CN114923528A - High-precision measuring and adjusting method and device for high-speed railway track - Google Patents
High-precision measuring and adjusting method and device for high-speed railway track Download PDFInfo
- Publication number
- CN114923528A CN114923528A CN202210707198.1A CN202210707198A CN114923528A CN 114923528 A CN114923528 A CN 114923528A CN 202210707198 A CN202210707198 A CN 202210707198A CN 114923528 A CN114923528 A CN 114923528A
- Authority
- CN
- China
- Prior art keywords
- track
- line
- measuring vehicle
- laser
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000005259 measurement Methods 0.000 claims abstract description 42
- 238000013461 design Methods 0.000 claims description 32
- 230000001133 acceleration Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000010354 integration Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a method and equipment for high-precision measurement and adjustment of a high-speed railway track, which are characterized in that a measuring vehicle and a total station are arranged at a preset position of a track line, and the measuring vehicle is indicated to collect motion state data of the measuring vehicle, plane data of the track line, elevation data of the track line, track gauge, level and superelevation in the process of moving along the track line; the data obtained by the acquisition are analyzed, so that the laying track trend of the current track line, the track gauge and level and the height of the track are adjusted, the track laying height is adjusted, and after the total station is set once, the measuring vehicle can be used for automatically and continuously measuring the track line, so that the labor and time cost of track line measurement can be reduced, and the automation degree and accuracy of track line measurement are improved.
Description
Technical Field
The invention relates to the technical field of high-speed railway track measurement, in particular to a high-precision measuring and adjusting method and device for a high-speed railway track.
Background
In the prior art, stations are established by using CPIII or known control points laid on two sides (one side of a part of railways) of a track line corresponding to a high-speed railway track, and workers measure marks of each control point one by using a total station to determine the track trend and the height condition of the track line so as to adjust the actual operation of the subsequent high-speed railway track. Because the track of the high-speed railway is longer, if the track line measurement is carried out in a manual mode, the workload and the time of measurement can be increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and equipment for high-precision measurement and adjustment of a high-speed railway track, wherein a measuring vehicle and a total station are arranged at a preset position of a track line, and the measuring vehicle is indicated to collect motion state data of the measuring vehicle, plane data of the track line and elevation data of the track line in the process of moving along the track line; the data obtained by the acquisition are analyzed, so that the laying track trend of the current track line, the track gauge and level and the height of the track are adjusted, the track laying height is adjusted, and after the total station is set once, the measuring vehicle can be used for automatically and continuously measuring the track line, so that the labor and time cost of track line measurement can be reduced, and the automation degree and accuracy of track line measurement are improved.
The invention provides a high-precision measuring and adjusting method for a high-speed railway track, which comprises the following steps:
step S1, arranging a measuring vehicle and a total station at a preset position of the track line, indicating the measuring vehicle to move from the preset position to the beginning along the track line, and indicating an inertial navigation system on the measuring vehicle to collect motion state data of the measuring vehicle, plane data of the track line, elevation data of the track line, track gauge, level and superelevation during the movement; wherein, the track level refers to the height difference of the horizontal planes of the top surfaces of the left and right steel rails on the cross section of the same track; the track is ultrahigh, namely the difference of the designed horizontal heights of the top surfaces of the outer rail and the inner rail of the curved section;
step S2, obtaining the actual motion track of the measuring vehicle according to the motion state data; adjusting the laying track trend of the current track circuit according to track deviation information between the actual motion track and the expected design track of the track circuit;
step S3, obtaining the deviation between the track plane position and the design plane position according to the plane data of the track circuit; adjusting the track gauges of the tracks on the two sides of the current track line according to the difference information between the track gauge and the designed track gauge of the track line;
step S4, obtaining the deviation between the track surface elevation of the track circuit and the designed track surface elevation according to the elevation data of the track circuit; and adjusting the track laying height of the current track line according to the difference information between the level and superelevation data and the design level and superelevation.
Further, in step S1, arranging the survey vehicle and the total station at a predetermined position of the track line, and instructing the survey vehicle to move from the predetermined position toward the beginning along the track line specifically includes:
and indicating the measuring vehicle to start to move at a constant speed from a preset position along the track line, and acquiring a track line graph passed by the measuring vehicle in the process of moving at the constant speed.
Further, in step S1, the method further includes:
and identifying the track line image to obtain the position points of all the steel rail supporting points on the track line.
Further, in step S1, the instructing, by the inertial navigation system on the measurement vehicle during the movement process, the acquiring of the movement state data of the measurement vehicle, the plane data of the track line, and the elevation data of the track line includes:
indicating an inertial sensor on the measuring vehicle to continuously acquire motion acceleration data of the measuring vehicle in the motion process;
in the movement process, a laser track gauge sensor on the measuring vehicle is indicated to continuously acquire track gauge data of two tracks of the track line;
and indicating a laser inclination sensor on the measuring vehicle to continuously acquire the height difference data of the two rails of the rail line in the movement process.
