CN116446227B

CN116446227B - String measurement equipment, track line restoration method, device, equipment and system

Info

Publication number: CN116446227B
Application number: CN202310720840.4A
Authority: CN
Inventors: 代杰; 李小喜; 王新磊; 杨浩; 李刚; 朱鸿野; 马占川
Original assignee: CRCC High Tech Equipment Corp Ltd
Current assignee: CRCC High Tech Equipment Corp Ltd
Priority date: 2023-06-19
Filing date: 2023-06-19
Publication date: 2023-08-25
Anticipated expiration: 2043-06-19
Also published as: CN116446227A

Abstract

The application discloses a chord measurement device, a track line restoration method, a device, equipment and a system, wherein the chord measurement device at least comprises a first measurement part, a second measurement part, a third measurement part and a fourth measurement part which are sequentially arranged; the linear distance between the first measuring part and the second measuring part is equal to the linear distance between the third measuring part and the fourth measuring part and is equal to the set symmetrical chord length; the linear distance between the first measuring part and the fourth measuring part is equal to the set total chord length; the first offset detector is used for detecting a first offset distance of the second measuring part from a straight line where the first measuring part and the fourth measuring part are located; the second offset detector is used for detecting a second offset distance of the third measuring part from a straight line where the first measuring part and the fourth measuring part are located. The string testing equipment disclosed by the application is beneficial to simplifying the difficulty of the operation process for determining the coordinate values of each detection point on the basis of ensuring the accuracy of the operation result, improves the operation efficiency and is beneficial to the efficient operation of the tamping car.

Description

String measurement equipment, track line restoration method, device, equipment and system

Technical Field

The invention relates to the technical field of railway track maintenance, in particular to a chord measurement device, a track line restoration method, a track line restoration device and a track line restoration system.

Background

In railway construction and operation and maintenance operations, track lifting and track shifting actions are needed to be carried out on railway tracks by using a tamping car, so that the railway tracks are corrected. The correction principle in the correction operation system of the tamping car is to perform correction operation based on the positions of the front and rear measuring trolleys of the deflection measuring system as reference points, and the front trolley is positioned on an un-corrected curve in the operation process, so that large residual deviation exists in line correction, and the operation precision of the tamping car is affected.

The self-measuring system of the tamping car is a deflection measuring system, and has inherent defects, so that the deflection correction value of the line cannot be accurately obtained through the self-measuring system. In order to improve the working accuracy of the tamping car, the line is measured in advance by means of the accurate measurement trolley before the working in large quantities in China, deviation data of the line are obtained, and then the deviation data of the line are introduced into a tamping car guiding working system to conduct working compensation, so that the working accuracy of the line is improved. At present, the precise measurement trolley is used for measuring the track line in various ways, but the measurement operation process is often complex, the cost is high, and the efficient operation of the tamping trolley is not facilitated.

Disclosure of Invention

The invention aims to provide a string measuring device, a track line reduction method, a track line reduction device and a track line reduction system, which can measure all position points on a track by using the string measuring device so as to reduce the measuring difficulty of the measured track and be beneficial to improving the working efficiency of a tamping car.

In order to solve the technical problems, the invention provides chord measuring equipment which at least comprises a first measuring part, a second measuring part, a third measuring part and a fourth measuring part which are sequentially arranged; wherein a straight line distance between the first measuring portion and the second measuring portion is equal to a straight line distance between the third measuring portion and the fourth measuring portion and is equal to a set symmetric chord length; the linear distance between the first measuring part and the fourth measuring part is equal to the set total chord length;

the device further comprises a first offset detector arranged on the second measuring part and a second offset detector arranged on the third measuring part; the first offset detector is used for detecting a first offset distance of the second measuring part from a straight line where the first measuring part and the fourth measuring part are located; the second offset detector is used for detecting a second offset distance of the third measuring part from a straight line where the first measuring part and the fourth measuring part are located.

An orbital path restoration method, comprising:

acquiring a plurality of groups of detection data detected on a detected track; wherein each set of detection data comprises a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively the distances of 4 detection points of A point, B point, C point and D point which are sequentially arranged on the detected track and meet the set condition, wherein the B point and the C point are respectively relative to the straight line where the A point and the D point are located; the setting conditions are thatEqual to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data coincide with the position of the point A and the point B corresponding to the associated detection data on the detected track;

according to the setting conditions, a plurality of groups of detection data and the coincidence of the C point and the D point corresponding to each group of detection data and the positions of the A point and the B point corresponding to the associated detection data on the detected track, determining coordinate values of the detection points corresponding to each group of detection data in the same coordinate system;

fitting the distribution curve of the detected track according to the coordinate values of the detection points to obtain a line curve representing the detected track.

Optionally, determining coordinate values of the detection points corresponding to each set of the detection data in the same coordinate system according to the setting conditions and the multiple sets of the detection data includes:

respectively taking the point A corresponding to each group of detection data as a coordinate origin, and establishing a coordinate system by taking the straight line where the point A and the point B are located as coordinate axes;

according to the first offset distance and the second offset distance of each group of detection data, combining the set conditions, and determining coordinate values of the C point and the D point in the coordinate system in each group of detection data;

according to the coincidence of the C point and the D point corresponding to each group of detection data and the positions of the A point and the B point corresponding to the associated detection data on the detected track, determining the coordinate conversion relation between coordinate systems corresponding to the detection data of each group;

and carrying out coordinate transformation on coordinate values of 4 detection points corresponding to each group of detection data in the corresponding coordinate system according to the coordinate transformation relation among the coordinate systems corresponding to each group of detection data, and determining the coordinate values of all the detection points in the same coordinate system.

Optionally, the coordinate system is established by taking the point a corresponding to each group of the detection data as the origin of coordinates and taking the straight line where the point a and the point B are located as the coordinate axis, which comprises:

Taking the point A corresponding to each group of detection data as a coordinate origin, and establishing a rectangular coordinate system by taking the straight line where the point A and the point B are located as an X axis;

according to the first offset distance and the second offset distance of each group of detection data, and combining the set conditions, determining coordinate values of the C point and the D point in the coordinate system in each group of detection data comprises the following steps:

according to the first offset distance in each group of the detection data and the satisfaction of the point A and the point BThe coordinate value of the point B in the detection point in a corresponding rectangular coordinate system is determined equal to the set symmetrical chord length;

establishing an auxiliary rectangular coordinate system by taking the point A in each group of detection data as a coordinate origin and taking the straight line where the point A and the point D are located as an X' axis;

according to the second offset distance in each group of the detection data,Equal to the sum of the set total chord length +.>The coordinate value of the C point in the corresponding auxiliary rectangular coordinate system is determined equal to the set symmetrical chord length;

and carrying out coordinate conversion on the auxiliary coordinate value of the C point according to the conversion relation between the auxiliary rectangular coordinate system and the rectangular coordinate system, and obtaining the coordinate value of the C point in the corresponding rectangular coordinate system.

