CN115014284B - Track shape and position monitoring system and method - Google Patents
Track shape and position monitoring system and method Download PDFInfo
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- CN115014284B CN115014284B CN202210866802.5A CN202210866802A CN115014284B CN 115014284 B CN115014284 B CN 115014284B CN 202210866802 A CN202210866802 A CN 202210866802A CN 115014284 B CN115014284 B CN 115014284B
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- 238000005259 measurement Methods 0.000 claims abstract description 54
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a track shape and position monitoring system and a track shape and position monitoring method in the technical field of railway monitoring, and aims to solve the problems that in the prior art, the track shape and position monitoring process is complex and the workload is large. The device comprises a target point unit, a sliding rail unit, a measuring unit, a post-processing unit and an application unit; slide rail unit: the device is used for driving the measuring unit to slide and position; a measurement unit: the method comprises the steps of acquiring initial data of target units and monitoring data of the target units in a positioning section; post-processing unit: calculating the three-dimensional coordinates of the target units in the positioning section; an application unit: displaying the track shape and position of the monitoring length section; the track shape and position monitoring device is suitable for track monitoring work, and the shape and position of the track are monitored through the matching of the measuring unit and the target point unit, so that the track shape and position monitoring work is completed, the measuring process during track monitoring is simplified, the measuring precision is improved, the monitoring range of the device is improved by the sliding rail unit, and the practicability of the device is ensured.
Description
Technical Field
The invention relates to a track shape and position monitoring system and a track shape and position monitoring method, and belongs to the technical field of railway monitoring.
Background
The railway is taken as an important component of a transportation system and plays an extremely important role in promoting national economic development and people's life, but in daily operation, the railway has various potential safety hazards due to the fact that the rail is subjected to transverse, vertical and longitudinal dynamic deformation and permanent deformation under repeated compression and impact of a train, so that accurate knowledge of the shape and position of the rail is of great significance to safe operation and evaluation of the railway.
When the existing track monitoring equipment works, the measuring process is complex, the workload is large, the cost of the monitoring equipment is easy to increase, and the practicability of the device is affected.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a track shape and position monitoring system and a track shape and position monitoring method, and solves the problems that the existing track shape and position monitoring process is complex and the workload is large.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a track shape and position monitoring system, which comprises a target point unit, a sliding rail unit, a measuring unit, a post-processing unit and an application unit;
target unit: the track positioning device comprises a calibration target point and a plurality of measurement target points, wherein in a positioning section, the measurement target points are arranged on different track surfaces of a track, the calibration target point is arranged on a baffle plate on one side of the track, the measurement target point is used for changing along with the change of the track shape and position, and the calibration target point does not change along with the change of the track shape and position;
slide rail unit: the device is used for driving the measuring unit to slide and position;
a measurement unit: the method comprises the steps of acquiring initial data of target units and monitoring data of the target units in a positioning section;
post-processing unit: the three-dimensional coordinate calculation method is used for calculating the three-dimensional coordinate of the target unit in the positioning section according to the initial data of the target unit and the monitoring data of the target unit in the positioning section;
an application unit: the track shape and position display device is used for displaying the track shape and position of the monitoring length section according to the three-dimensional coordinates of target units in the plurality of positioning sections;
the positioning section is a section formed by the ordinate of the measuring unit when the measuring unit is stopped, and the monitoring length section is the total length of the sliding rail unit.
Further, the sliding rail unit comprises a sliding rail assembly, a horizontal movement mechanism, a power supply system and a control center, wherein the sliding rail assembly is arranged on the longitudinal bridge body structure on one side of the track, the sliding rail assembly does not change along with the change of the shape and the position of the track, the horizontal movement mechanism is used for driving the measuring unit to slide and position along the direction of the sliding rail assembly, the power supply system is used for supplying power to the horizontal movement mechanism, and the control center is used for controlling the movement position of the horizontal movement mechanism.
Further, the sliding rail assembly comprises a plurality of sliding rails which are spliced in a seamless mode.
Further, the measuring unit comprises a visual measuring instrument and a laser measuring instrument, the visual measuring instrument is fixedly connected with the laser measuring instrument in the same vertical section, the visual measuring instrument is used for measuring the longitudinal displacement and the vertical displacement of the target unit, and the laser measuring instrument is used for measuring the relative distance between the visual measuring instrument and the target unit.
