CN116242349A - Track line shape measurement method and measurement system - Google Patents

Track line shape measurement method and measurement system Download PDF

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Publication number
CN116242349A
CN116242349A CN202310221169.9A CN202310221169A CN116242349A CN 116242349 A CN116242349 A CN 116242349A CN 202310221169 A CN202310221169 A CN 202310221169A CN 116242349 A CN116242349 A CN 116242349A
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China
Prior art keywords
track
line shape
track line
bogie frame
rail
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干锋
罗光兵
李涛
沙承玉
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Chengdu Huarui Zhichuang Rail Transit Technology Co ltd
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Chengdu Huarui Zhichuang Rail Transit Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

The invention relates to a track line shape measuring method and a track line shape measuring system. The scheme provides a non-contact type track line shape recognition method which is high in precision and can realize real-time dynamic detection by utilizing an inertial navigation technology digital and digital laser sensing technology. The inertial navigation technology obtains the running gesture of the vehicle, the digital laser sensing technology obtains the profile of the steel rail and generates a three-dimensional image, the geometric irregularity state change of the rail is analyzed through the space coordinate change relation, the linear recognition of the rail line is realized, and the rail state of the whole line is rapidly mastered.

Description

Track line shape measurement method and measurement system
Technical Field
The invention relates to the technical field of track detection, in particular to a track line shape measuring method and a track line shape measuring system.
Background
Along with the rapid development of the rail transit industry in China, the railway transportation capacity and the use frequency are continuously increased, and the influence of natural environment is added, so that the roadbed is deformed, the geometric dimension of the rail is changed, and the running quality and the running safety of the train are seriously influenced. Therefore, regular profile inspection and maintenance of the rail is very necessary. The track line shape identification is a basis and a precondition of detection, analysis and calculation of the geometric state of the track, and has important significance for guiding maintenance and safety of train operation.
The traditional track line detection method is a static detection method, adopts a manual measurement or special light detection trolley measurement mode, and has large detection error and low efficiency. The dynamic detection mode is the development direction of the line detection technology, and a high-precision track line dynamic measurement method is needed.
Disclosure of Invention
The invention aims to provide a track line shape measuring method and a track line shape measuring system, which can realize line shape identification of a track line and quickly master the rail state of the whole line.
In order to achieve the above purpose, the present invention provides the following technical solutions: a track line shape measuring method comprises the following steps:
acquiring an offset angle of a bogie frame;
obtaining displacement of each sampling point of the bogie frame in a preset direction according to the offset angle;
calculating the displacement of each sampling point of the bogie frame relative to the track;
and obtaining the geometric irregularity state change of the steel rail.
As a preferred scheme, the track line shape measuring method is used for track line shape identification of the track, and comprises the following steps:
step one, acquiring a shaking angle gamma of a bogie frame through an inertial navigation system, wherein the shaking angle gamma is a corner along a z-axis;
step two, obtaining the absolute traversing distance of each sampling point of the bogie frame according to the shaking angle gamma, wherein the absolute traversing distance is as follows:
Δy b ＝sinγ·(dx+y x )；
wherein y is x Measuring the longitudinal distance between the point and the center of the framework for an inertial navigation system, wherein dx is the running speed of the train at each sampling point;
step three, obtaining displacement deltay of each sampling point of the bogie frame relative to the track 0 ：
Figure BDA0004116712140000021
Wherein y is 1 ，y 2 Respectively representing the displacement of each sampling point of the digital laser sensor to the left steel rail and the right steel rail;
fourth, the track irregularity data Δy is obtained as follows:
Δy＝∫(Δy b -Δy 0 )dt；
dt is the derivative of time.
As a preferable scheme, the track line shape measuring method is used for identifying the height line shape of the track and comprises the following steps:
step one, acquiring a pitching angle beta of a bogie frame through an inertial navigation system, wherein the pitching angle beta is the rotation angle of a rail inspection beam along a y axis;
step two, obtaining the vertical displacement deltaz of the bogie frame according to the pitching angle beta b The method comprises the following steps:
Δz b ＝sinβ·(x b +dx)；
wherein x is b The longitudinal distance from the center of the framework to the end of the framework is the speed of train running at each sampling point;
step three, obtaining the vertical displacement deltaz of the bogie frame relative to the track l The method comprises the following steps:
Δz l ＝z l -z 0 ；
wherein z is 0 For static vertical distance from end of frame to gauge measuring point, z l The vertical actual measurement distance from the end part of the framework to the gauge measuring point is set;
step four, obtaining track height irregularity data deltaz as follows:
Δz＝∫(Δz b -Δz l )dt；
dt is the derivative of time.