Further, in step S1, the instructing the laser tilt sensor on the measuring vehicle to continuously acquire height difference data of two tracks of the track line during the movement process specifically includes:
installing a plurality of laser inclination sensors on a measuring vehicle to measure height difference data of two rails of a rail line, wherein each laser inclination sensor comprises two groups of laser inclination sensing units, each group of laser inclination sensing units comprises a bearing, a connecting rod, a weight and a laser range finder, the bearing is connected with a nesting space of a chassis of the measuring vehicle in a nesting mode, the bearing is provided with a cylindrical shaft in the nesting space, the bearing can rotate around the cylindrical shaft in the left-right mode, the connecting rod is welded with the bearing and rotates synchronously along with the bearing, the weight is welded at the smallest end of the connecting rod in a sleeving mode, the laser range finder is installed below the weight, the ranging direction of the laser range finder is consistent with the downward direction of the connecting rod, and the connecting rod of each laser inclination sensor enables the laser range finder to be always kept in a vertically downward state due to the gravity action of the weight, the laser range finder can continuously measure the vertical height between the current laser tilt sensor and the ground all the time, and according to the connecting line between the mounting points of the bearings of the two groups of laser tilt sensing units contained by each laser tilt sensor and the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, and data integration is carried out on the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, which is obtained by measuring the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle respectively by a plurality of laser tilt sensors, so as to obtain the average inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, and then according to the average inclination angle and the distance value between the hubs at the two sides of the current measuring vehicle, the height difference data of the two rails of the rail line is obtained, and the height difference data specifically comprises:
step S101, obtaining the inclination angle of the connecting line of the hubs at the two sides of the current measuring vehicle relative to the ground, which is obtained by measuring by each laser inclination sensor, according to the distance value between the two bearing mounting points in each laser inclination sensor and the vertical height between the current two laser ranging sensors,
θ(a)＝arcsin{[H 1 (a)-H 2 (a)]/S z (a)} (1)
in the above formula (1), θ (a) represents the distance between the connecting line of the wheel hubs on the two sides of the current measuring vehicle measured by the a-th laser inclination sensor and the groundAn inclination angle; h 1 (a) The vertical height value of the laser ranging sensor closest to the right hub of the measuring vehicle in the a-th laser inclination sensor and the ground is represented; h 2 (a) The vertical height value of the laser ranging sensor closest to the left hub of the measuring vehicle in the a-th laser inclination sensor and the ground is represented; s. the z (a) The distance value between two bearing mounting points of the a-th laser inclination sensor is represented;
step S102, performing data integration according to the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, which is obtained by measuring the connecting line of the hubs at the two sides of the measuring vehicle by each laser inclination sensor by using the following formula (2),
in the above-mentioned formula (2),
the average inclination angle of a connecting line of hubs on two sides of the measuring vehicle relative to the ground is represented; [1, n ]]Represents a closed interval from 1 to n; i represents an integer variable, and i ∈ [1, n ]]；argmax i∈[1,n ][θ(i)]Representing the value i corresponding to the maximum value of theta (i) obtained by substituting the value from 1 to n into the formula (1); argmin i∈[1,n] [θ(i)]The value of i corresponding to the minimum value of theta (i) obtained by substituting the value from 1 to n into the formula (1) is shown; a is represented by a ∈ [1, n ]]Under the condition of (1), a is not equal to argmax i∈[1,n] [θ(i)]And a ≠ argmin i∈[1,n] [θ(i)]Two values are in [1, n ]]Removing the new set in the interval; l (a) represents the distance between two parallel lines of a connecting line between two groups of bearing mounting points in the a-th laser inclination sensor and connecting lines of hubs on two sides of the measuring vehicle; sigma a∈A []The method comprises the steps of substituting all values of a epsilon A into a bracket for operation and summing all operation results;
wherein,
there are cases pertaining to positive, negative and 0 values when
The height of the left side hub of the measuring vehicle relative to the ground is lower than that of the right side hub of the measuring vehicle relative to the ground; when the temperature is higher than the set temperature
The height of the left side hub of the measuring vehicle relative to the ground is equal to the height of the right side hub relative to the ground; when the temperature is higher than the set temperature
The height of the left side hub of the measuring vehicle relative to the ground is higher than that of the right side hub of the measuring vehicle relative to the ground;
step S103, obtaining height difference data of two tracks of the track line according to the average inclination angle and the distance value between the circle centers of the hubs on the two sides of the current measuring vehicle by using the following formula (3),
in the above formula (3), Δ h represents height difference data of two tracks of the track line; s l Representing the distance value between the circle centers of the hubs on the two sides of the current measuring vehicle;
when the value of delta h is greater than 0, the left track of the track circuit is lower than the right track of the track circuit; when the delta h is 0, the left track of the track circuit is the same as the right track of the track circuit in height; when Δ h <0 indicates that the left track of the track circuit is higher than the right track of the track circuit.
Further, in the step S2, obtaining an actual motion trajectory of the measuring vehicle according to the motion state data; according to the track deviation information between the actual motion track and the expected design track of the track line, the step of adjusting the laying track trend of the current track line specifically comprises the following steps:
extracting the motion acceleration direction corresponding to the position point where each steel rail supporting point is located from the motion acceleration data, and fitting according to the motion acceleration directions of the position points where all the steel rail supporting points are located to obtain an actual motion track of the measuring vehicle in a three-dimensional space;
comparing the actual motion track with an expected design track of a track line, and determining the track deviation direction and the track deviation between the actual motion track and the expected design track of the track line on a three-dimensional space;
and adjusting the laying track trend of the current track line according to the track deviation direction and the track deviation.
Further, in the step S3, a deviation between the track plane position and the design plane position is obtained according to the plane data of the track route; and then according to the difference information between the track gauge and the designed track gauge of the track circuit, adjusting the track gauges of the tracks on the two sides of the current track circuit specifically comprises:
extracting absolute coordinates corresponding to the position of each measuring point from the plane data of the two rails of the track circuit, and comparing the absolute coordinates with the designed coordinates to obtain corresponding difference values; and determining the difference between the actually measured track gauge and the designed track gauge of the track line, and adjusting the track to be within the standard requirement according to the difference.
Further, in the step S4, obtaining a rail surface elevation, a level and an superelevation of the track route according to the elevation data of the track route; according to the difference information between the rail surface elevation, the level and the superelevation and the expected design rail surface elevation, the adjusting the rail height of the current rail line specifically comprises the following steps:
the measured rail surface elevation of any point on the track route mileage can be extracted from the elevation data acquired by the small rail car and is compared with the designed rail surface elevation to obtain a difference value for guiding adjustment;
the height difference between the two rails is obtained through the inclination sensor, the corresponding horizontal and super-height positions are obtained on the straight line and the curve, and the height difference is adjusted to be within the range required by the specification.