Optionally, after determining the coordinate values of the point a, the point B, the point C, and the point D in the rectangular coordinate system in sequence according to the set condition, the method further includes:

taking a plurality of groups of detection data with a group of associated detection data in each group of detection data as a group of detection data sequences;

repeatedly executing the steps of acquiring a plurality of groups of detection data detected on the detected track to acquire a plurality of groups of detection data sequences; wherein, all detection points corresponding to each group of detection data in each group of detection data sequence at least comprise two detection points which are positioned in a known track section, and the known track section is an end section with known coordinate values of all position points on the detected track in a reference coordinate system;

according to coordinate values of detection points of each group of detection data sequences in the known track section in the corresponding coordinate system and coordinate values in the reference coordinate system, determining a coordinate system conversion relation between the coordinate system corresponding to each group of detection data sequences and the reference coordinate system;

converting coordinate values of all detection points corresponding to each group of detection data sequences in the corresponding coordinate system into coordinate values in the reference coordinate system according to the coordinate system conversion relation;

Correspondingly, fitting the distribution curve of the detected track according to the coordinate values of each detection point to obtain a line curve representing the detected track, wherein the fitting comprises the following steps:

and fitting a distribution curve of the detected track according to coordinate values of all detection points corresponding to each group of detection data sequences in the reference coordinate system to obtain the line curve.

Optionally, after obtaining the line curve characterizing the measured track, the method further includes:

comparing the line curve with a standard line curve, and determining offset parameters of different position points on the measured track relative to the standard curve so as to control the tamping car to adjust the measured track by taking the offset parameters as correction amounts.

An orbital path restoration device comprising:

the acquisition data module is used for acquiring a plurality of groups of detection data detected on the detected track; wherein each set of detection data comprises a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively the distances of 4 detection points of A point, B point, C point and D point which are sequentially arranged on the detected track and meet the set condition, wherein the B point and the C point are respectively relative to the straight line where the A point and the D point are located; the setting conditions are that Equal to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data coincide with the position of the point A and the point B corresponding to the associated detection data on the detected track;

the coordinate operation module is used for determining coordinate values of detection points corresponding to each group of detection data in the same coordinate system according to the set conditions, the plurality of groups of detection data and the coincidence of the C point and the D point corresponding to each group of detection data and the positions of the A point and the B point corresponding to the associated detection data on the detected track;

and the curve fitting module is used for fitting the distribution curve of the detected track according to the coordinate values of each detection point to obtain a line curve representing the detected track.

Optionally, the coordinate operation module specifically includes:

establishing a coordinate unit, wherein the coordinate unit is used for establishing a coordinate system by taking an A point corresponding to each group of detection data as a coordinate origin and taking a straight line where the A point and the B point are located as coordinate axes;

the first operation unit is used for determining coordinate values of the C point and the D point in the coordinate system in each group of detection data according to the first offset distance and the second offset distance of each group of detection data and the set condition;

The second operation unit is used for determining coordinate conversion relations among coordinate systems corresponding to each group of detection data according to the coincidence of the C point and the D point corresponding to each group of detection data and the positions of the A point and the B point corresponding to the association detection data on the detected track;

and the third operation unit is used for carrying out coordinate conversion according to the coordinate conversion relation among the coordinate systems corresponding to the detection data of each group and the coordinate values of the 4 detection points corresponding to the detection data of each group in the corresponding coordinate system, and determining the coordinate values of all the detection points in the same coordinate system.

An orbital path restoration device comprising:

a memory for storing a computer program;

a processor for implementing the steps of the track line restoration method as defined in any one of the above when executing the computer program.

An orbital route restoration system comprising: the chord measuring device is used for sequentially arranging the first measuring part, the second measuring part, the third measuring part and the fourth measuring part on a measured track, and detecting a first offset distance of the second measuring part, which deviates from a straight line where the first measuring part and the fourth measuring part are located, through the first offset detector when the chord measuring device moves to different positions on the measured track, and detecting a second offset distance of the third measuring part, which deviates from the straight line where the first measuring part and the fourth measuring part are located;

The track line restoration method further comprises the step of using the first offset distance and the second offset distance measured by the chord measuring device at each position on the measured track as a set of detection data and executing the track line restoration method according to any one of the above steps according to a plurality of sets of detection data.

The chord measuring device provided by the application has the advantages that the linear distance between the first measuring part and the second measuring part in the chord measuring device is equal to the linear distance between the third measuring part and the fourth measuring part; the linear distance between the first measuring part and the fourth measuring part is equal to the set total chord length; therefore, when the first measuring part, the second measuring part, the third measuring part and the fourth measuring part are sequentially arranged on the measured track and the first offset distance and the second offset distance are measured, the position points of the third measuring part and the fourth measuring part corresponding to one group of the first offset distance and the second offset distance are respectively overlapped with the position points of the first measuring part and the second measuring part corresponding to the other group of the first offset distance and the second offset distance; accordingly, in the process of calculating the coordinate values of each position point on the track to be measured by using the first offset distance and the second offset distance to sequentially pass through the first measuring part, the second measuring part, the third measuring part and the fourth measuring part, the characteristics can be used for simply and quickly determining the relative position relation among all the position points, so that the curve fitting and restoring difficulty of the track to be measured is simplified, the calculation efficiency is improved, and the high-efficiency operation of the tamping car is facilitated.