Preferably, the inertial navigation system is flush with the end face of the bogie frame and is arranged in the center of the left side beam and the right side beam of the bogie frame.
As a preferable scheme, the rail profile is detected, a single section profile of the rail is obtained, and three-dimensional space coordinate inversion is carried out to form a continuous rail three-dimensional profile.
Preferably, a digital laser sensor is used to detect the profile of the rail.
The invention also provides a track line shape measuring system, which comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor realizes the track line shape measuring method according to any scheme when executing the computer program.
Compared with the prior art, the invention has the beneficial effects that: the scheme provides a non-contact type track line shape recognition method which is high in precision and capable of dynamically detecting in real time by utilizing an inertial navigation technology digital and a digital laser sensing technology. The inertial navigation technology obtains the running gesture of the vehicle, the digital laser sensing technology obtains the profile of the steel rail and generates a three-dimensional image, the geometric irregularity state change of the rail is analyzed through the space coordinate change relation, the linear recognition of the rail line is realized, and the rail state of the whole line is rapidly mastered. The measuring method provided by the invention has the technical advantages of high intelligent degree, high detection precision, high efficiency and the like.
Drawings
FIG. 1 is a schematic diagram of a track line measuring device according to the present invention;
FIG. 2 is a schematic view of a frame of the present invention;
FIG. 3 is a schematic view of a rail line shape;
FIG. 4 is a diagram illustrating a detection result of track irregularity in a first embodiment of the present invention;
FIG. 5 is a diagram illustrating a detection result of the irregularity in the second embodiment of the present invention;
FIG. 6 is a schematic diagram of a track line alignment measurement system according to the present invention.
In the figure: 1. a rail inspection beam; 2. a connecting seat; 3. a digital laser sensor; 4. an inertial navigation system; 5. a data acquisition device; 6. a steel rail; 7. a measurement system; 71. a memory; 72. a processor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus 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.
The invention discloses a track line shape measuring method based on a track line measuring device, which can realize the high-precision identification of the track line shape in real time and dynamically and quickly master the rail state of the whole line. Referring to fig. 1 and 2, the track line measuring device includes a track inspection beam 1, a digital laser sensor 3, an inertial navigation system 4, and a data acquisition device 5 connected through the track inspection beam 1. Specifically, the bogie is connected to two ends of the rail inspection beam 1, two ends of the rail inspection beam 1 corresponding to the beam body and the steel rail 6 are respectively connected with the digital laser sensor 3 through the connecting seat 2, the included angle theta between the digital laser sensor 3 and the track plane is set to be 45-60 degrees in consideration of the measurement range and the precision requirement of the digital laser sensor 3, the distance L1 between the laser emission point and the track gauge measuring point of the steel rail 6 is 300-400 mm, the measurement line width L2 is 195-260 mm, and the digital laser sensor 3 is used for detecting the profile of the steel rail 6 and analyzing the inner side distance of the track. The inertial navigation system 4 is arranged at the center position of the left and right side beams of the bogie frame, is flush with the end surface of the bogie frame, is used for measuring the posture of the bogie frame, measures the angle change of the bogie frame in the running process, and is arranged at the center position to prevent the deviation of the measured angle caused by the structural change of the rail inspection beam 1. The data acquisition device 5 is used for acquiring and transmitting data.
The invention provides a track line shape measuring method, which adopts an inertial navigation system 4 to identify the line shape change and curvature characteristics of a track line, and combines the profile detected by a digital laser sensor 3 to carry out three-dimensional space coordinate inversion, namely, firstly, the sampling point coordinates of the same section are arranged to obtain a single section profile of a steel rail 6, and then, the single section profile is converted into the length of the steel rail 6 according to the laser sampling frequency and the vehicle running speed, thereby forming the profile state of the whole track line, and the method specifically comprises the following steps:
measuring the gesture of the bogie frame through an inertial navigation system 4 to obtain the offset angle of the bogie frame in the running process;
step two, obtaining displacement of each sampling point of the bogie frame in a preset direction according to the offset angle;
calculating displacement of each sampling point of the bogie frame relative to the track;
step four, obtaining geometric irregularity state change of the steel rail 6 through calculation;
and fifthly, forming a three-dimensional profile of the continuous steel rail 6 through the profile of the section of the steel rail 6.