The invention also provides a device for implementing the method for high-precision measurement and adjustment of high-speed railway tracks, comprising:
the measuring trolley and the total station are arranged at the preset track position,
the measuring vehicle is provided with an inertial sensor, a laser track gauge sensor, an inclination sensor and an industrial control computer;
the inertial sensor collects the motion state data of the measuring vehicle in the motion process;
the laser track gauge sensor collects the track gauge of the track line in the movement process;
the inclination sensor collects the height difference between the left rail and the right rail of the line in the movement process;
the computer is used for obtaining the actual motion track of the measuring vehicle according to the motion state data; adjusting the laying track trend of the current track circuit according to track deviation information between the actual motion track and the expected design track of the track circuit;
obtaining the deviation between the track plane position and the design plane position according to the plane data of the track line; adjusting the track gauges of the tracks on the two sides of the current track line according to the difference information between the track gauge and the designed track gauge of the track line;
obtaining the deviation between the track surface elevation of the track line and the designed track surface elevation according to the elevation data of the track line; and adjusting the track laying height of the current track line according to the difference information between the level and superelevation data and the designed level and superelevation.
Compared with the prior art, the method and the equipment for high-precision measurement and adjustment of the high-speed railway track are used for arranging the track measuring vehicle at the preset position of the track line and indicating the measuring vehicle to collect motion state data of the measuring vehicle, plane data of the track line, track gauge, level, superelevation and elevation data of the track line and the like in the process of moving along the track line; the data obtained by the acquisition are analyzed, so that the plane trend of the current track line, the track gauge and the level and the height of the track are adjusted, the height of the track surface is adjusted, and after the measuring trolley is arranged once, the measuring trolley can be used for automatically and continuously measuring the track line, so that the labor and time cost for measuring the track line can be reduced, and the automation degree and the accuracy of the measurement of the track line are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
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.
Fig. 1 is a schematic flow chart of a method for high-precision measurement and adjustment of a high-speed railway track provided by the invention.
Fig. 2 is a schematic structural diagram of a laser inclination sensor used in the method for high-precision measurement and adjustment of a high-speed railway track provided by the invention.
Reference numerals: 1. a measuring vehicle; 2. a bearing; 3. a connecting rod; 4. a hub; 5. a weight block; 6. a laser range finder; 7. a track; 8. and (4) the ground.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic flow chart of a method for high-precision measurement and adjustment of a high-speed railway track according to an embodiment of the present invention is shown. The method for high-precision measurement and adjustment of the high-speed railway track comprises the following steps:
step S1, arranging a measuring vehicle and a total station at a preset position of the track line, indicating the measuring vehicle to move from the preset position to the beginning along the track line, and indicating an inertial navigation system on the measuring vehicle to collect motion state data of the measuring vehicle, plane data of the track line, elevation data of the track line, track gauge, level and superelevation during the movement;
step S2, obtaining the actual motion track of the measuring vehicle according to the motion state data; adjusting the laying track trend of the current track line according to the track deviation information between the actual motion track and the expected design track of the track line;
step S3, obtaining the deviation between the track plane position and the design plane position according to the plane data of the track circuit; adjusting the track gauges of the tracks on the two sides of the current track line according to the difference information between the track gauge and the designed track gauge of the track line;
step S4, obtaining the deviation between the track surface elevation of the track line and the designed track surface elevation according to the elevation data of the track line; and adjusting the track laying height of the current track line according to the difference information between the level and superelevation data and the design level and superelevation.
The beneficial effects of the above technical scheme are: the method and the equipment for high-precision measurement and adjustment of the high-speed railway track are characterized in that a track measuring vehicle is arranged at a preset position of a track line, and the motion state data of the measuring vehicle, the plane data of the track line, the track gauge, the level, the superelevation and the elevation data of the track line and the like are acquired in the process that the measuring vehicle moves along the track line; the data obtained by the acquisition are analyzed, so that the plane trend of the current track line, the track gauge and the level and the height of the track are adjusted, the height of the track surface is adjusted, and after the measuring trolley is arranged once, the measuring trolley can be used for automatically and continuously measuring the track line, so that the labor and time cost for measuring the track line can be reduced, and the automation degree and the accuracy of the measurement of the track line are improved.
Preferably, in this step S1, arranging the survey vehicle and the total station at a predetermined position of the track line, and instructing the survey vehicle to move from the predetermined position toward the beginning along the track line specifically includes:
and indicating the measuring vehicle to start to move at a constant speed from a preset position along the track line, and acquiring track line images passed by the measuring vehicle in the process of moving at the constant speed.
The beneficial effects of the above technical scheme are: in actual operation, the measuring vehicle is firstly arranged at a preset position of the track line. The high-precision total station (measuring robot) is responsible for correcting the motion track of the measuring vehicle in each measuring section, giving the data an absolute position in space, and controlling the measuring precision of the line through a high-precision control point on the line. During actual measurement, the measuring vehicle starts from a preset position to move at a constant speed, and meanwhile, the high-definition camera on the measuring vehicle can acquire track line images corresponding to track line areas through which the measuring vehicle passes in the process of moving at the constant speed, so that the track line areas currently measured by the measuring vehicle can be comprehensively monitored.
Preferably, in step S1, the method further includes:
and identifying the track line image to obtain the position points of all the steel rail supporting points on the track line.
The beneficial effects of the above technical scheme are: through carrying out identification processing on the track line image, the installation conditions of all steel rail fasteners existing in the currently measured track line area of the measuring vehicle can be identified, and whether the conditions of fine adjustment or driving safety are influenced by the lack of elastic strips, the fastening state of bolts, the deflection of gaskets and the like can be identified.