Further, the vertical included angle between the calibration target and the vision measuring instrument is smaller than 30 degrees.
In a second aspect, the present invention provides a track shape and position monitoring method, based on the track shape and position monitoring system of the first aspect, comprising the following steps:
collecting initial data of a target unit and monitoring data of the target unit in a positioning section;
calculating the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section based on the initial data of the target unit and the monitoring data of the target unit in the positioning section;
based on initial data of the target point unit, monitoring data of the target point unit in the positioning section and vertical displacement and longitudinal displacement of the vision measuring instrument in the positioning section, calculating longitudinal displacement, vertical displacement and transverse displacement of a measurement target point in the positioning section, and obtaining three-dimensional coordinates of the measurement target point in the positioning section;
and displaying the track shape of the monitoring length section based on the three-dimensional coordinates of the measurement targets in the plurality of positioning sections.
Further, the collecting initial data of the target unit and the monitoring data of the target unit in the positioning section includes:
the sliding rail unit drives the measuring unit to longitudinally slide once, and the measuring unit obtains a calibration target point and space parameters of the measuring target point as initial data;
the sliding rail unit drives the measuring unit to slide to the positioning section, and the measuring unit obtains a calibration target point and the space parameter of the measuring target point as monitoring data of the track.
Further, calculating the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section based on the initial data of the target unit and the monitoring data of the target unit in the positioning section includes:
longitudinal displacement S of vision measuring instrument Δx ：
S Δx ＝B Δx -B Δx0
Vertical displacement S of vision measuring instrument Δx ：
S Δz ＝B Δz -B Δz0
Wherein B is Δx Measuring the longitudinal displacement of a calibration target point for a visual measuring instrument in a positioning section; b (B) Δz Measuring the vertical displacement of a calibration target point for a visual measuring instrument in a positioning section; b (B) Δx0 When the measuring unit longitudinally slides once, the vision measuring instrument measures the longitudinal displacement of the calibration target point; b (B) Δz0 For measuring longitudinal sliding of unitAnd measuring the vertical displacement of the calibration target point by the vision measuring instrument once.
Further, calculating the longitudinal displacement, the vertical displacement and the lateral displacement of the measurement target point in the positioning section based on the initial data of the target point unit, the monitoring data of the target point unit in the positioning section and the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section includes:
measuring longitudinal displacement G of target spot n Δx：
G n Δx＝C n Δx-C n Δx 0 -S Δx
Vertical displacement G of measurement target point n Δz：
G n Δz＝C n Δz-C n Δz 0 -S Δz
Measuring the lateral displacement G of the target spot n Δy：
Wherein C is n Δx is the longitudinal displacement of the measurement target measured by the vision measuring instrument in the positioning section; c (C) n Δz is the vertical displacement of the measurement target measured by the vision measuring instrument in the positioning section; n is the label of the measurement target; c (C) n Δx 0 When the measuring unit longitudinally slides once, the vision measuring instrument measures the longitudinal displacement of the measuring target point; c (C) n Δz 0 When the measuring unit longitudinally slides once, the visual measuring instrument measures the vertical displacement of the measuring target point; l (L) 0n When the measuring unit longitudinally slides once, the distance between the laser range finder and one of the measuring targets; l (L) n The distance between the laser range finder in the positioning section and the measuring target point is set; d, d n When the measuring unit longitudinally slides once, the measuring target point is horizontally away from the laser range finder.
Further, the three-dimensional coordinates of the target point unit in the positioning section are obtained;
based on the longitudinal displacement, the vertical displacement and the transverse displacement of the measurement target in the positioning section, the measurement target in the positioning section is obtainedThree-dimensional coordinates of points (G n Δx+X n 、G n Δy+Y n 、G n Δz+Z n )；
Wherein X is n 、Y n 、Z n When the measuring unit slides once longitudinally, the position coordinates of the target point on the track are measured.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the three-dimensional geometric shape and position of the track can be monitored simultaneously by matching the measuring unit with the target unit, and the three-dimensional geometric shape and position change of the track is calculated by combining the post-processing unit, so that the track shape and position monitoring work is completed, the measuring process during track monitoring is simplified, the measuring precision is improved, the monitoring range of the device is improved by the sliding rail unit, and the practicability of the device is ensured;
2. the invention is a non-contact track shape and position monitoring system, the measuring target spot is stuck on the track to be monitored, after the system is installed, the system can be used for non-contact monitoring of the track shape and position for a long time, and can monitor all weather, when the track is required to be monitored, the sliding rail unit drives the measuring unit to move from one end to the other end, and the real-time three-dimensional geometric shape and position of the track positioned at one side of the sliding rail unit can be obtained;
3. the invention has flexible layout, satisfies the requirements of adjustable longitudinal spacing of measurement targets, simultaneous monitoring of a plurality of steel rails to be measured and active positioning control of the sliding rail units, and can be applied to ballasted track bridges, ballastless track bridges, load tests and railway bridge health monitoring systems.