In the track line restoration method provided by the application, a plurality of groups of detection data are obtained, wherein each group of detection data comprises a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively points A, B, C and D which are sequentially arranged on the tested track and meet the set conditionThe distance between the point B and the point C in the 4 detection points relative to the straight line where the point A and the point D are respectively; the set conditions areEqual to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data are coincident with the position of the point A and the point B corresponding to the associated detection data on the detected track. In the process of determining the track line, the coordinate values of 4 detection points which are sequentially arranged on the detected track and correspond to each group of detection data can be determined by utilizing the characteristic that the point C and the point D which correspond to each group of detection data are coincident with the position of the point A and the position of the point B which correspond to the associated detection data on the detected track, so that the fitting of the track line curve to be detected is realized, the measurement difficulty is reduced on the basis of ensuring the measurement precision of the track line to be detected, and the efficient operation of the tamping car is facilitated.

The application also provides a track line restoration device, equipment and a system, which have the beneficial effects.

Drawings

For a clearer description of embodiments of the application or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a distribution structure of a chord measurement device according to an embodiment of the present application;

FIG. 2 is another schematic diagram of a distribution structure of a chord measurement device according to an embodiment of the present application;

FIG. 3 is a schematic diagram of distribution of multiple groups of detection points on a track to be detected according to an embodiment of the present application;

fig. 4 is a schematic flow chart of a track line restoration method according to an embodiment of the present application;

FIG. 5 is a schematic diagram showing the satisfied geometrical relationship between a set of detection points according to an embodiment of the present application;

FIG. 6 is another schematic distribution diagram of multiple groups of detection points on a track to be detected according to an embodiment of the present application;

fig. 7 is a block diagram of a track line restoration device according to an embodiment of the present application.

Detailed Description

In order to realize the correction operation of the track, a deflection measuring system is often configured on the tamping car, taking a three-point chord measurement method as an example, three measuring trolleys are required to be arranged on the tamping car, so that the three measuring trolleys are respectively positioned at different positions on the track, a connecting line between the front measuring trolley and the rear measuring trolley is used as a reference chord, and the correction quantity of the position of the middle measuring trolley is determined according to the offset of the measuring trolley at the middle position (operation position) relative to the reference line. Because the string measuring method is a relative measuring method, the measuring system cannot predict the position deviation of the front-end line, when the three-point string measuring method of the tamping car is simply used for operation, residual deviation can be introduced in the operation process due to the deviation of the position of the front-end trolley, so that the operation precision of the tamping car is reduced.

However, there are other ways of measuring the displacement of the track, and complex calculations are often required to determine the correction amount of the tamping car, which is disadvantageous for efficient operation of the tamping car.

Therefore, the application provides a track line restoration technical scheme which can simplify the measurement operation process on the basis of ensuring the measurement accuracy.

In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

As shown in fig. 1 and fig. 2, fig. 1 is a schematic diagram of a distribution structure of a chord measurement device according to an embodiment of the present application; fig. 2 is another schematic diagram of a distribution structure of a chord measurement device according to an embodiment of the present application. Fig. 1 is a schematic diagram of a top view of an angle of a measured rail 10, which is used for measuring deviation of a rail line in a horizontal plane dimension, namely, detecting a normal vector of a steel rail; fig. 2 is a schematic diagram of the measured rail 10 from a side view, and is used for detecting the deviation of the rail line in the vertical plane dimension in the vertical curve plane, namely the leveling detection of the steel rail.

In a specific embodiment of the present application, the chord measuring device may include at least four measuring parts of a first measuring part 11, a second measuring part 12, a third measuring part 13 and a fourth measuring part 14, which are sequentially arranged; wherein the linear distance between the first measuring part 11 and the second measuring part 12 is equal to the linear distance between the third measuring part 13 and the fourth measuring part 14 is equal to the set symmetrical chord length; the linear distance between the first measuring section 11 and the fourth measuring section 14 is equal to the set total chord length;

Further comprising a first offset detector 21 provided on the second measuring section 12 and a second offset detector 22 provided on the third measuring section 13; wherein the first offset detector 21 is configured to detect a first offset distance of the second measurement portion 12 from a line where the first measurement portion 11 and the fourth measurement portion 14 are located; the second offset detector 22 is used for detecting a second offset distance of the third measuring section 13 from a straight line where the first measuring section and the fourth measuring section 14 are located.

Referring to fig. 1 and 2, the chord measuring device in the present embodiment may include at least four measuring parts, and may further include a plurality of measuring parts in practical application. Taking four measuring parts as an example, in the process of measuring the measured track 10, the first measuring part 11, the second measuring part 12, the third measuring part 13 and the fourth measuring part 14 are sequentially arranged on the measured track 10, so that four position points of the 4 measuring parts respectively distributed on the measured track 10 are four detection points.

On the basis of this, the offset distance of the second measuring section 12 with respect to the straight line where the first measuring section 11 and the fourth measuring section 14 are located is measured as the first offset distance by the first offset detector 21; the offset distance of the third measuring section 13 with respect to the straight line of the first measuring section 11 and the fourth measuring section 14 is detected as the second offset distance by the second offset detector measurement 22.

Since the linear distance between the first measuring part 11 and the second measuring part 12 is equal to the linear distance between the third measuring part 13 and the fourth measuring part 14. Referring to fig. 3, it is assumed that the first measuring unit 11, the second measuring unit 12, the third measuring unit 13, and the fourth measuring unit 14 are sequentially disposed at the four detection point positions A0, B0, C0, and D0, and a set of detection data, that is, the first offset distance and the second offset distance, is measured. As the first measuring section 11, the second measuring section 12, the third measuring section 13, and the fourth measuring section 14 move along the track 10 to be measured in synchronization, if the first measuring section 11 moves to the detection point C0, the second measuring section 12 also necessarily moves to the detection point D0; if the first measuring unit 11, the second measuring unit 12, the third measuring unit 13, and the fourth measuring unit 14 are sequentially disposed at the four detection point positions A1, B1, C1, and D1, there is necessarily a coincidence between A1 and C0, a coincidence between B1 and D0, and a set of the first offset distance and the second offset distance can be measured at this time.

In the process of performing the restoration fitting on the curve of the line of the measured track 10, the 4 measuring parts corresponding to each group of detection data can be utilized to meet the setting condition that the linear distance between the first measuring part 11 and the second measuring part 12 is equal to the set symmetrical chord length, and the linear distance between the first measuring part 11 and the fourth measuring part 14 is equal to the set total chord length; and determining the relative position relation among 4 detection points corresponding to each group of detection data.

In addition, the relative positional relationship between the 4 detection points A0, B0, C0, and D0 and the 4 detection points A1, B1, C1, and D1 may be determined by using the association relationship in which the detection points A1 and B1 overlap with the detection points C0 and D0 when the first measurement unit 11, the second measurement unit 12, the third measurement unit 13, and the fourth measurement unit 14 are sequentially positioned at the detection points A0, B0, C0, and D0 and are sequentially positioned at the detection points A1, B1, C1, and D1.

The detection data corresponding to the detection points A1, B1, C1 and D1 are used as the associated detection data of the detection data corresponding to the detection points A0, B0, C0 and D0. As the first measuring part 11, the second measuring part 12, the third measuring part 13, and the fourth measuring part 14 move on the track 10 to be measured, a set of detection data is obtained every time the first measuring part 11, the second measuring part 12, the third measuring part 13, and the fourth measuring part 14 reach one position, and the relative positional relationship between the 4 detection points corresponding to each set of detection data can be determined using the set total chord length and the set symmetrical chord length.

And for each group of detection data, the corresponding association detection data can be used for enabling the tail end two detection points corresponding to the group of detection data and the head end two detection points in the association detection points to coincide, and determining the relative position relationship among the detection points corresponding to each group of detection data which are sequentially associated based on the coincidence relationship, so that the relative position relationship among a series of detection points on the detected track can be obtained, and the distribution curve of the track line can be determined.

The total chord length and the symmetrical chord length may be set according to actual needs.

Furthermore, in practical applications, the chord measuring device does not necessarily have only four measuring sections. For example, 5 measuring units such as a first measuring unit, a second measuring unit, a third measuring unit, a fourth measuring unit, and a fifth measuring unit may be included such that a linear distance between the first measuring unit and the second measuring unit is equal to a linear distance between the fourth measuring unit and the fifth measuring unit and is equal to a set chord length; the linear distance between the first measuring part and the third measuring part is equal to the first set chord length, the linear distance between the third measuring part and the fifth measuring part is equal to the second set chord length, and the linear distance between the first measuring part and the fifth measuring part is equal to the set total chord length; correspondingly, the second measuring part, the third measuring part and the fourth measuring part are respectively provided with an offset detector for detecting a first offset distance, a second offset distance and a third offset distance of the second measuring part, the third measuring part and the fourth measuring part relative to a straight line where the first measuring part and the fifth measuring part are respectively positioned.

The chord measuring device may further include 6 measuring parts, a linear distance between the first measuring part and the second measuring part being equal to a linear distance between the fourth measuring part and the fifth measuring part, a linear distance between the second measuring part and the third measuring part being equal to a linear distance between the fifth measuring part and the sixth measuring part, and so on; by analogy, the chord measuring device can also comprise other numbers of measuring parts, and the description of the chord measuring device is not included in the application.

In summary, in the chord measuring device provided by the application, the linear distance between the first measuring part and the second measuring part is equal to the linear distance between the third measuring part and the fourth measuring part; the linear distance between the first measuring part and the fourth measuring part is equal to the set total chord length; therefore, when the first measuring part, the second measuring part, the third measuring part and the fourth measuring part are sequentially arranged on the measured track and the first offset distance and the second offset distance are measured, the position points of the third measuring part and the fourth measuring part corresponding to one group of the first offset distance and the second offset distance are respectively overlapped with the position points of the first measuring part and the second measuring part corresponding to the other group of the first offset distance and the second offset distance; by utilizing the coincidence relation, the set total chord length and the set symmetrical chord length, the relative position relation among a plurality of position points of the first measuring part, the second measuring part, the third measuring part and the fourth measuring part moving on the measured track can be simply and rapidly determined, so that the line curve fitting and restoring difficulty of the measured track is simplified, the operation efficiency is improved, and the efficient operation of the tamping car is facilitated.

The application also provides an embodiment of the track line restoration method. Referring to fig. 4 and fig. 5, fig. 4 is a schematic flow chart of a track line restoration method according to an embodiment of the present application, and fig. 5 is a schematic diagram of a geometrical relationship satisfied between a set of detection points according to an embodiment of the present application.

In a specific embodiment of the present application, the track line restoration method may include:

s11: multiple sets of detection data detected on the detected track are acquired. Wherein each group of detection data comprises a first offset distance anda second offset distance; the first offset distance and the second offset distance are respectively the distances of the point B and the point C relative to the straight line where the point A and the point D are located in 4 detection points which are sequentially arranged on the detected track and meet the set condition; the set conditions areEqual to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data are coincident with the position of the point A and the point B corresponding to the associated detection data on the detected track.

In the actual measurement process, the chord measurement device can be utilized to move along the measured track, and a group of detection data can be measured every time a distance (smaller than the linear distance between the first measurement part and the second measurement part) is moved. On the basis, a plurality of groups of detection data with associated detection data are screened out from the detected detection data. It can be understood that, in the screened multiple sets of detection data, a corresponding set of associated detection data should exist in each set of detection data, and of course, each set of detection data is also associated detection data corresponding to other sets of detection data, that is, the point a and the point B corresponding to each set of detection data are respectively overlapped with the point C and the point D corresponding to the associated detection data; meanwhile, each group of detection data is used as the associated detection data of other groups of detection data, and the corresponding points C and D are overlapped with the corresponding points A and B of the other groups of detection data; and at most only one group of detection data in the screened multiple groups of detection data can be used as the associated detection data of other groups of detection data, the corresponding associated detection data does not exist, and at most one group of detection data exists corresponding associated detection data and does not serve as the associated detection data of other detection data.

For ease of understanding, the embodiment shown in fig. 3 is taken as an example, and the curve in fig. 3 can be regarded as the track curve where the measured track is located. Along with the movement of the four measuring parts along the measured track, detection points corresponding to multiple groups of detection data can be determined in sequence. In fig. 3, three sets of detection points corresponding to three sets of detection data associated in sequence are shown, for convenience of understanding, four detection points corresponding to the first set of detection data are respectively represented by a point A0, a point B0, a point C0, and a point D0, four detection points corresponding to the second set of detection data are represented by a point A1, a point B1, a point C1, and a point D1, and four detection points corresponding to the third set of detection data are represented by a point A2, a point B2, a point C2, and a point D2. The second group of detection data is the associated detection data of the first group of detection data, and the third group of detection data is the associated detection data of the second group of detection data; thus, the points C0 and D0 overlap with the points A1 and B1, respectively, and the points C1 and D1 overlap with the points A2 and B2, respectively. And by analogy, a series of detection points formed by the detection points corresponding to the plurality of groups of detection data can be obtained, and each group of detection data (namely a first offset distance and a second offset distance).

For the sake of understanding, it should be further explained that the relationship between the sets of detection data in the present application is a unidirectional relationship rather than a bidirectional relationship, that is, the associated detection data corresponding to the first set of detection data is the second set of detection data, but the first set of detection data is not the associated detection data of the second set of detection data; similarly, for the second group of detection data, the corresponding associated detection data is the third group of detection data, but the second group of detection data is not the third group of detection data, and so on, each group of detection data only has one group of associated detection data, and also only has the associated detection data of one group of detection data in other groups of detection data.

In order to determine the associated detection data corresponding to each set of detection data, the first measurement portion, the second measurement portion, the third measurement portion, and the fourth measurement portion may be used to determine kilometer data that moves along the detected track, where when the number of kilometers of the location point where the first measurement portion corresponding to the first set of detection data is the same as the number of kilometers of the location point where the third detection portion corresponding to the second set of detection data is located, the second set of detection data may be determined to be the associated detection data of the first set of detection data.

For example, the distance between B0 and C0 may be determined according to the setting conditions satisfied between A0, B0, C0, and D0, and then the mileage at point C0 may be determined according to the mileage at point A0; and then, a group of detection data with the same mileage of the first detection point corresponding to other groups of detection data and kilometers of the C0 point is used as the associated detection data of the detection data corresponding to A0, B0, C0 and D0, and the associated detection data corresponding to the groups of detection data can be determined in a similar manner.

Of course, the present application does not exclude that each measuring unit of the chord measuring device is provided with a kilometer number (distance) capable of independently measuring the movement of each measuring unit on the measured track, and then corresponding associated detection data is searched and determined according to the kilometer number of each detection point corresponding to each group of detection data, which is not particularly limited in the present application.

S12: and determining coordinate values of detection points corresponding to each group of detection data in the same coordinate system according to the set conditions, the plurality of groups of detection data and the coincidence of the C point and the D point corresponding to each group of detection data and the positions of the A point and the B point corresponding to the associated detection data on the detected track.

As described above, when the coordinate values of the four detection points corresponding to each set of detection data are actually determined, since the straight line distance between the first two detection points and the straight line distance between the second two detection points of each set of four detection points are equal, two detection points can be respectively overlapped when two adjacent sets of detection points are selected; thus, the coordinate value of each group of detection points can be calculated by utilizing the characteristic.

In one embodiment of the present application, the process of determining the coordinate values of each set of four detection points may include:

s121: respectively taking the point A corresponding to each group of detection data as a coordinate origin, and establishing a coordinate system by taking the straight line where the point A and the point B are located as coordinate axes;

s122: according to the first offset distance and the second offset distance of each group of detection data, combining the set conditions, and determining coordinate values of the C point and the D point in a coordinate system in each group of detection data;

s123: according to the coincidence of the C point and the D point corresponding to each group of detection data and the positions of the A point and the B point corresponding to the associated detection data on the detected track, determining the coordinate conversion relation between coordinate systems corresponding to the groups of detection data;

S124: and carrying out coordinate conversion on coordinate values of the 4 detection points corresponding to each group of detection data in the corresponding coordinate system according to the coordinate conversion relation among the coordinate systems corresponding to each group of detection data, and determining the coordinate values of all the detection points in the same coordinate system.

Referring to fig. 5, the relative positions of 4 detection points corresponding to a set of detection data in the same rectangular coordinate system are shown in fig. 5. In the embodiment shown in fig. 5, four A, B, C, D points are 4 detection points corresponding to a set of detection data, when a point a is taken as an origin of coordinates and a straight line where an AB is located is taken as an X axis to establish a rectangular coordinate system, because a distance between the point a and the point B in each set of detection points is fixed, the coordinate value of the point a is (0, 0); setting up，/>The coordinate value of point B is (L, 0). Setting the first offset distance corresponding to the point B as +.>The method comprises the steps of carrying out a first treatment on the surface of the Based on the satisfied geometric relationship between the triangle ABDs, the method can determine:

and +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the angle between line AD and line AB.

Thereby, the coordinate value of the D point in the rectangular coordinate system can be determined。

In the embodiment that the point a corresponding to each group of detection data is taken as the origin of coordinates, and the straight line where the point a and the point B are located is taken as the X axis to establish a rectangular coordinate system, after determining the coordinate value of the point D in the rectangular coordinate system, in order to simplify the difficulty of determining the coordinate value of the point C in the rectangular coordinate system, the process of determining the coordinate value of the point C may further include:

S1221: an auxiliary rectangular coordinate system is established by taking the point A in the detection point as the origin of coordinates and taking the straight line of the point A and the point D in the detection point as the X' axis;

s1222: according to the second offset distance corresponding to the C point in the detection points, setting conditionsEqual to the sum of the set total chord length +.>The method comprises the steps of setting symmetrical chord length, and determining auxiliary coordinate values of a point C in an auxiliary rectangular coordinate system;

s1223: and carrying out coordinate conversion on the auxiliary coordinate value of the C point according to the conversion relation between the auxiliary rectangular coordinate system and the rectangular coordinate system, and obtaining the coordinate value of the C point in the rectangular coordinate system corresponding to the detection point.

Referring to FIG. 5, in an auxiliary rectangular coordinate system established by taking the point A as the origin of coordinates and taking the line where AD is located as the X' axis, the coordinate value of the point D isThe method comprises the steps of carrying out a first treatment on the surface of the As shown in fig. 5, the auxiliary rectangular coordinate system X 'Y' can be regarded as rotating the rectangular coordinate system XY counterclockwise by an angle +.>The obtained coordinate system; and combining the coordinate values of the point D in the rectangular coordinate system and the auxiliary rectangular coordinate system respectively to determine the conversion relationship between the rectangular coordinate system and the auxiliary rectangular coordinate system.

On the basis, the second offset distance of the point C relative to the chord AD is set asFrom this, it can be determined based on the geometrical relationship satisfied by the triangle ACD in the auxiliary rectangular coordinate system:

And +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the angle between line AD and line CD.

Thereby, the coordinate value of the C point in the auxiliary rectangular coordinate system can be determinedThe method comprises the steps of carrying out a first treatment on the surface of the The coordinate value +.>Converted into coordinate value +.>。

According to the similar manner, coordinate values of four detection points in a rectangular coordinate system established by a straight line where the point A and the point B are located in the 4 detection points corresponding to each group of detection data are taken as the original points. Taking the first group of detection data and the second group of detection data as examples, the point C corresponding to the first group of detection data is overlapped with the point A corresponding to the second group of detection data, and the point B in the first group of detection points is overlapped with the point D in the second group of detection points; therefore, based on the coordinate values of the two detection points in the two rectangular coordinate systems, the coordinate conversion relation between the first group of detection points and the second group of detection points can be determined.

In practical application, the coordinate values of the four detection points corresponding to the first group of detection data can be converted into the rectangular coordinate system where the detection points corresponding to the second group of detection data are located, then the coordinate values of the detection points corresponding to the first group of detection data and the detection points corresponding to the second group of detection data are converted into the rectangular coordinate system where the detection points corresponding to the third group of detection data are located, and so on, finally the coordinate values of the detection points corresponding to each group of detection data are converted into the rectangular coordinate system where the detection points corresponding to the last group of detection data are located, so that the coordinate values of the detection points corresponding to each group of detection data in the same rectangular coordinate system can be realized.

Of course, it can be understood that in practical application, it is also possible to consider that coordinate values of all detection points are converted to a rectangular coordinate system corresponding to the detection point corresponding to the first set of detection data, or to a rectangular coordinate system corresponding to any intermediate set of detection points, which is not particularly limited in the present application.

In addition, after the coordinate value of the point D in the corresponding rectangular coordinate system is determined, it is not necessarily required to establish an auxiliary rectangular coordinate system to determine the coordinate value of the point C, and the geometric relationship satisfied in the triangle ACD may be directly used for solving, for example, the angle between the straight line AC and the straight line AD may be directly solved, or the coordinate value of the point C may be determined.

In addition, when the coordinate values of the detection points in the same rectangular coordinate system are determined, the point A of the detection points in the first group can be directly taken as an origin, the straight line AB is taken as an X axis, the coordinate values of the point A, the point B, the point C and the point D in the first group of detection points in the rectangular coordinate system are determined, the coordinate values of the point C and the point D are taken as the coordinate values of the point A and the point B in the next group of detection points, the coordinate values of the point C and the point D in the group of detection points in the rectangular coordinate system which is established by taking the point A of the first group of detection points as a coordinate origin are determined, and the coordinate values of the detection points in the same rectangular coordinate system can be determined by analogy.

The above embodiments are described taking the created coordinate system as a rectangular coordinate system as an example. However, in practical applications, the coordinate system created by using the point a as the origin of coordinates is not necessarily a rectangular coordinate system, a polar coordinate system or other similar coordinate systems may be adopted, and the coordinates of each detection point in the same coordinate system may also be determined by using the similar principle.

In addition, as described above, the curves of the measured track in the top view angle are shown in fig. 3 and 5, and accordingly, the coordinate values of the respective determined detection points mainly represent the left-right offset condition of the measured track in the horizontal plane, but it is obvious that in practical application, the measured track may have not only the left-right offset in the horizontal direction but also the undulation offset in the up-down direction. In the above embodiment, only two-dimensional coordinates are used for illustration, and in practical application, if the offset of each detection point on the detected track in the horizontal direction and the vertical direction needs to be determined at the same time, only the two-dimensional coordinate system is required to be converted into a three-dimensional coordinate system, and the process of determining the coordinate values of each group of detection points can be similar to the process described above, so that the application will not be repeated.

S13: fitting the distribution curve of the detected track according to the coordinate values of each detection point to obtain a line curve representing the detected track.

Because each group of detection points are distributed on the detected track, the curve of each detection point can represent the curve of the detected track. When the coordinate values of the detection points in the same rectangular coordinate system are known, the curve of the detection points, namely the curve of the detected track, can be fitted and determined, and the curve of the detected track also represents the characteristic of the irregularity of the detected track.

In summary, in the present application, a plurality of sets of detection data are obtained, where each set of detection data includes a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively the distances of the point B and the point C relative to the straight line where the point A and the point D are located in 4 detection points which are sequentially arranged on the detected track and meet the set condition; the set conditions areEqual to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data are coincident with the position of the point A and the point B corresponding to the associated detection data on the detected track. In the process of determining the track line, the coordinate values of 4 detection points which are sequentially arranged on the detected track and correspond to each group of detection data can be determined by utilizing the characteristic that the point C and the point D which correspond to each group of detection data are coincident with the position of the point A and the position of the point B which correspond to the associated detection data on the detected track, so that the fitting of the track line curve to be detected is realized, the measurement difficulty is reduced on the basis of ensuring the measurement precision of the track line to be detected, and the efficient operation of the tamping car is facilitated.

Based on any of the above embodiments, in another optional embodiment of the present application, after determining coordinate values of each set of 4 detection points in the same rectangular coordinate system, the method may further include:

repeatedly executing the steps of acquiring a plurality of groups of detection data detected on the detected track to acquire a plurality of groups of detection data sequences; wherein, at least two detection points are positioned in a known track section, and the known track section is an end section with known coordinate values of all position points in a reference coordinate system on a detected track;

according to coordinate values of detection points of each group of detection data sequences in a known track section in a corresponding coordinate system and coordinate values of the detection points of each group of detection data sequences in a reference coordinate system, determining a coordinate system conversion relation between the coordinate system corresponding to each group of detection data sequences and the reference coordinate system;

converting coordinate values of all detection points corresponding to each group of detection data sequences in a corresponding coordinate system into coordinate values in a reference coordinate system according to the coordinate system conversion relation;

and fitting the distribution curve of the detected track according to the coordinate values of all detection points corresponding to each group of detection data sequences in the reference coordinate system to obtain a line curve.

As described above, in the process of moving the plurality of measuring units on the track to be measured by using the chord measuring device, the position where each measuring unit stays on the track to be measured is the position of a set of detection points, so it can be seen that the plurality of sets of detection points can be regarded as detection points corresponding to a series of detection data sequences distributed on the track to be measured in sequence, and the start point of the detection data sequence is the point a in the first set of detection points in the plurality of sets of detection points.

However, considering that the relative sparsity among all detection points in only one group of detection data sequences is unfavorable for the accurate fitting of the curve where the detected track is located; for this purpose, the application further contemplates that selected measurements of multiple sets of detection data sequences are performed on the track under test.

As shown in fig. 6, in the embodiment shown in fig. 6, the square points along the detected track are the detection points corresponding to the detection data sequences, the circular points are the detection points corresponding to the detection data sequences of the second group, and the triangular points are the detection points corresponding to the detection data sequences of the third group.

Firstly, a known track section can be determined by measuring a measured track, as shown in fig. 6, the track section between the point a11 and the point D31 shown in fig. 6 can be the known track section, a reference coordinate system can be established for this purpose, and coordinate values of all the position points on the known track section in the reference coordinate system can be obtained by measuring, specifically, a coordinate curve relation satisfied by the known track section in the reference coordinate system can be determined.

Secondly, as described above, for the same set of detection data sequences, the coordinate values of the detection points of each set of detection data sequences in the same coordinate system may be determined in the same manner as in the above embodiment; to achieve coordinate conversion; the detection data sequences of each group at least comprise two detection points which are positioned in the known track section, so that the coordinate values of the detection points of each group in the reference rectangular coordinate system are known, and the coordinate values of the detection points in the coordinate system corresponding to the detection data sequences of each group are known, and therefore the coordinate conversion relation between the coordinate system corresponding to the detection data sequences of each group and the reference coordinate system can be determined by utilizing the coordinate values of the detection points in two different coordinate systems.

In order to ensure that at least two detection points are included in a known track segment among all detection points corresponding to each group of detection data sequences, the known track segment may be set to satisfy a factor of two or more, taking an example in which the known track segment is located at an end section of the detected track segmentAnd is greater than->. The start detection points corresponding to each group of detection data series are all positioned at the beginning of the end points of the known track section (also the end points of the detected track section)>Within the range of the segment, it is thereby ensured that even the distance between the start detection point and the end point of the known track segment is equal to +.>It is also possible to ensure that two detection points in the series of detection data corresponding to the initial detection point are located within the known track segment.

After the coordinate conversion relation between the rectangular coordinate system corresponding to each group of detection data sequences and the reference rectangular coordinate system is determined, obviously, coordinate values of detection points corresponding to each group of detection data sequences in the corresponding rectangular coordinate system can be converted into the same coordinate system of the reference rectangular coordinate system, so that curve fitting can be jointly performed based on all detection points in each group of detection data sequences when curve fitting is performed on a detected track.

It can be understood that the initial detection points corresponding to the detection data sequences of each group are sequentially arranged along the detected track with a certain step length, so that the detection points corresponding to the detection data sequences of each group are alternately distributed on the detected track at a certain interval, and the detection points between the detection data sequences of each group are densely distributed; in the process of fitting the curve of the detected track, the detection data sequences of the groups with dense distribution can be jointly fitted to determine a more accurate curve.

As described above, the measurement of the curve of the track surface in the present application is to determine the offset between each position point on the measured track, and then the track is corrected by using the tamping machine based on the offset. To this end, in an alternative embodiment of the present application, after obtaining the track curve characterizing the irregularity of the measured track, further comprising:

and comparing the track curve with the standard track curve, and determining offset parameters of different position points on the measured track relative to the standard curve so as to control the tamping car to adjust the measured track by taking the offset parameters as correction amounts.

In the process of correcting and adjusting the measured track, the standard curve of the measured track is used as a comparison to determine the offset parameters of different position points on the measured track, so that the accuracy of correcting the measured track by using the offset parameters as correction amounts of the tamping car is ensured, and the operation precision of the tamping car is ensured.

Compared with the conventional tamping car which only adjusts the flatness of the measured track, the leveling operation precision of the measured track is greatly improved in the embodiment compared with the adjustment mode that all position points on the track can be smoothly and excessively adjusted.

The track line restoration device provided by the embodiment of the application is introduced below, and the track line restoration device described below and the track line restoration method described above can be referred to correspondingly.

Fig. 7 is a block diagram of a track line restoration device according to an embodiment of the present application, and the track line restoration device referring to fig. 7 may include:

an acquisition data module 100 for acquiring a data streamDetecting multiple groups of detection data detected on the track; wherein each set of detection data comprises a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively the distances of 4 detection points of A point, B point, C point and D point which are sequentially arranged on the detected track and meet the set condition, wherein the B point and the C point are respectively relative to the straight line where the A point and the D point are located; the setting conditions are that Equal to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data coincide with the position of the point A and the point B corresponding to the associated detection data on the detected track;

the coordinate operation module 200 is configured to determine coordinate values of the detection points corresponding to each set of the detection data in the same coordinate system according to the set condition, the multiple sets of the detection data, and the coincidence between the point C and the point D corresponding to each set of the detection data and the positions of the point a and the point B corresponding to the associated detection data on the detected track;

and the curve fitting module 300 is configured to fit a distribution curve of the measured track according to the coordinate values of each detection point, so as to obtain a line curve representing the measured track.

In an alternative embodiment of the present application, the coordinate operation module 200 specifically includes:

In an optional embodiment of the present application, the coordinate unit is specifically configured to establish a rectangular coordinate system with an a point corresponding to each group of the detection data as a coordinate origin, and a straight line where the a point and the B point are located as an X axis;

the first operation unit is specifically configured to satisfy the first offset distance and the points a and B in each group of the detection dataThe coordinate value of the point B in the detection point in a corresponding rectangular coordinate system is determined equal to the set symmetrical chord length; establishing an auxiliary rectangular coordinate system by taking the point A in each group of detection data as a coordinate origin and taking the straight line where the point A and the point D are located as an X' axis; according to the second offset distance in each set of the detection data,/or- >Equal to the sum of the set total chord length +.>The coordinate value of the C point in the corresponding auxiliary rectangular coordinate system is determined equal to the set symmetrical chord length; and carrying out coordinate conversion on the auxiliary coordinate value of the C point according to the conversion relation between the auxiliary rectangular coordinate system and the rectangular coordinate system, and obtaining the coordinate value of the C point in the corresponding rectangular coordinate system.