Preferably, in step S1, the instructing the inertial navigation system on the measurement vehicle to acquire motion state data of the measurement vehicle itself, plane data of the track line, and elevation data of the track line during the motion process includes:
indicating an inertial sensor on the measuring vehicle to continuously acquire motion acceleration data of the measuring vehicle in the motion process;
in the movement process, a laser track gauge sensor on the measuring vehicle is indicated to continuously acquire track gauge data of two tracks of the track line;
and indicating a laser inclination sensor on the measuring vehicle to continuously acquire the height difference data of the two rails of the rail line in the movement process.
The beneficial effects of the above technical scheme are: when the measuring vehicle starts to move along the track from a preset position, the inertial sensors such as a gyroscope or a triaxial acceleration sensor on the measuring vehicle are instructed to continuously acquire the motion acceleration data of the measuring vehicle, the laser track distance sensor on the measuring vehicle is instructed to acquire the distance data of the left and right side boundaries of the track line and the elevation data between the line laying surface of the track line and the ground, and therefore data acquisition can be carried out on the track line from the aspects of dynamic and static.
Preferably, in step S1, the step of instructing the laser tilt sensor on the measuring vehicle to continuously acquire height difference data of two tracks of the track line during the movement specifically includes:
installing a plurality of laser inclination sensors on a measuring vehicle to measure height difference data of two rails of a rail line, wherein the laser inclination sensors comprise two groups of laser inclination sensing units, the structure of the laser inclination sensing units is shown in figure 2, each group of laser inclination sensing units comprises a bearing, a connecting rod, a weight and a laser range finder, the bearing is connected with a nesting space of a chassis of the measuring vehicle in a nesting mode, the bearing is provided with a cylindrical shaft in the nesting space, the bearing can rotate left and right around the cylindrical shaft, the connecting rod is welded with the bearing, the weight is welded at the smallest end of the connecting rod in a sleeving mode along with synchronous rotation of the bearing, the laser range finder is installed below the weight, the range finding direction of the laser range finder is consistent with the downward direction of the connecting rod, and the connecting rod of each laser inclination sensor always keeps in a vertical downward state due to the gravity action of the weight, the laser range finder can continuously measure the vertical height between the current laser tilt sensor and the ground all the time, the connecting line between the mounting points of the bearings of the two groups of laser tilt sensing units contained by each laser tilt sensor and the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground are measured, and data integration is carried out on the inclination angles of the connecting lines of the hubs at the two sides of the measuring vehicle, which are obtained by measuring the connecting lines of the hubs at the two sides of the measuring vehicle respectively by the laser tilt sensors, so as to obtain the average inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, and then the height difference data of the two tracks of the track line is obtained according to the average inclination angle and the distance value between the hubs at the two sides of the current measuring vehicle, and the height difference data specifically comprises the following steps:
step S101, obtaining the inclination angle of the connecting line of the hubs at the two sides of the current measuring vehicle relative to the ground, which is obtained by measuring by each laser inclination sensor, according to the distance value between the two bearing mounting points in each laser inclination sensor and the vertical height between the current two laser ranging sensors,
θ(a)＝arcsin{[H 1 (a)-H 2 (a)]/S z (a)} (1)
in the formula (1), θ (a) represents the inclination angle of the connecting line of the hubs on the two sides of the current measuring vehicle, which is measured by the a-th laser inclination sensor, relative to the ground; h 1 (a) The vertical height value measured by a laser ranging sensor closest to a hub on the right side of the measuring vehicle in the a-th laser inclination sensor and the ground is represented; h 2 (a) The vertical height value of the laser ranging sensor closest to the left hub of the measuring vehicle in the a-th laser inclination sensor and the ground is represented; s. the z (a) The distance value between two bearing mounting points of the a-th laser inclination sensor is represented;
step S102, integrating data according to the inclination angle of the connecting line of the wheel hubs at the two sides of the measuring vehicle relative to the ground, which is obtained by measuring the connecting line of the wheel hubs at the two sides of the measuring vehicle respectively by each laser inclination sensor by using the following formula (2),
in the above formula(2)，
The average inclination angle of a connecting line of hubs on two sides of the measuring vehicle relative to the ground is represented; [1, n ]]Represents a closed interval from 1 to n; i represents an integer variable, and i ∈ [1, n ]]；argmax i∈[1,n] [θ(i)]The value of i corresponding to the maximum value of theta (i) obtained by substituting the value from 1 to n into the formula (1); argmin i∈[1,n] [θ(i)]The value of i corresponding to the minimum value of theta (i) obtained by substituting the value from 1 to n into the formula (1) is shown; a is represented by a ∈ [1, n ]]Under the condition of (1), a is not equal to argmax i∈[1,n] [θ(i)]And a ≠ argmin i∈[1,n] [θ(i)]Two values are in [1, n ]]Removing the new set in the interval; l (a) represents the distance between two parallel lines of a connecting line between two groups of bearing mounting points in the a-th laser inclination sensor and connecting lines of hubs on two sides of the measuring vehicle; sigma a∈A []The method comprises the steps of substituting all values of a epsilon A into a bracket for operation and summing all operation results;
wherein,
there are cases pertaining to positive, negative and 0 values when
The height of the left side hub of the measuring vehicle relative to the ground is lower than that of the right side hub of the measuring vehicle relative to the ground; when the temperature is higher than the set temperature
The height of a left hub of the measuring vehicle relative to the ground is equal to the height of a right hub of the measuring vehicle relative to the ground; when in use
The height of the left side hub of the measuring vehicle relative to the ground is higher than that of the right side hub of the measuring vehicle relative to the ground;
step S103, obtaining height difference data of two tracks of the track line according to the average inclination angle and the distance value between the circle centers of the hubs on the two sides of the current measuring vehicle by using the following formula (3),
in the above formula (3), Δ h represents height difference data of two tracks of the track line; s. the l Representing the distance value between the circle centers of the hubs on the two sides of the current measuring vehicle;
wherein, Δ h has the condition of positive value, negative value and 0 value, when Δ h >0 indicates that the left track of the track circuit is lower than the right track of the track circuit; when the delta h is 0, the left track of the track circuit is the same as the right track of the track circuit in height; when Δ h <0 indicates that the left track of the track line is higher than the right track of the track line.
