel rail 5. Two ends of a connecting rod 2 are respectively placed on two steel rails 5, the connecting rod 2 is fixedly connected with the steel rails 5 through a lower locking seat 12, an inertia assembly 6 is installed on an upper rotary table 41, the mode of installing the inertia assembly 6 on the upper rotary table 41 is the same as the mode of installing the inertia assembly 6 on a detection beam, an inclinometer 61 and a gyroscope 62 are arranged in the inertia assembly 6, and the inertia assembly 6 is connected with the computer through a detection system original signal cable; the angle station 4 is connected with a control box through a serial port bus, and the control box is connected with a computer through a network cable or a serial port cable, as shown in fig. 1 and 9. At this time, because the track is basically straight, the steel rails 5 on two sides are basically on one plane, the inertia assembly 6 is also basically in a horizontal position, the actual output data value of the ultrahigh signal processing channel is close to the zero line, and the actual output data value of the ultrahigh signal processing channel is displayed on a display of a computer.
The track detection system is designed with a simulation operation mode, a pulse signal is generated by a counter card arranged in a computer to enable a detection program to operate, and different simulation speeds can be set in the program. So as to meet different calibration requirements. The track detection system is designed to be space sampling, so that each sensor signal is sampled once when a detection vehicle provided with the detection system runs for 0.25m, and when the detection vehicle actually runs, trigger pulses are input into a counter card of the system through a shaft head encoder arranged on a vehicle wheel shaft. When the calibration is carried out and the simulation running mode is sampled, the sampling frequency is related to the set simulation speed parameter speed, and the sampling point number per second is 72000 m/3600 s/0.25 m/s which is 80 points according to the simulation speed of 72 km/h. The calibrated time can be known through the number of sampling points and the set simulation speed.
firstly, starting a detection program, setting the detection program to enter a simulation running state, and automatically setting the simulation speed to be 72km/h (the speed is proper, so that a user can conveniently observe a waveform);
step 2.1, operating a zeroing function at the moment of Tg0, wherein the upper turntable 41 is located at the position of an angle of 0 degree, that is, the scale value 0 of the upper turntable 41 corresponds to the scale value 0 of the lower base station 42, so that the output data value of the signal processing channel of the gyroscope 62 is 0mm, at this time, the output data value of the ultrahigh signal processing channel only contains the output data value of the signal processing channel of the inclinometer 61, the output data value of the ultrahigh signal processing channel is 0mm, judging the actual output data value of the ultrahigh signal processing channel, and when the actual output data value of the ultrahigh signal processing channel is greater than or equal to the range of the target ultrahigh value corresponding to the angle of 0 degree (such as 0 ± 0.1mm), adjusting the upper turntable 41 to rotate, so that the actual output data value of the ultrahigh signal processing channel is smaller than the range of the target ultrahigh value corresponding to the angle of 0 degree;
for example, the upper turntable 41 is fine-tuned clockwise or counterclockwise (when the range of the target superelevation value corresponding to the 0 degree angle is smaller than 0-0.1mm, the upper turntable 41 is rotated clockwise to raise the left side of the upper turntable 41, and when the range of the target superelevation value corresponding to the 0 degree angle is larger than 0+0.1mm, the upper turntable 41 is rotated counterclockwise to drop the left side of the upper turntable 41, so that the actual output data value of the superelevation signal processing channel is near the zero position, and the gain factor (empirical value, generally a positive integer, for fine tuning on this basis) of the signal processing channel of the inclinometer 61 is recorded at this time.
Step 2.2, rotating the upper turntable 41 by a first angle to enable the output data value of the signal processing channel of the gyroscope 62 to be still 0mm, judging the actual output data value of the ultrahigh signal processing channel, and adjusting the gain coefficient of the signal processing channel of the inclinometer 61 to enable the actual output data value of the ultrahigh signal processing channel to be smaller than the range of the target ultrahigh value corresponding to the first angle when the actual output data value of the ultrahigh signal processing channel is larger than or equal to the range of the target ultrahigh value corresponding to the first angle;
for example, at time Tg1, a serial port command is sent to rotate the upper turntable 41 clockwise by 5.69 ° (first angle), after about 10s (800 points) has passed, it is determined whether the actual output data value of the ultra-high signal processing channel is within 150 ± 0.5mm, if not, the gain coefficient of the signal processing channel of the inclinometer 61 is adjusted slightly, and the actual output data value of the ultra-high signal processing channel after the gain coefficient is changed is determined, so that the actual output data value of the ultra-high signal processing channel is within 150 ± 0.5 mm. At which point the calibration phase of the inclinometer 61 is completed.