Drawings
FIG. 1 is a schematic diagram of a system frame of a track shape and position monitoring system provided according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a measurement unit provided according to an embodiment of the present invention;
FIG. 3 is a schematic layout of a target unit provided according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the monitoring operation of a measurement unit provided according to an embodiment of the present invention;
fig. 5 is a schematic diagram of calculation of lateral displacement of a measurement target according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Embodiment one:
1-5, the invention provides a track shape and position monitoring system, which comprises a target point unit, a sliding rail unit, a measuring unit, a post-processing unit and an application unit; target unit: the track positioning device comprises a calibration target point and a plurality of measurement target points, wherein in a positioning section, the measurement target points are arranged on different track surfaces of a track, the calibration target point is arranged on a baffle plate on one side of the track, the measurement target point is used for changing along with the change of the track shape and position, and the calibration target point does not change along with the change of the track shape and position; slide rail unit: the device is used for driving the measuring unit to slide and position; a measurement unit: the method comprises the steps of acquiring initial data of target units and monitoring data of the target units in a positioning section; post-processing unit: the three-dimensional coordinate calculation method is used for calculating the three-dimensional coordinate of the target unit in the positioning section according to the initial data of the target unit and the monitoring data of the target unit in the positioning section; an application unit: the track shape and position display device is used for displaying the track shape and position of the monitoring length section according to the three-dimensional coordinates of target units in the plurality of positioning sections;
the positioning section is a section formed by the ordinate of the measuring unit when the measuring unit is stopped, the monitoring length section is the total length of the sliding rail unit, and the calibration target point pasting position comprises, but is not limited to, a railway ballast retaining wall of a ballasted track and a track plate of a ballastless track.
Specifically, the measuring unit is mounted on the sliding rail unit, and can slide on the sliding rail unit according to a preset position, optionally, the sliding rail unit can be provided with a wired or wireless sensor so as to realize the online positioning control function of the monitoring platform, optionally, the sliding rail unit controls the interval d between the positioning sections of the sliding positioning of the measuring unit xi The track shape and position monitoring system is set to be 1m, a measurement target point is stuck on a track to be monitored, the track shape and position monitoring system can be used for non-contact monitoring of the track shape and position for a long time after the system is installed, all-weather monitoring work can be carried out, and when the track needs to be monitored, the track unit drives the measurement unit to move from one end to the other end of the track unit, so that the real-time three-dimensional geometric shape and position of the track on one side of the track unit can be obtained.
An embodiment, the slide rail unit includes slide rail assembly, horizontal movement mechanism, power supply system and control center, the slide rail assembly set up in on the longitudinal bridge body structure of track one side, the slide rail assembly is not along with the change of track shape and position, horizontal movement mechanism is used for driving the measuring unit and carries out slide positioning along the direction of slide rail assembly, power supply system is used for supplying power to horizontal movement mechanism, control center is used for controlling horizontal movement mechanism's motion position.
Specifically, the sliding rail assembly is arranged on a longitudinal bridge body structure at one side of the rail, and the installation position of the sliding rail assembly comprises, but is not limited to, a truss at one side of the bridge, and optionally, the power supply system adopts a rail power supply mode and adopts alternating current 220V as current input, so that long-term reliable operation of the sliding rail unit is effectively ensured.
In this embodiment, the slide rail assembly includes a plurality of seamless concatenation slide rails, and according to actual work needs, accessible a plurality of slide rails splice to extension slide rail assembly's length makes the measuring unit can carry out long distance removal, thereby has guaranteed the monitoring range of device.
An embodiment, the measuring unit includes vision measuring apparatu and laser measuring apparatu, vision measuring apparatu with laser measuring apparatu is at same vertical cross-section fixed connection, and both install on horizontal movement mechanism, can slide along with horizontal movement mechanism and fix a position on the track assembly, vision measuring apparatu is used for measuring the longitudinal displacement and the vertical displacement of target unit, laser measuring apparatu is used for measuring its relative distance with the target unit, and wherein, the invention passes vision measuring apparatu, laser range finder and target unit cooperation work, can monitor the three-dimensional geometry position of track simultaneously, has simplified the measuring process, has reduced work load, has guaranteed the practicality of device.
Optionally, the vision measuring instrument adopts a same-grain machine vision intelligent measuring instrument, the highest frequency is 60Hz, the longitudinal displacement and the vertical displacement of a target point can be monitored, and the precision is +/-1/50000 FOV; the sampling frequency of the laser range finder is 60Hz, and the precision is 0.1mm; the laser distance meter adopts MSE-TS803 series laser displacement sensor, the precision is 0.1mm, the measuring range is 260 mm-1510 mm, and the maximum frequency is 9400Hz.
In one embodiment, the vertical included angle between the calibration target and the vision measuring instrument is smaller than 30 degrees, so that the influence on the measurement work of the vision measuring instrument on the measurement target caused by the overlarge included angle between the calibration target and the vision measuring instrument is avoided.
According to the invention, the three-dimensional geometric shape and position of the track can be monitored simultaneously by matching the measuring unit with the target unit, and the three-dimensional geometric shape and position change of the track is calculated by combining the post-processing unit, so that the track shape and position monitoring work is completed, the measuring process during track monitoring is simplified, the measuring precision is improved, the monitoring range of the device is improved by the sliding rail unit, and the practicability of the device is ensured.
The invention has flexible layout, satisfies the requirements of adjustable longitudinal spacing of measurement targets, simultaneous monitoring of a plurality of steel rails to be measured and active positioning control of the sliding rail units, and can be applied to ballasted track bridges, ballastless track bridges, load tests and railway bridge health monitoring systems.
Embodiment two:
the invention provides a track shape and position monitoring method, which comprises the following steps based on a first embodiment: collecting initial data of a target unit and monitoring data of the target unit in a positioning section;
the initial data of the target unit and the monitoring data of the target unit in the positioning section are collected, wherein the initial data of the target unit and the monitoring data of the target unit in the positioning section comprise:
the sliding rail unit drives the measuring unit to longitudinally slide once, and the measuring unit obtains a calibration target point and space parameters of the measuring target point as initial data;
the sliding rail unit drives the measuring unit to slide to the positioning section, and the measuring unit obtains a calibration target point and the space parameter of the measuring target point as monitoring data of the track.
Calculating the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section based on the initial data of the target unit and the monitoring data of the target unit in the positioning section;
based on the initial data of the target unit and the monitoring data of the target unit in the positioning section, calculating the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section comprises:
longitudinal displacement S of vision measuring instrument Δx ：
S Δx ＝B Δx -B Δx0
Vertical displacement S of vision measuring instrument Δx ：
S Δz ＝B Δz -B Δz0
Wherein B is Δx Measuring the longitudinal displacement of a calibration target point for a visual measuring instrument in a positioning section; b (B) Δz Measuring the vertical displacement of a calibration target point for a visual measuring instrument in a positioning section; b (B) Δx0 When the measuring unit longitudinally slides once, the vision measuring instrument measures the longitudinal displacement of the calibration target point; b (B) Δz0 When the measuring unit longitudinally slides once, the visual measuring instrument measures the vertical displacement of the calibration target point.
When the sliding rail unit drives the vision measuring instrument to move, the vision measuring instrument is easy to swing, so that errors are caused, and the longitudinal displacement and the vertical displacement of the moved vision measuring instrument are obtained through matching of the vision measuring instrument and the calibration target point, so that the error of the vision measuring instrument is prevented from affecting the monitoring work of the measurement target point, and the working stability of the device is ensured.
Based on initial data of the target point unit, monitoring data of the target point unit in the positioning section and vertical displacement and longitudinal displacement of the vision measuring instrument in the positioning section, calculating longitudinal displacement, vertical displacement and transverse displacement of a measurement target point in the positioning section, and obtaining three-dimensional coordinates of the measurement target point in the positioning section;
based on the initial data of the target point unit, the monitoring data of the target point unit in the positioning section and the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section, the calculation of the longitudinal displacement, the vertical displacement and the transverse displacement of the measurement target point in the positioning section comprises:
measuring longitudinal displacement G of target spot n Δx：
G n Δx＝C n Δx-C n Δx 0 -S Δx
Vertical displacement G of measurement target point n Δz：
G n Δz＝C n Δz-C n Δz 0 -S Δz
Measuring the lateral displacement G of the target spot n Δy：
Wherein C is n Δx is the longitudinal displacement of the measurement target measured by the vision measuring instrument in the positioning section; c (C) n Δz is the vertical displacement of the measurement target measured by the vision measuring instrument in the positioning section; n is the label of the measuring target spot, and optionally, when the number of the steel rails of the track is two, n is 1 and 2; c (C) n Δx 0 When the measuring unit longitudinally slides once, the vision measuring instrument measures the longitudinal displacement of the measuring target point; c (C) n Δz 0 When the measuring unit longitudinally slides once, the visual measuring instrument measures the vertical displacement of the measuring target point; l (L) 0n When the measuring unit longitudinally slides once, the distance between the laser range finder and one of the measuring targets; l (L) n The distance between the laser range finder in the positioning section and the measuring target point is set; d, d n When the measuring unit longitudinally slides once, the measuring target point is horizontally away from the laser range finder.
Wherein in the positioning section, the transverse displacement G of a plurality of measurement targets is considered to be the same when the transverse displacement G of a plurality of rails of the track is the same n Δy are all equal.
Obtaining three-dimensional coordinates of a target unit in a positioning section, wherein the three-dimensional coordinates comprise;
based on the longitudinal displacement, the vertical displacement and the lateral displacement of the measurement target in the positioning section, a three-dimensional coordinate (G n Δx+X n 、G n Δy+Y n 、G n Δz+Z n )；
Wherein X is n 、Y n 、Z n When the measuring unit slides once longitudinally, the position coordinates of the target point on the track are measured.
And displaying the track shape of the monitoring length section based on the three-dimensional coordinates of the measurement targets in the plurality of positioning sections. According to the collected initial data of the target point unit and the collected monitoring data of the target point unit in the plurality of different positioning sections, three-dimensional coordinates of the measurement target point in the plurality of different positioning sections are obtained, the measurement target point changes along with the change of the track shape and position, and the three-dimensional coordinates of the measurement target point can be used for representing the track shape and position, so that the track shape and position of the monitoring length section are displayed.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. The track shape and position monitoring method is characterized by comprising a target point unit, a sliding rail unit, a measuring unit, a post-processing unit and an application unit;
target unit: the track positioning device comprises a calibration target point and a plurality of measurement target points, wherein in a positioning section, the measurement target points are arranged on different track surfaces of a track, the calibration target point is arranged on a baffle plate on one side of the track, the measurement target point is used for changing along with the change of the track shape and position, and the calibration target point does not change along with the change of the track shape and position;
slide rail unit: the device is used for driving the measuring unit to slide and position;
a measurement unit: the method comprises the steps of acquiring initial data of target units and monitoring data of the target units in a positioning section;
post-processing unit: the three-dimensional coordinate calculation method is used for calculating the three-dimensional coordinate of the target unit in the positioning section according to the initial data of the target unit and the monitoring data of the target unit in the positioning section;
an application unit: the track shape and position display device is used for displaying the track shape and position of the monitoring length section according to the three-dimensional coordinates of target units in the plurality of positioning sections;
the positioning section is a section formed by the ordinate of the measuring unit when the measuring unit is stopped, and the monitoring length section is the total length of the sliding rail unit;
the track shape and position monitoring method comprises the following steps:
collecting initial data of a target unit and monitoring data of the target unit in a positioning section;
calculating the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section based on the initial data of the target unit and the monitoring data of the target unit in the positioning section;
based on initial data of the target point unit, monitoring data of the target point unit in the positioning section and vertical displacement and longitudinal displacement of the vision measuring instrument in the positioning section, calculating longitudinal displacement, vertical displacement and transverse displacement of a measurement target point in the positioning section, and obtaining three-dimensional coordinates of the measurement target point in the positioning section;
and displaying the track shape of the monitoring length section based on the three-dimensional coordinates of the measurement targets in the plurality of positioning sections.
2. The track shape and position monitoring method according to claim 1, wherein the slide rail unit comprises a slide rail assembly, a horizontal movement mechanism, a power supply system and a control center, the slide rail assembly is arranged on a longitudinal bridge body structure on one side of the track, the slide rail assembly does not change along with the change of the track shape and position, the horizontal movement mechanism is used for driving the measuring unit to slide and position along the direction of the slide rail assembly, the power supply system is used for supplying power to the horizontal movement mechanism, and the control center is used for controlling the movement position of the horizontal movement mechanism.
3. A track shape and position monitoring method as claimed in claim 2, wherein the rail assembly comprises a plurality of seamlessly spliced rails.
4. The track shape and position monitoring method according to claim 1, wherein the measuring unit comprises a vision measuring instrument and a laser measuring instrument, the vision measuring instrument and the laser measuring instrument are fixedly connected on the same vertical section, the vision measuring instrument is used for measuring the longitudinal displacement and the vertical displacement of the target unit, and the laser measuring instrument is used for measuring the relative distance between the vision measuring instrument and the target unit.
5. The method of claim 4, wherein the calibration target is at an angle of less than 30 ° to the vision meter.
6. The method of claim 1, wherein the steps of collecting initial data of the target unit and monitoring data of the target unit in the positioning section include:
the sliding rail unit drives the measuring unit to longitudinally slide once, and the measuring unit obtains a calibration target point and space parameters of the measuring target point as initial data;
the sliding rail unit drives the measuring unit to slide to the positioning section, and the measuring unit obtains a calibration target point and the space parameter of the measuring target point as monitoring data of the track.
7. The track shape and position monitoring method according to claim 6, wherein calculating the vertical displacement and the longitudinal displacement of the vision meter in the positioning section based on the initial data of the target unit and the monitoring data of the target unit in the positioning section comprises:
longitudinal displacement S of vision measuring instrument Δx ：
S Δx ＝B Δx -B Δx0
Vertical displacement S of vision measuring instrument Δx ：
S Δz ＝B Δz -B Δz0
Wherein B is Δx Measuring the longitudinal displacement of a calibration target point for a visual measuring instrument in a positioning section; b (B) Δz Measuring the vertical displacement of a calibration target point for a visual measuring instrument in a positioning section; b (B) Δx0 When the measuring unit longitudinally slides once, the vision measuring instrument measures the longitudinal displacement of the calibration target point; b (B) Δz0 When the measuring unit longitudinally slides once, the visual measuring instrument measures the vertical displacement of the calibration target point.
8. The track shape and position monitoring method according to claim 7, wherein calculating the longitudinal displacement, the vertical displacement, and the lateral displacement of the measurement target in the positioning section based on the initial data of the target unit, the monitored data of the target unit in the positioning section, and the vertical displacement and the longitudinal displacement of the vision measuring instrument in the positioning section comprises:
measuring longitudinal displacement G of target spot n Δx：
G n Δx＝C n Δx-C n Δx 0 -S Δx
Vertical displacement G of measurement target point n Δz：
G n Δz＝C n Δz-C n Δz 0 -S Δz
Measuring the lateral displacement G of the target spot n Δy：
Wherein C is n Δx is the longitudinal displacement of the measurement target measured by the vision measuring instrument in the positioning section; c (C) n Δz is the vertical displacement of the measurement target measured by the vision measuring instrument in the positioning section; n is the label of the measurement target; c (C) n Δx 0 When the measuring unit longitudinally slides once, the vision measuring instrument measures the longitudinal displacement of the measuring target point; c (C) n Δz 0 When the measuring unit longitudinally slides once, the visual measuring instrument measures the vertical displacement of the measuring target point; l (L) 0n When the measuring unit longitudinally slides once, the distance between the laser range finder and one of the measuring targets; l (L) n The distance between the laser range finder in the positioning section and the measuring target point is set; d, d n When the measuring unit longitudinally slides once, the measuring target point is horizontally away from the laser range finder.
9. The method of claim 8, wherein obtaining three-dimensional coordinates of the target unit in the positioning section comprises;
based on the longitudinal displacement, the vertical displacement and the lateral displacement of the measurement target in the positioning section, a three-dimensional coordinate (G n Δx+X n 、G n Δ y +Y n 、G n Δz+Z n )；
Wherein X is n 、Y n 、Z n When the measuring unit slides once longitudinally, the position coordinates of the target point on the track are measured.
Priority Applications (1)
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