The beneficial effects of the above technical scheme are: by utilizing the formula (1), the inclination angle of the connecting line of the hubs at two sides of the current measuring vehicle, which is measured by each laser inclination sensor, relative to the ground is obtained according to the distance value between the two groups of bearing mounting points in each laser inclination sensor and the vertical height, which is measured by the current two groups of laser ranging sensors, with respect to the ground, so that the inclination state of the measuring vehicle is known, and the height difference data of two rails of a rail line can be conveniently obtained subsequently; then, data integration is carried out on the inclination angle of the connecting line of the hubs at the two sides of the current measuring vehicle, which is measured by each laser inclination sensor, relative to the ground by utilizing the formula (2) to obtain the average inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, after two wheels with larger numerical value deviation are removed, weighting is carried out according to the distance between the connecting line between two groups of bearing mounting points in each laser inclination sensor and two parallel lines of the connecting line of the hubs at the two sides of the measuring vehicle to obtain the average inclination angle, so that the measuring result is more accurate, and the measuring precision of a system is improved; and finally, obtaining height difference data of two rails of the track circuit according to the average inclination angle of the connecting line of the hubs on the two sides of the measuring vehicle relative to the ground and the distance between the circle centers of the hubs on the two sides of the current measuring vehicle by using the formula (3), wherein the laser inclination sensor is a novel developed roll sensor specially developed for measuring the height difference data of the two rails of the track circuit, has the characteristic of universal intelligent measurement of the track circuit, and has more accurate measurement precision than other inclination measuring instruments.
Preferably, in step S2, an actual motion track of the measuring vehicle is obtained according to the motion state data; according to the track deviation information between the actual motion track and the expected design track of the track line, the step of adjusting the laying track trend of the current track line specifically comprises the following steps:
extracting the motion acceleration direction corresponding to the position point where each steel rail supporting point is located from the motion acceleration data, and fitting according to the motion acceleration directions of the position points where all the steel rail supporting points are located to obtain an actual motion track of the measuring vehicle in a three-dimensional space;
comparing the actual motion track with an expected design track of a track line, and determining the track deviation direction and the track deviation amount between the actual motion track and the expected design track of the track line on a three-dimensional space;
and adjusting the laying track trend of the current track line according to the track deviation direction and the track deviation.
The beneficial effects of the above technical scheme are: and extracting the motion acceleration direction corresponding to the position point where the measuring vehicle passes through each steel rail supporting point from the motion acceleration data, and fitting the motion acceleration directions of the position points where all the steel rail supporting points are located to obtain the actual motion track of the measuring vehicle in the three-dimensional space. And then comparing the actual motion track with the expected design track of the track line, and adjusting the laying track trend of the current track line, so that the laying track of the track line can be ensured to be consistent with the expected design track, and the laying track of the track line is prevented from being greatly deviated.
Preferably, in the step S3, a deviation between the track plane position and the design plane position is obtained according to the plane data of the track route; then, according to the difference information between the track gauge and the designed track gauge of the track circuit, adjusting the track gauges of the tracks on the two sides of the current track circuit specifically comprises:
extracting absolute coordinates corresponding to the position of each measuring point from the plane data of the two rails of the track line, and comparing the absolute coordinates with the designed coordinates to obtain corresponding difference values; and determining the difference between the actually measured track gauge and the designed track gauge of the track line, and adjusting the track to be within the standard requirement according to the difference.
The beneficial effects of the above technical scheme are: each time the measuring trolley is set up, the inner distance difference and the smoothness of the line are optimized and corrected once, so that the line type is smoother. And (3) reasonably analyzing the data fed back by the gauge sensor to obtain the deviation from the designed track, and adjusting the gauge to be within the standard requirement.
Preferably, in the step S4, the track surface elevation and the level and the super height of the track line are obtained according to the elevation data of the track line; according to the difference information between the elevation, the level and the superelevation of the track surface and the elevation, the level and the superelevation of the expected design track surface, the adjusting the track height of the current track line specifically comprises the following steps:
the measured rail surface elevation of any point on the track route mileage can be extracted from the elevation data acquired by the small rail car and is compared with the designed rail surface elevation to obtain a difference value for guiding adjustment;
the height difference between the two rails is obtained through the inclination sensor, the corresponding horizontal and super-height positions are obtained on the straight line and the curve, and the height difference is adjusted to be within the range required by the specification.
The beneficial effects of the above technical scheme are: in the process of acquiring data at uniform speed, the measuring trolley can feed back the quality of the line in time according to the track coordinates, and further obtain an optimal adjusting scheme.
Furthermore, the present invention also provides an apparatus for implementing the method for high-precision measurement and adjustment of a high-speed railway track, comprising:
the measuring trolley and the total station are arranged at the preset track position,
the measuring vehicle is provided with an inertia sensor, a laser track gauge sensor, an inclination sensor and an industrial control computer;
the inertial sensor collects the motion state data of the measuring vehicle in the motion process;
the laser track gauge sensor collects the track gauge of a track line in the movement process;
the inclination sensor collects the height difference between the left rail and the right rail of the line in the movement process;
the computer is used for obtaining the actual motion track of the measuring vehicle according to the motion state data; adjusting the laying track trend of the current track line according to the track deviation information between the actual motion track and the expected design track of the track line;
obtaining the deviation between the track plane position and the design plane position according to the plane data of the track line; adjusting the track gauges of the tracks on the two sides of the current track line according to the difference information between the track gauge and the designed track gauge of the track line;
obtaining the deviation between the track surface elevation of the track line and the designed track surface elevation according to the elevation data of the track line; and adjusting the track laying height of the current track line according to the difference information between the level and superelevation data and the design level and superelevation.