The invention also provides a track line linear measuring system 7, the measuring system 7 can comprise one or more of the following components: a memory 71, a processor 72, and one or more computer programs, wherein the one or more computer programs may be stored in the memory 71 and configured to be executed by the one or more processors 72, the one or more computer programs configured to perform the aforementioned track line shape measurement method.
The Memory 71 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (ROM). Memory 71 may be used to store instructions, programs, code sets, or instruction sets. The memory 71 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing various method embodiments described below, and the like. The storage data area may also store data created by the measurement system 7 in use.
Processor 72 may include one or more processing cores. The processor 72 connects the various parts within the overall measurement system 7 using various interfaces and lines, performs various functions of the measurement system 7 and processes data by executing or executing instructions, programs, code sets or instruction sets stored in the memory 71, and invoking data stored in the memory 71. Alternatively, the processor 72 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 72 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU) and a modem etc. Wherein, the CPU mainly processes an operating system, application programs and the like; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 72 and may be implemented solely by a single communication chip.
The present invention will be further described in detail with reference to the following examples, which are also to be understood as being merely illustrative of the present invention and not limiting the scope of the present invention, since numerous insubstantial modifications and adaptations thereof will now occur to those skilled in the art in light of the foregoing disclosure.
Example 1
The track line shape measuring method provided by the embodiment is used for track line shape identification, and the track line shape generally refers to the fact that the track gauge point on the inner side of the track head along the length direction is uneven along the transverse direction of the track, and the track line shape measuring method is caused by the reasons of track laying construction, track finishing operation, track panel transverse residual strain accumulation, track side abrasion non-uniformity, fastener failure, track transverse elasticity non-uniformity and the like.
The measuring method comprises the following steps:
step one, acquiring a shaking angle gamma of a bogie frame through an inertial navigation system 4, wherein the shaking angle gamma is a corner along a z-axis;
step two, obtaining the absolute traversing distance of each sampling point of the bogie frame according to the shaking angle gamma, wherein the absolute traversing distance is as follows:
Δy b ＝sinγ·(dx+y x )
in the formula, see FIG. 2, y x Measuring the longitudinal distance between the point and the center of the framework for the inertial navigation system 4, wherein dx is the running speed of the train at each sampling point;
step three, obtaining displacement deltay of each sampling point of the bogie frame relative to the track 0 The method comprises the following steps:
Figure BDA0004116712140000061
wherein y is 1 ，y 2 Respectively representing the displacement of the digital laser sensor 3 to the left and right steel rails 6 at each sampling point;
fourth, track irregularity data Δy is obtained, see fig. 3 and 4:
Δy＝∫(Δy b -Δy 0 )dt，
where dt is the derivative of time.
Example two
The track line shape measuring method provided by the embodiment is used for identifying the height line shape of the track, and the height line shape is mainly caused by high and low deviation, bridge deflection deformation, track bed and roadbed residual deformation and the like caused by line construction. The track height irregularity is calculated mainly by using the change relation between the pitch angle of the gyroscope and the construction displacement of the inertial navigation system 4.
The measuring method comprises the following steps:
step one, acquiring a pitching angle beta of a bogie frame through an inertial navigation system 4, wherein the pitching angle beta is the rotation angle of the rail inspection beam 1 along a y axis;
step two, obtaining the vertical displacement deltaz of the bogie frame according to the pitching angle beta b (namely, the vertical displacement of the rail inspection beam 1 along the z axis) is as follows:
Δz b ＝sinβ·(x b +dx)
in the formula, see FIG. 2, x b The longitudinal distance from the center of the framework to the end of the framework is the speed of train running at each sampling point;
step three, obtaining the vertical displacement deltaz of the bogie frame relative to the track l The method comprises the following steps:
Δz l ＝z l -z 0
wherein z is 0 For static vertical distance from end of frame to gauge measuring point, z l The vertical actual measurement distance from the end part of the framework to the gauge measuring point is set;
step four, obtaining track height irregularity data deltaz as follows:
Δz＝∫(Δz b -Δz l ) dt, where dt is the derivative of time, see in particular fig. 5.