In an alternative embodiment of the present application, the method further comprises a resampling module; the repeated sampling module specifically comprises:

the detection point sampling unit is used for sequentially determining coordinate values of the point A, the point B, the point C and the point D in each group of detection points in the rectangular coordinate system according to the set conditions, and taking a plurality of groups of detection data with one group of associated detection data in each group of detection data as a group of detection data sequence; repeatedly executing the steps of acquiring a plurality of groups of detection data detected on the detected track to acquire a plurality of groups of detection data sequences; wherein, all detection points corresponding to each group of detection data in each group of detection data sequence at least comprise two detection points which are positioned in a known track section, and the known track section is an end section with known coordinate values of all position points on the detected track in a reference coordinate system;

A conversion relation unit, configured to determine a coordinate system conversion relation between the coordinate system corresponding to each group of detection data sequences and the reference coordinate system according to coordinate values of detection points in the corresponding coordinate system and coordinate values in the reference coordinate system, where each group of detection data sequences are located in the known track section;

the coordinate conversion unit is used for converting coordinate values of all detection points corresponding to each group of detection data sequences in the corresponding coordinate system into coordinate values in the reference coordinate system according to the coordinate system conversion relation;

correspondingly, the curve fitting module is specifically configured to fit a distribution curve of the detected track according to coordinate values of all detection points corresponding to each group of the detection data sequences in the reference coordinate system, so as to obtain the line curve.

In an optional embodiment of the present application, the device further includes a correction module, configured to, after obtaining a line curve that characterizes the measured track, compare the line curve with a standard line curve, and determine offset parameters of different location points on the measured track relative to the standard curve, so as to control the tamping vehicle to adjust the measured track with the offset parameters as correction amounts.

The track line restoration device of the present embodiment is configured to implement the track line restoration method described above, so that the specific implementation in the track line restoration device can be found in the foregoing example portion of the track line restoration method, which is not described herein again.

The application also provides an embodiment of an orbital path restoration device, which may include:

a memory for storing a computer program;

The memory may include Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The application also provides an embodiment of a track line restoration system, comprising: the chord measuring device is used for sequentially arranging the first measuring part, the second measuring part, the third measuring part and the fourth measuring part on a measured track, and detecting a first offset distance of the second measuring part, which deviates from a straight line where the first measuring part and the fourth measuring part are located, through the first offset detector when the chord measuring device moves to different positions on the measured track, and detecting a second offset distance of the third measuring part, which deviates from the straight line where the first measuring part and the fourth measuring part are located;

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is inherent to. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In addition, the parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of the corresponding technical solutions in the prior art, are not described in detail, so that redundant descriptions are avoided.

The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims

1. A track line restoration method, comprising:

acquiring a plurality of groups of detection data detected on a detected track; wherein each set of detection data comprises a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively the distances of 4 detection points of A point, B point, C point and D point which are sequentially arranged on the detected track and meet the set condition, wherein the B point and the C point are respectively relative to the straight line where the A point and the D point are located; the setting conditions are thatEqual to the set total chord length->And is equal to the set symmetrical chord length; each group of the detection data has a group of associated detectionThe positions of the points C and D corresponding to each group of detection data and the corresponding points A and B associated with the detection data on the detected track are overlapped;

fitting a distribution curve of the detected track according to the coordinate values of each detection point to obtain a line curve representing the detected track;

according to the setting conditions and the plurality of groups of detection data, determining coordinate values of detection points corresponding to the groups of detection data in the same coordinate system comprises the following steps:

2. The track line restoration method as set forth in claim 1, wherein establishing a coordinate system with a point a corresponding to each set of the detection data as a coordinate origin and a straight line where the point a and the point B are located as coordinate axes, respectively, comprises:

3. The track line restoration method according to claim 1 or 2, further comprising, after sequentially determining coordinate values of the a point, the B point, the C point, and the D point in the rectangular coordinate system, respectively, in each set of the detection points according to the set condition:

4. The trajectory path restoration method as claimed in claim 1, wherein after obtaining a path curve representing the measured trajectory, further comprising:

comparing the line curve with a standard line curve, and determining offset parameters of different position points on the measured track relative to the standard line curve so as to control the tamping car to adjust the measured track by taking the offset parameters as correction amounts.

5. A track line restoration device, characterized by comprising:

the acquisition data module is used for acquiring a plurality of groups of detection data detected on the detected track; wherein each set of detection data comprises a first offset distance and a second offset distance; the first offset distance and the second offset distance are respectively the distances of 4 detection points of A point, B point, C point and D point which are sequentially arranged on the detected track and meet the set condition, wherein the B point and the C point are respectively relative to the straight line where the A point and the D point are located; the setting conditions are thatEqual to the set total chord length->And is equal to the set symmetrical chord length; each group of detection data has a group of associated detection data, and the point C and the point D corresponding to each group of detection data coincide with the position of the point A and the point B corresponding to the associated detection data on the detected track;

The curve fitting module is used for fitting the distribution curve of the detected track according to the coordinate values of each detection point to obtain a line curve representing the detected track;

the coordinate operation module specifically comprises:

6. An orbital path restoration device, comprising:

a memory for storing a computer program;

a processor for implementing the steps of the track line restoration method as claimed in any one of claims 1 to 4 when executing the computer program.

7. A track line restoration system, comprising: the chord measuring device at least comprises a first measuring part, a second measuring part, a third measuring part and a fourth measuring part which are sequentially arranged; wherein a straight line distance between the first measuring portion and the second measuring portion is equal to a straight line distance between the third measuring portion and the fourth measuring portion and is equal to a set symmetric chord length; the linear distance between the first measuring part and the fourth measuring part is equal to the set total chord length;

the device further comprises a first offset detector arranged on the second measuring part and a second offset detector arranged on the third measuring part; the first offset detector is used for detecting a first offset distance of the second measuring part from a straight line where the first measuring part and the fourth measuring part are located; the second offset detector is used for detecting a second offset distance of the third measuring part from a straight line where the first measuring part and the fourth measuring part are located;

The chord measuring device is used for sequentially arranging the first measuring part, the second measuring part, the third measuring part and the fourth measuring part on a measured track, and detecting a first offset distance of the second measuring part, which deviates from a straight line where the first measuring part and the fourth measuring part are located, through the first offset detector when the chord measuring device moves to different positions on the measured track, and detecting a second offset distance of the third measuring part, which deviates from a straight line where the first measuring part and the fourth measuring part are located, through the second offset detector;

further comprising a processor for performing the steps of the track line restoration method according to any one of claims 1 to 4 on the basis of a plurality of sets of detection data with the first offset distance and the second offset distance measured by the chord measuring device at each position on the measured track as a set of detection data.