The above-mentioned device for implementing the method for high-precision measurement and adjustment of a high-speed railway track corresponds to the above-mentioned method for high-precision measurement and adjustment of a high-speed railway track, and the working process and function of the above-mentioned device will not be described repeatedly.
As can be seen from the above description of the embodiments, the method and apparatus for high-precision measurement and adjustment of a high-speed railway track arranges a survey vehicle and a total station at a predetermined position of a track line, and instructs the survey vehicle to collect motion state data of the survey vehicle itself, plane data of the track line, and elevation data of the track line during movement along the track line; and analyzing the acquired data, so as to adjust the laying track trend of the current track line, the track gauge, the level and the superelevation of the track, and the rail surface elevation, thus, after the total station is set once, the measuring vehicle can be used for automatically and continuously measuring the track line, thus the labor and time cost of track line measurement can be reduced, and the automation degree and the accuracy of track line measurement can be improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. The method for high-precision measurement and adjustment of the high-speed railway track is characterized by comprising the following steps of:
step S1, arranging a survey vehicle and a total station at a preset position of the track line, indicating the survey vehicle to start moving from the preset position to the preset position along the track line, and indicating an inertial navigation system on the survey vehicle to collect motion state data of the survey vehicle, plane data of the track line, elevation data of the track line, track gauge, level and superelevation of the track line in the moving process;
step S2, obtaining the actual motion track of the measuring vehicle according to the motion state data; adjusting the laying track trend of the current track line according to track deviation information between the actual motion track and the expected design track of the track line;
step S3, obtaining the deviation between the track plane position and the design plane position according to the plane data of the track circuit; adjusting the track gauges of the tracks on the two sides of the current track line according to the difference information between the track gauge and the designed track gauge of the track line;
step S4, obtaining the deviation between the track surface elevation of the track line and the designed track surface elevation according to the elevation data of the track line; and adjusting the track laying height of the current track line according to the difference information between the level and superelevation data and the designed level and superelevation.
2. A method for high precision measurement and adjustment of high speed railway tracks as claimed in claim 1, characterized in that:
in step S1, arranging the survey vehicle and the total station at a predetermined position of the track line, and instructing the survey vehicle to move from the predetermined position toward the start along the track line specifically includes:
and indicating the measuring vehicle to start to move at a constant speed from a preset position along the track line, and acquiring track line images passed by the measuring vehicle in the process of moving at the constant speed.
3. The method for high precision measurement and adjustment of high speed railway tracks as claimed in claim 2, characterized in that:
in step S1, the method further includes:
and identifying the track line image to obtain the position points of all the steel rail supporting points on the track line.
4. A method for high precision measurement and adjustment of high speed railway tracks as claimed in claim 1, characterized in that:
in step S1, instructing the inertial navigation system on the measurement vehicle to acquire motion state data of the measurement vehicle, plane data of the track route, and elevation data of the track route during the motion process includes: indicating an inertial sensor on the measuring vehicle to continuously acquire motion acceleration data of the measuring vehicle in the motion process;
indicating a laser track gauge sensor on the measuring vehicle to continuously acquire track gauge data of two tracks of a track line in the movement process;
and indicating a laser inclination sensor on the measuring vehicle to continuously acquire the height difference data of the two rails of the rail line in the moving process.
5. The method for high precision measurement and adjustment of high speed railway tracks as claimed in claim 4, characterized in that:
in step S1, the instructing the laser inclination sensor on the measuring vehicle to continuously acquire the height difference data of the two tracks of the track route during the movement process specifically includes:
installing a plurality of laser inclination sensors on a measuring vehicle to measure height difference data of two tracks of a track line, wherein each laser inclination sensor comprises two groups of laser inclination sensing units, each group of laser inclination sensing units comprises a bearing, a connecting rod, a weight block and a laser range finder, the bearing is connected with a nesting space of a chassis of the measuring vehicle in a nesting mode, the bearing is provided with a cylindrical shaft in the nesting space, the bearing can rotate left and right around the cylindrical shaft, the connecting rod is welded with the bearing and rotates synchronously with the bearing, the weight block is welded at the smallest end of the connecting rod in a sleeving mode, the laser range finder is installed below the weight block, the ranging direction of the laser range finder is consistent with the downward direction of the connecting rod, and the connecting rod of each laser inclination sensor always keeps the laser range finder in a vertically downward state due to the gravity action of the weight block, the laser range finder can continuously measure the vertical height between the current laser tilt sensor and the ground all the time, and according to the connecting line between the mounting points of the bearings of the two groups of laser tilt sensing units contained by each laser tilt sensor and the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, and data integration is carried out on the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, which is obtained by measuring the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle respectively by a plurality of laser tilt sensors, so as to obtain the average inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, and then according to the average inclination angle and the distance value between the hubs at the two sides of the current measuring vehicle, the height difference data of the two rails of the rail line is obtained, and the height difference data specifically comprises:
step S101, obtaining the inclination angle of the connecting line of the hubs at the two sides of the current measuring vehicle relative to the ground, which is obtained by measuring by each laser inclination sensor, according to the distance value between the two bearing mounting points in each laser inclination sensor and the vertical height between the current two laser ranging sensors,
θ(a)＝arcsin{[H 1 (a)-H 2 (a)]/S z (a)} (1)
in the formula (1), θ (a) represents the inclination angle of the connecting line of the hubs on the two sides of the current measuring vehicle, which is measured by the a-th laser inclination sensor, relative to the ground; h 1 (a) The vertical height value of the laser ranging sensor closest to the right hub of the measuring vehicle in the a-th laser inclination sensor and the ground is represented; h 2 (a) Denotes the a (a) thThe vertical height value of the laser ranging sensor closest to the left hub of the measuring vehicle in the laser inclination sensors and the ground is measured; s. the z (a) The distance value between two bearing mounting points of the a-th laser inclination sensor is represented;
step S102, performing data integration according to the inclination angle of the connecting line of the hubs at the two sides of the measuring vehicle relative to the ground, which is obtained by measuring the connecting line of the hubs at the two sides of the measuring vehicle by each laser inclination sensor by using the following formula (2),
in the above-mentioned formula (2),
the average inclination angle of a connecting line of hubs on two sides of the measuring vehicle relative to the ground is represented; [1, n ]]Represents a closed interval from 1 to n; i represents an integer variable, and i ∈ [1, n ]]；argmax i∈[1,n] [θ(i)]Representing the value i corresponding to the maximum value of theta (i) obtained by substituting the value from 1 to n into the formula (1); argmin i∈[1,n] [θ(i)]Representing the value of i corresponding to the minimum value of theta (i) obtained by substituting the value from 1 to n into the formula (1); a is represented by a ∈ [1, n ]]Under the condition of (2) a ≠ argmax i∈[1,n] [θ(i)]And a ≠ argmin i∈[1,n] [θ(i)]Two values are in [1, n ]]Removing the new set in the interval; l (a) represents the distance between two parallel lines of a connecting line between two groups of bearing mounting points in the a-th laser inclination sensor and connecting lines of hubs on two sides of the measuring vehicle; sigma a∈A []The method comprises the following steps of substituting all values of a epsilon A into parenthesis operation and summing all operation results;
wherein,
there are cases pertaining to positive, negative and 0 values when
The height of the left hub of the measuring vehicle relative to the ground is lower than that of the right hub of the measuring vehicle relative to the ground; when the temperature is higher than the set temperature
The height of the left side hub of the measuring vehicle relative to the ground is equal to the height of the right side hub relative to the ground; when in use
The height of the left side hub of the measuring vehicle relative to the ground is higher than that of the right side hub of the measuring vehicle relative to the ground;
step S103, obtaining height difference data of two tracks of the track line according to the average inclination angle and the distance value between the circle centers of the hubs on the two sides of the current measuring vehicle by using the following formula (3),
in the above formula (3), Δ h represents height difference data of two tracks of the track line; s l Representing the distance value between the circle centers of the hubs on the two sides of the current measuring vehicle;
when the value of delta h is greater than 0, the left track of the track circuit is lower than the right track of the track circuit; when the delta h is 0, the left track of the track circuit is the same as the right track of the track circuit in height; when Δ h <0 indicates that the left track of the track line is higher than the right track of the track line.
6. The method for high precision measurement and adjustment of high speed railway tracks as claimed in claim 4, characterized in that:
in the step S2, obtaining an actual motion trajectory of the measuring vehicle according to the motion state data; according to the track deviation information between the actual motion track and the expected design track of the track line, the step of adjusting the laying track trend of the current track line specifically comprises the following steps:
extracting the motion acceleration direction corresponding to the position point where each steel rail supporting point is located from the motion acceleration data, and fitting according to the motion acceleration directions of the position points where all the steel rail supporting points are located to obtain an actual motion track of the measuring vehicle in a three-dimensional space;
comparing the actual motion track with an expected design track of a track line, and determining the track deviation direction and the track deviation between the actual motion track and the expected design track of the track line on a three-dimensional space;
and adjusting the laying track trend of the current track line according to the track deviation direction and the track deviation.
7. The method for high precision measurement and adjustment of high speed railway tracks of claim 6, wherein:
in step S3, obtaining a deviation between the track plane position and the design plane position according to the plane data of the track route; then, according to the difference information between the track gauge and the designed track gauge of the track line, adjusting the track gauge of the track on the two sides of the current track line specifically comprises:
extracting absolute coordinates corresponding to the position of each measuring point from the plane data of the two rails of the track line, and comparing the absolute coordinates with the designed coordinates to obtain corresponding difference values; and determining the difference between the actually measured track gauge and the designed track gauge of the track line, and adjusting the track to be within the standard requirement according to the difference.
8. The method for high precision measurement and adjustment of high speed railway tracks as claimed in claim 7, wherein:
in the step S4, obtaining the rail surface elevation, the level and the superelevation of the track line according to the elevation data of the track line; according to the difference information between the rail surface elevation, the level and the superelevation and the expected design rail surface elevation, the adjusting the rail height of the current rail line specifically comprises the following steps:
the measured rail surface elevation of any point on the track route mileage can be extracted from the elevation data acquired by the small rail car and is compared with the designed rail surface elevation to obtain a difference value for guiding adjustment;
the height difference between the two rails is obtained through the inclination sensor, the corresponding horizontal and super-height positions are obtained on the straight line and the curve, and the height difference is adjusted to be within the range required by the specification.