The invention provides a non-contact type track line shape recognition method which is high in precision and can be dynamically detected in real time by utilizing an inertial navigation technology digital and a digital laser sensing technology. The inertial navigation technology obtains the running gesture of the vehicle, the digital laser sensing technology obtains the profile of the steel rail 6 and generates a three-dimensional image, the geometric irregularity state change of the rail is analyzed through the space coordinate change relation, the linear recognition of the rail line is realized, and the state of the steel rail 6 of the whole line is rapidly mastered. The measuring method provided by the invention has the technical advantages of high intelligent degree, high detection precision, high efficiency and the like.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. The track line shape measuring method is characterized by comprising the following steps of:
acquiring an offset angle of a bogie frame;
obtaining displacement of each sampling point of the bogie frame in a preset direction according to the offset angle;
calculating the displacement of each sampling point of the bogie frame relative to the track;
and obtaining the geometric irregularity state change of the steel rail.
2. The track line shape measurement method according to claim 1, wherein the track line shape measurement method is used for track line shape recognition of a track.
3. The track line shape measuring method according to claim 2, comprising the steps of:
step one, acquiring a swinging angle gamma of a bogie frame;
step two, obtaining the absolute traversing distance delta y of each sampling point of the bogie frame according to the shaking angle gamma b The method comprises the following steps:
Δy b ＝sinγ·(dx+y x )；
wherein y is x For the longitudinal distance between the measuring point of the measuring equipment and the center of the framework, dx is the running speed of the train at each sampling point;
step three, obtaining the displacement delta y of the framework relative to the track at each sampling point 0 The method comprises the following steps:
Figure FDA0004116712130000011
wherein y is 1 ，y 2 Respectively representing the displacement of each sampling point to the left steel rail and the right steel rail;
fourth, the track irregularity data Δy is obtained as follows:
Δy＝∫(Δy b -Δy 0 )dt；
where dt is the derivative of time.
4. The track line shape measuring method according to claim 1, wherein the track line shape measuring method is used for identifying the height line shape of the track.
5. The track line shape measuring method according to claim 4, comprising the steps of:
step one, acquiring a pitching angle beta of a bogie frame;
step two, obtaining the vertical displacement deltaz of the bogie frame according to the pitching angle beta b The method comprises the following steps:
Δz b ＝sinβ·(x b +dx)；
wherein x is b The longitudinal distance from the center of the framework to the end of the framework is the speed of train running at each sampling point;
step three, obtaining the vertical displacement deltaz of the bogie frame relative to the track l The method comprises the following steps:
Δz l ＝z l -z 0 ；
wherein z is 0 For static vertical distance from end of frame to gauge measuring point, z l The vertical actual measurement distance from the end part of the framework to the gauge measuring point is set;
step four, obtaining the height irregularity data deltaz as follows:
Δz＝∫(Δz b -Δz l )dt；
where dt is the derivative of time.
6. The track line linearity measurement method of claim 1, wherein an inertial navigation system is used to measure the angle of deflection of the bogie frame.
7. The track line alignment measurement method according to claim 6, wherein the inertial navigation system is disposed at the center of the left and right side members of the bogie frame while being flush with the end surface of the bogie frame.
8. The track line shape measuring method according to claim 1, further comprising the steps of: and detecting the profile of the steel rail, and carrying out three-dimensional space coordinate inversion by combining the detected profile to form the three-dimensional profile of the continuous steel rail.
9. The method for measuring the alignment of a rail line according to claim 8, wherein the profile of the rail is detected using a digital laser sensor.
10. A track line shape measurement system comprising a memory and a processor, the memory storing a computer program executable by the processor, the processor implementing the track line shape measurement method of any one of claims 1-9 when the computer program is executed.
CN202310221169.9A 2023-03-09 2023-03-09 Track line shape measurement method and measurement system Pending CN116242349A (en)

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