Step 3, calibrating the gain and the phase of the gyroscope 62;
after the gain calibration of inclinometer 61 is completed, the program issues a command to control upper turntable 41 to return to "zero", that is, upper turntable 41 returns to the position of 0 degree angle, so as to perform balance calibration of gyroscope 62 (that is, calibrating the gain and phase of gyroscope 62).
The principle of the equilibrium calibration of the gyro 62 is that the inertia assembly 6 performs a set of actions of 'lifting', 'keeping' and 'falling' with specified angle and speed by controlling the rotation of the upper rotary table 41 of the angular table 4, the motion of the detection vehicle on a curve is simulated, and the ultrahigh curve data synthesized by the signal of the gyro 62 and the signal (calibrated) of the inclinometer 61 meets the requirements of the system by adjusting the gain and the phase of the gyro 62.
Step 3 comprises the following steps:
step 3.1, the upper turntable 41 is located at an angle of 0 degree, after a first time period, the upper turntable 41 rotates forward by a second angle (corresponding to the above "lifting"), then the upper turntable 41 keeps the second time period (corresponding to the above "keeping"), then the upper turntable 41 rotates backward by the second angle for keeping (corresponding to the above "falling"), then the upper turntable 41 keeps the third time period, and a "relationship graph of time and output data of the ultrahigh signal processing channel" is output by a display of the computer;
for example, the detection system (which may be understood as a computer) sets the simulated speed parameter speed to 16km/h (time Tb 0) and waits for about 10S (180 sample points). The computer sends a command to the control box (at the time of Tb 1) through the serial port, so that the upper rotating table 41 rotates, the left side of the inertia assembly 6 is lifted, the upper rotating table 41 is static (from the time of Tb2 to the time of Tb 3), the upper rotating table 41 falls back (from Tb3 to Tb4), and the left side of the inertia assembly 6 falls back. The corresponding time and action are:
tb0 to Tb1 times (t1 period): rest for 10s (first time period);
tb1 to Tb2 times (t2 period): the lifting angle is 1 degree (second angle) and the speed is 0.5 degree/second; tb2 to Tb3 times (t3 period): remain stationary (second period), time 2 seconds;
tb3 to Tb4 times (t4 period): the zero position is fallen back, the angle is 1 degree (second angle), and the speed is 0.5 degree/second;
tb4 to Tb5 times (t5 periods): rest for 10s (third period), as shown in fig. 11.
Then, the computer outputs the output data relation diagram of the time and ultrahigh signal processing channel, and the output data relation diagram of the time and ultrahigh signal processing channel is displayed on a display of the computer, for example, in a waveform mode.
Step 3.2, judging the slope of the line segment corresponding to the second time period in the output data relation graph of the time and ultrahigh signal processing channel, and carrying out the next step when the slope of the line segment corresponding to the second time period is equal to 0 (namely the absolute value of the slope is close to 0 as much as possible); when the slope of the line segment corresponding to the second time period is greater than 0, the gain of the gyro channel is insufficient, the gain coefficient of the signal processing channel of the gyro 62 is increased, as shown in fig. 12, step 3.1 is performed again, and step 3.1 and step 3.2 are repeated for multiple times until the slope of the line segment corresponding to the second time period is equal to 0; when the slope of the line segment corresponding to the second time period is smaller than 0, the main reason is that the gain of the gyro channel is too large, and the gain coefficient of the signal processing channel of the gyro 62 is reduced, as shown in fig. 13, step 3.1 is performed again, and step 3.1 and step 3.2 are repeated for a plurality of times until the slope of the line segment corresponding to the second time period is equal to 0 (i.e., the absolute value of the slope is as close to 0 as possible); thereby completing the gain calibration of the signal processing path of gyroscope 62 as shown in fig. 14.
For example, the line segment corresponding to the second time period is a line segment cd, and the slope k of the line segment cd is (dy-cy)/(dx-cx) where dy is the super-high value of d point, cy is the super-high value of c point, dx is the sampling point number of d point, and cx is the sampling point number of c point. The points a, b, c, d, e and f are in one-to-one correspondence with the time Tb0, the time Tb1, the time Tb2, the time Tb3, the time Tb4 and the time Tb 5.
Step 3.3, judging the slopes of the line segments corresponding to the second time period and the third time period in the output data relation graph of the time and ultrahigh signal processing channel, and completing calibration (namely phase calibration of the signal processing channel of the gyroscope 62) when the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0; when the slope of the line segment corresponding to the second time period or the third time period is not equal to 0, the phase coefficient of the signal processing channel of gyro 62 is adjusted, then only step 3.1 is performed, instead of step 3.2, and step 3.1 and step 3.3 are repeated for a plurality of times until the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0 (i.e., the absolute value of the slope is as close to 0 as possible), thereby completing the phase calibration of the signal processing channel of gyro 62.
For example, the slopes of the line segments cd and ef are both close to 0, and the phase coefficient of the signal processing channel of gyro 62 is finely adjusted to minimize the absolute values of the slopes of the line segments cd and ef. Thereby completing the phase calibration of the signal processing path of gyro 62 as shown in fig. 14.
The above description is only exemplary of the invention and should not be taken as limiting the scope of the invention, so that the invention is intended to cover all modifications and equivalents of the embodiments described herein. In addition, the technical features and the technical schemes, and the technical schemes can be freely combined and used.
Claims (10)
1. The utility model provides an automatic calibration device of track detecting system superelevation passageway, in the space rectangular coordinate system who uses the X, Y, Z axle as the coordinate axis, its characterized in that, the automatic calibration device of track detecting system superelevation passageway is including connecting rod (2), angle position platform connecting seat (3) and angle position platform (4) that connect gradually, and connecting rod (2) extend along X axle direction, and angle position platform (4) contain upper turntable (41) and lower base station (42) that set up from top to bottom, and lower base station (42) are connected with angle position platform connecting seat (3), and the upper surface of upper turntable (41) can be on a parallel with the plane at X axle and Y axle place, and upper turntable (41) can rotate around first straight line, first straight line is parallel with the Y axle.
2. The automatic calibration device for the ultrahigh channel of the track detection system according to claim 1, wherein the two ends of the connecting rod (2) are respectively provided with a steel rail connecting assembly (1), the steel rail connecting assembly (1) comprises an upper pipe clamp (11) and a lower locking seat (12) which are vertically arranged, the upper pipe clamp (11) can clamp and fix the connecting rod (2), the lower locking seat (12) can be fixedly connected with the steel rail (5), and the steel rail (5) extends along the Y-axis direction.
3. The automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 2, wherein the upper pipe clamp (11) is connected with an upper quick-release screw (13), the lower locking base (12) comprises an upper locking block (14) and an inner locking block (15), and the upper locking block (14) and the inner locking block (15) can form a bayonet which can be matched and clamped with the rail head (51) of the steel rail (5).
4. The automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 3, wherein the upper part of the inner locking block (15) is connected with the upper locking block (14) through a bolt, when the bayonet is matched and clamped with the rail head (51) of the steel rail (5), the upper locking block (14) is positioned above the rail head (51), and the inner locking block (15) is positioned at the inner side of the rail head (51).
5. The automatic calibration device for the ultra-high channel of the track detection system as claimed in claim 1, wherein the automatic calibration device for the ultra-high channel of the track detection system comprises two parallel connecting rods (2), the connecting rods (2) comprise a plurality of connecting rod sections (21), the plurality of connecting rod sections (21) are arranged along the X-axis direction, and two adjacent connecting rod sections (21) are connected through an external thread cylinder (22).
6. The automatic calibration device for the ultrahigh channel of the track detection system according to claim 1, wherein the angle table connecting seat (3) comprises a base plate (31) and a lower pipe clamp (32) which are arranged up and down, the lower pipe clamp (32) is connected with a lower quick-release screw (33), the lower pipe clamp (32) clamps the fixed connecting rod (2), and the upper surface of the base plate (31) is parallel to the plane where the X axis and the Y axis are located.
7. The automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 1, further comprising a computer and a control box connected in sequence, wherein the angular position table (4) is an electrically controlled angular position table, the angular position table (4) is connected with the control box, and the computer can control the rotation angle of the upper turntable (41).
8. An automatic calibration method for the ultrahigh channel of the track detection system is characterized in that the automatic calibration method for the ultrahigh channel of the track detection system adopts the automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 1, the automatic calibration device for the ultrahigh channel of the track detection system further comprises a computer and a control box which are sequentially connected, an angle station (4) is an electric control angle station, the angle station (4) is connected with the control box, and the computer can control the rotation angle of an upper rotating table (41);
the automatic calibration method for the ultrahigh channel of the track detection system comprises the following steps:
step 1, field equipment installation;
two ends of a connecting rod (2) are respectively placed on two steel rails (5), an inertia assembly (6) is installed on an upper rotary table (41), the inertia assembly (6) comprises an inclinometer (61) and a gyroscope (62), and the inertia assembly (6) is connected with the computer;
step 2, calibrating the gain of the inclinometer (61);
and step 3, calibrating the gain and the phase of the gyroscope (62).
9. The automatic calibration method for the ultra-high channel of the track inspection system as claimed in claim 8, wherein the step 2 comprises the steps of:
step 2.1, the upper rotary table (41) is located at the position of 0 degree, the actual output data value of the ultrahigh signal processing channel is judged, and when the actual output data value of the ultrahigh signal processing channel is larger than or equal to the range of the target ultrahigh value corresponding to the 0 degree, the rotating angle of the upper rotary table (41) is adjusted, so that the actual output data value of the ultrahigh signal processing channel is smaller than the range of the target ultrahigh value corresponding to the 0 degree;
and 2.2, rotating the upper rotating table (41) by a first angle to enable the output data value of the signal processing channel of the gyroscope (62) to be still 0mm, judging the actual output data value of the ultrahigh signal processing channel, and adjusting the gain coefficient of the signal processing channel of the inclinometer (61) to enable the actual output data value of the ultrahigh signal processing channel to be smaller than the range of the target ultrahigh value corresponding to the first angle when the actual output data value of the ultrahigh signal processing channel is larger than or equal to the range of the target ultrahigh value corresponding to the first angle.
10. The automatic calibration method for the ultra-high channel of the track inspection system as claimed in claim 8,
step 3 comprises the following steps:
3.1, the upper rotary table (41) is located at the position of an angle of 0 degree, after a first time period, the upper rotary table (41) rotates forwards by a second angle, then the upper rotary table (41) keeps the second time period, then the upper rotary table (41) rotates reversely by the second angle, then the upper rotary table (41) keeps the third time period, and the computer outputs a relation graph of time and output data of the ultrahigh signal processing channel;
step 3.2, judging the slope of the line segment corresponding to the second time period in the output data relation graph of the time and ultrahigh signal processing channel, and carrying out the next step when the slope of the line segment corresponding to the second time period is equal to 0; when the slope of the line segment corresponding to the second time period is greater than 0, increasing the gain coefficient of a signal processing channel of the gyroscope (62), and performing step 3.1; when the slope of the line segment corresponding to the second time period is smaller than 0, reducing the gain coefficient of a signal processing channel of the gyroscope (62), and performing step 3.1;
step 3.3, judging the slopes of the line segments corresponding to the second time period and the third time period in the output data relation graph of the time and ultrahigh signal processing channel, and finishing calibration when the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0; and when the slope of the line segment corresponding to the second time period or the third time period is not equal to 0, adjusting the phase coefficient of the signal processing channel of the gyroscope (62), and then only performing the step 3.1 without performing the step 3.2.
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| CN202210238392.XA CN114739423A (en) | 2022-03-10 | 2022-03-10 | Automatic calibration device and method for ultrahigh channel of track detection system |
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| CN202210238392.XA CN114739423A (en) | 2022-03-10 | 2022-03-10 | Automatic calibration device and method for ultrahigh channel of track detection system |
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