9. Apparatus for implementing the method for high precision measurement and adjustment of high speed railway tracks according to any of claims 1 to 8, characterized in that it comprises:
the measuring trolley and the total station are arranged at the preset track position,
the measuring vehicle is provided with an inertial sensor, a laser track gauge sensor, an inclination sensor and an industrial control computer;
the inertial sensor collects the motion state data of the measuring vehicle in the motion process;
the laser track gauge sensor collects the track gauge of the track line in the movement process;
the inclination sensor collects the height difference between the left rail and the right rail of the line in the movement process;
the computer is used for obtaining the actual motion track of the measuring vehicle according to the motion state data; adjusting the laying track trend of the current track line according to track deviation information between the actual motion track and the expected design track of the track line;
obtaining the deviation between the track plane position and the design plane position according to the plane data of the track line; adjusting the track gauges of the tracks on the two sides of the current track line according to the difference information between the track gauge and the designed track gauge of the track line;
obtaining the deviation between the track surface elevation of the track line and the designed track surface elevation according to the elevation data of the track line; and adjusting the track laying height of the current track line according to the difference information between the level and superelevation data and the designed level and superelevation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210707198.1A CN114923528B (en) | 2022-06-21 | 2022-06-21 | High-precision measuring and adjusting method and device for high-speed railway track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210707198.1A CN114923528B (en) | 2022-06-21 | 2022-06-21 | High-precision measuring and adjusting method and device for high-speed railway track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114923528A true CN114923528A (en) | 2022-08-19 |
| CN114923528B CN114923528B (en) | 2023-03-28 |
Family
ID=82815113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210707198.1A Active CN114923528B (en) | 2022-06-21 | 2022-06-21 | High-precision measuring and adjusting method and device for high-speed railway track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114923528B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101962925A (en) * | 2010-08-12 | 2011-02-02 | 上海铁路局科学技术研究所 | Method for efficiently measuring three-dimensional coordinates of track based on track precise control net |
| CN105857340A (en) * | 2016-04-01 | 2016-08-17 | 郑君伟 | Track detecting system and method based on integrated navigation |
| CN107299568A (en) * | 2017-06-16 | 2017-10-27 | 中铁工程设计咨询集团有限公司 | A kind of track dynamic measuring system and method |
| CN108214554A (en) * | 2018-02-05 | 2018-06-29 | 刘春梅 | A kind of self-checking system for intelligent track-traffic crusing robot |
| CN109823362A (en) * | 2019-01-04 | 2019-05-31 | 四川拓绘科技有限公司 | A kind of orbital forcing determination method |
| CN111981991A (en) * | 2020-08-20 | 2020-11-24 | 南京中车浦镇城轨车辆有限责任公司 | Method and system for obtaining compensation height of rail vehicle floor mounting seat |
| CN113212491A (en) * | 2021-04-06 | 2021-08-06 | 中铁二院工程集团有限责任公司 | Station setting measurement method for evaluating smoothness of track line |
| CN114559988A (en) * | 2022-01-26 | 2022-05-31 | 上海天链轨道交通检测技术有限公司 | Method, device and system for measuring speed, mileage, station and motion state of train |
-
2022
- 2022-06-21 CN CN202210707198.1A patent/CN114923528B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101962925A (en) * | 2010-08-12 | 2011-02-02 | 上海铁路局科学技术研究所 | Method for efficiently measuring three-dimensional coordinates of track based on track precise control net |
| CN105857340A (en) * | 2016-04-01 | 2016-08-17 | 郑君伟 | Track detecting system and method based on integrated navigation |
| CN107299568A (en) * | 2017-06-16 | 2017-10-27 | 中铁工程设计咨询集团有限公司 | A kind of track dynamic measuring system and method |
| CN108214554A (en) * | 2018-02-05 | 2018-06-29 | 刘春梅 | A kind of self-checking system for intelligent track-traffic crusing robot |
| CN109823362A (en) * | 2019-01-04 | 2019-05-31 | 四川拓绘科技有限公司 | A kind of orbital forcing determination method |
| CN111981991A (en) * | 2020-08-20 | 2020-11-24 | 南京中车浦镇城轨车辆有限责任公司 | Method and system for obtaining compensation height of rail vehicle floor mounting seat |
| CN113212491A (en) * | 2021-04-06 | 2021-08-06 | 中铁二院工程集团有限责任公司 | Station setting measurement method for evaluating smoothness of track line |
| CN114559988A (en) * | 2022-01-26 | 2022-05-31 | 上海天链轨道交通检测技术有限公司 | Method, device and system for measuring speed, mileage, station and motion state of train |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114923528B (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102613316B1 (en) | CRTSⅢ type track plate high-speed intelligent precision adjustment system and precision adjustment method | |
| CN111532295B (en) | Rail transit removes intelligent operation and maintenance detecting system | |
| JP7086079B2 (en) | Track inspection vehicle and method of detecting track shape | |
| CN101314932B (en) | Camera shooting measuring method for track geometric parameter | |
| CN100376444C (en) | Device for measuring the roundness of a railroad wheel | |
| US20230365170A1 (en) | Method and system for determining a target profile of the track to correct the geometry | |
| CN107421688B (en) | Wheel hub dynamic balance and beat harmonic wave detecting system based on machine vision | |
| EP1774275B1 (en) | Apparatus for detecting hunting and angle of attack of a rail vehicle wheelset | |
| US5787815A (en) | Storage of track data in a position-controlled tilt system | |
| JP2018127882A (en) | Method of optimizing track | |
| CN115768952A (en) | Method for measuring the position of a track | |
| CN114046789A (en) | Rail detection method based on collaborative measurement of rail inspection trolley navigation IMU | |
| KR20100068595A (en) | System for measuring cross-level irregularity of track using inertial sensor, and method thereof | |
| US11981362B2 (en) | Method and measuring vehicle for determining an actual position of a track | |
| CN111058360A (en) | Road surface flatness detection method based on driving vibration data | |
| CN113324476A (en) | Crane guide rail detection system and detection method thereof | |
| CN114923528B (en) | High-precision measuring and adjusting method and device for high-speed railway track | |
| CN104949649B (en) | Road surface non-planeness measurement device | |
| JP2023551253A (en) | Method and system for determining correction values for trajectory position correction | |
| CN109017873A (en) | The method for carrying 2D laser radar scanning axle based on mobile detection robot | |
| CN115535026B (en) | Railway track flatness detection method and system | |
| JP3238012B2 (en) | Track shape data processing method | |
| WO2020129423A1 (en) | Position detection device and method | |
| CN112523044A (en) | Method and device for measuring road surface bumping degree based on unidirectional displacement sensing | |
| CN214112561U (en) | Device for measuring rim parameters of wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |