CN203595497U - Detection device of moving postures of rail transit vehicle - Google Patents
Detection device of moving postures of rail transit vehicle Download PDFInfo
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- CN203595497U CN203595497U CN201320786085.1U CN201320786085U CN203595497U CN 203595497 U CN203595497 U CN 203595497U CN 201320786085 U CN201320786085 U CN 201320786085U CN 203595497 U CN203595497 U CN 203595497U
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- 230000003068 static effect Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241000271460 Crotalus cerastes Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 238000012806 monitoring device Methods 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
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Abstract
The utility model relates to the field of rail transit detection, in particular to a detection device of moving postures of a rail transit vehicle. The detection device is characterized in that the detection device is at least arranged on one side of the rail transit vehicle and comprises a machinery target, an image collector, a range finder and an analysis processor; the machinery target is fixedly connected to an axletree fixing frame of the rail transit vehicle; the image collector and the range finder are fixedly connected under a compartment of the rail transit vehicle and correspond the position of the machinery target; and the analysis processor is in data connection with the image collector and the range finder. The detection device is advantaged by simple and convenient detection method, high image acquisition frequency, concise and precise mechanical structure, convenient installation, and high compensation precision.
Description
Technical field
The utility model relates to track traffic detection field, is specifically related to a kind of pick-up unit of rail traffic vehicles athletic posture, changes with the attitude automatically detecting under rail traffic vehicles dynamical state.
Background technology
Along with modern railway transportation is to the development of high rate of traffic flow and high travelling speed, detect in time track traffic infrastructure architecture state and geometric parameter is just becoming the technical guarantee of instructing maintenance, guaranteeing traffic safety with the normal overall trip speed of circuit.But visitor, truck vehicle while moving on the line due to the irregularity of track and take turns right motion feature, make vehicle produce complicated vibration, this vibration produces considerable influence to kinetic measurement, measuring equipment is because vibration produces the uncertainty of 6 degree of freedom, be pitching, rotate, sidewinder, stretch, vertical, laterally, the uncertainty between this measuring equipment and measuring basis has seriously affected the precision of measuring.Therefore the attitude of kinetic measurement equipment in must can its motion process of automatic detection, by carrying out the deviation of compensating measure benchmark to the Measurement accuracy of 6 degree of freedom.
Existing technology has as follows to the definite method of rail traffic vehicles athletic posture: the pendulum train computation method for attitude based on " mathematical platform ", set up the system mathematic model of " mathematical platform ", the angular speed value of the gyroscope survey train that utilization is arranged on a car bogie during through curve, carries out simulation calculation to pendulum train attitude.But gyroscope is as inertia device, is generally applied in the High Speed Fields such as Aero-Space, be applied in the measurement of slow-moving vehicle athletic posture, there is latch-up phenomenon in gyroscope, in low angular velocity region, produce frequency pulling, make beat note zero and can not detect angular velocity of rotation; And in the time that ambient temperature changes, the temperature drift meeting of optical fibre gyro has a strong impact on its output accuracy.Pendulum train detection system dynamic compensation method based on nonlinear neural network, according to gyroscope platform actual measurement superelevation data, adopts LM algorithm to train designed nonlinear neural network, emulation; Algorithm based on BP network (artificial neuron feedforward network) is realized stagger compensation.The method only adopts statistical method compensation moving attitude of vehicle, and car body and pantograph are used as to rigid body, considers the impact of non-definite factor such as nonlinear characteristic, following feature, train and pantograph elasticity of sensor, and error is larger.Utilize arrangement of mirrors vehicle-mounted laser device, imaging and the checkout equipment of ground point of fixity, measure in real time instantaneous position and the angular deviation of moving vehicle with respect to terrestrial reference, thereby fixed point is revised vehicle-mounted measuring basis.The method is just revised gyro data every a segment distance, dynamic measuring vehicle athletic posture continuously.
Summary of the invention
The purpose of this utility model is according to above-mentioned the deficiencies in the prior art, a kind of pick-up unit of rail traffic vehicles athletic posture is provided, this measurement device vehicle be kept in motion and when static the relative position between compartment and bogie change, with the angle of detection of dynamic vehicle self, the variation of position, and it is high to have image data precision, the accurate feature of compensation result data.
The utility model object realizes and being completed by following technical scheme:
A kind of pick-up unit of rail traffic vehicles athletic posture, attitude while being kept in motion for automatically detecting rail traffic vehicles changes, described rail traffic vehicles comprises compartment and bogie, it is characterized in that: described device comprises mechanical target, image acquisition device, viameter and analysis processor, described image acquisition device and described viameter are corresponding with described mechanical target formation position, described analysis processor is connected with described image acquisition device and described viameter composition data, wherein said mechanical target is arranged at described bogie, described image acquisition device and described viameter are arranged at below, described compartment.
Between described image acquisition device and described viameter and described mechanical target, form that position is corresponding to be referred to, the axis of described image acquisition device and described viameter is all vertically opposite with described mechanical target, described mechanical target horizontal positioned, and static lower three's relative position is constant.
On described mechanical target, have a standard triangle, described standard triangle inside has a datum line, and described mechanical target is fixedly connected on described bogie by a bracket.
Described image acquisition device is face array CCD, or is CMOS camera joint line structure light source.
Described viameter is high precision point type laser range finder.
The utility model has the advantages that: detection method is simple and easy to do, image acquisition frequency is high, physical construction succinct accurate, easy for installation, compensation precision is high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is that the A of the utility model machinery target is to schematic diagram;
Fig. 3 is detection schematic diagram of the present utility model.
Embodiment
The utility model feature and other correlated characteristic are described in further detail by embodiment below in conjunction with accompanying drawing, so that technician's of the same trade understanding:
As Fig. 1-3 show, in figure, mark 1-10 is respectively: laser range finder 1, face array camera 2, mechanical target 3, compartment 4, wheel 5, rail 6, axletree fixed mount 7, bracket 8, standard triangle 9, datum line 10.
Embodiment: as shown in Figure 1, for detection of dynamic rail traffic vehicles athletic posture, in its both sides same position, indexing unit is set, this monitoring device is by mechanical target 3, laser range finder 1, face array camera 2 and analysis processor form, wherein all to form position corresponding with mechanical target 3 for laser range finder 1 and face array camera 2, be that the measurement face of laser range finder 1 and the sighting plane of face array camera 2 are aimed at respectively mechanical target 3, analysis processor receives the image data of laser range finder 1 and face array camera 2.Mechanical target 3 on axis and the bracket 8 of face array camera 2 and laser range finder 1 is vertically opposite, mechanical target 3 horizontal positioned, and under static state, the relative position between three is constant.Machinery target 3 is fixedly connected on the axletree fixed mount 7 as a bogie part by a bracket 8, and laser range finder 1 and face array camera 2 are installed on respectively the lower end in compartment 4 by suspension bracket separately.
As shown in Figure 2,3, on the mechanical target 2 that bracket 8 supports, there is a standard triangle 9, in standard triangle, there is a datum line 10, datum line 10 be vehicle 4 when static, length and the position of 1 projecting laser of laser range finder.Laser range finder 1 measure its with mechanical target 3 between distance, the deflection distance of interior, the laser that projected by laser range finder 1 of standard triangle 9 on face array camera 2 measurement mechanical targets 3, both are used in conjunction with to measure pose between compartment 4 and rail 6.
Adopt the dynamic attitude data of high-resolution array camera of high-precision laser range finder 1 and high frequency 2 collection vehicle, one analysis processor is set to receive the image data of laser range finder 1 and face array camera 2, wherein laser range finder 1 detects the relative motion up and down of rail traffic vehicles, the left and right relative motion that face array camera 2 detects rail traffic vehicles.
Compartment, under heeling condition, according to the left and right displacement of the upper and lower displacement of the bracket 8 of the right and left symmetry, standard triangle 9, utilizes solid geometry mapping algorithm just to draw the data such as angle, amplitude that compartment tilts.
The present embodiment is in the specific implementation: laser range finder 1, face array camera 2 are interchangeable with mechanical target 3 setting position separately, for example mechanical target 3 is arranged to compartment 4 downsides, and laser range finder 1 and face array camera 2 are arranged on axletree fixed mount 7 by bracket 8, its aim only need guarantee that sighting plane that the relative position between three meets the measurement face of laser range finder 1, face array camera 2 is all in alignment with on mechanical target 3, but the arrangement adopting in the present embodiment is optimal case.
The athletic posture checkout equipment marginal portion that is installed on rail traffic vehicles both sides does not exceed outside, compartment, firm in structure, and to car body, normal operation has no effect.Face array camera 2 and laser range finder 1 are arranged on the suspension bracket for subsequent use of compartment 4 one sides and are consistent with car position, and bracket 8 is connected by bolted with axletree fixed mount 7 and is consistent with the axial location of wheel 5.Athletic posture pick-up unit, in when design, takes into full account the movement position of bogie in motion, car body (comprising compartment 4) and wheel 5, with guarantee bracket 8 positions not with bogie interference, the installation site of face array camera 2 also not with wheel 5 location conflicts.
Claims (5)
1. the pick-up unit of a rail traffic vehicles athletic posture, attitude while being kept in motion for automatically detecting rail traffic vehicles changes, described rail traffic vehicles comprises compartment and bogie, it is characterized in that: described device comprises mechanical target, image acquisition device, viameter and analysis processor, described image acquisition device and described viameter are corresponding with described mechanical target formation position, described analysis processor is connected with described image acquisition device and described viameter composition data, wherein said mechanical target is arranged at described bogie, described image acquisition device and described viameter are arranged at below, described compartment.
2. the pick-up unit of a kind of rail traffic vehicles athletic posture according to claim 1, it is characterized in that: between described image acquisition device and described viameter and described mechanical target, form that position is corresponding to be referred to, the axis of described image acquisition device and described viameter is all vertically opposite with described mechanical target, described mechanical target horizontal positioned, and static lower three's relative position is constant.
3. the pick-up unit of a kind of rail traffic vehicles athletic posture according to claim 1, it is characterized in that: on described mechanical target, there is a standard triangle, described standard triangle inside has a datum line, and described mechanical target is fixedly connected on described bogie by a bracket.
4. the pick-up unit of a kind of rail traffic vehicles athletic posture according to claim 1, is characterized in that: described image acquisition device is face array CCD, or is CMOS camera joint line structure light source.
5. the pick-up unit of a kind of rail traffic vehicles athletic posture according to claim 1, is characterized in that: described viameter is high precision point type laser range finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320786085.1U CN203595497U (en) | 2013-12-04 | 2013-12-04 | Detection device of moving postures of rail transit vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320786085.1U CN203595497U (en) | 2013-12-04 | 2013-12-04 | Detection device of moving postures of rail transit vehicle |
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| CN203595497U true CN203595497U (en) | 2014-05-14 |
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| CN201320786085.1U Expired - Lifetime CN203595497U (en) | 2013-12-04 | 2013-12-04 | Detection device of moving postures of rail transit vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763221A (en) * | 2019-12-10 | 2020-02-07 | 安徽浦进轨道装备有限公司 | Detection apparatus for rail transit vehicle motion gesture |
| CN109738213B (en) * | 2019-02-03 | 2020-10-02 | 北京新联铁集团股份有限公司 | Rail transit rolling stock inspection pose detection system and method |
| CN111853484A (en) * | 2020-07-30 | 2020-10-30 | 陕西工业职业技术学院 | A centering leveling device for engineering survey |
| CN112525171A (en) * | 2020-11-24 | 2021-03-19 | 四川省机械技术服务中心 | Large-space high-precision pose measurement system |
-
2013
- 2013-12-04 CN CN201320786085.1U patent/CN203595497U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738213B (en) * | 2019-02-03 | 2020-10-02 | 北京新联铁集团股份有限公司 | Rail transit rolling stock inspection pose detection system and method |
| CN110763221A (en) * | 2019-12-10 | 2020-02-07 | 安徽浦进轨道装备有限公司 | Detection apparatus for rail transit vehicle motion gesture |
| CN110763221B (en) * | 2019-12-10 | 2023-12-05 | 安徽浦进轨道装备有限公司 | Detection device for motion gesture of rail transit vehicle |
| CN111853484A (en) * | 2020-07-30 | 2020-10-30 | 陕西工业职业技术学院 | A centering leveling device for engineering survey |
| CN111853484B (en) * | 2020-07-30 | 2022-04-12 | 陕西工业职业技术学院 | A centering leveling device for engineering survey |
| CN112525171A (en) * | 2020-11-24 | 2021-03-19 | 四川省机械技术服务中心 | Large-space high-precision pose measurement system |
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| C14 | Grant of patent or utility model | ||
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Address after: No. 251 Tianmu East Road, Jingan District, Shanghai Patentee after: INSTITUTE OF SCIENCE AND TECHNOLOGY, CHINA RAILWAY SHANGHAI GROUP CO.,LTD. Address before: No. 251 Tianmu East Road, Zhabei District, Shanghai Patentee before: SHANGHAI RAILWAY BUREAU TECHNOLOGY CENTER |
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| CP03 | Change of name, title or address | ||
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Granted publication date: 20140514 |
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| CX01 | Expiry of patent term |