CN209479681U - Realize the measurement trolley that track quickly detects - Google Patents
Realize the measurement trolley that track quickly detects Download PDFInfo
- Publication number
- CN209479681U CN209479681U CN201821783079.XU CN201821783079U CN209479681U CN 209479681 U CN209479681 U CN 209479681U CN 201821783079 U CN201821783079 U CN 201821783079U CN 209479681 U CN209479681 U CN 209479681U
- Authority
- CN
- China
- Prior art keywords
- track
- trolley
- measurement
- car body
- distance measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Machines For Laying And Maintaining Railways (AREA)
- Navigation (AREA)
Abstract
The utility model discloses a kind of measurement trolleies realizing track and quickly detecting, comprising: the positioning system positioned to position of the trolley in orbital coordinate system being made of GNSS receiver, inertial navigation system and the high-acruracy survey robot for carrying out more survey time observations to the control point CPIII of railroad track two sides；Measure interorbital away from distance measuring sensor；Measure the obliquity sensor of orbit inclination angle；And the computer being connect with positioning system, distance measuring sensor and obliquity sensor.According to the required precision of different application, GNSS, GNSS+ inertial navigation system, high-acruracy survey robot is respectively adopted to realize quick positioning of the track detecting trolley in track coordinate system, the acquisition work of railroad track geometric information database is completed in conjunction with distance, obliquity sensor.Meanwhile track detecting and the work of CPIII repetition measurement can also be completed at the same time in one-stop operation by high-acruracy survey robot.
Description
Technical field
The utility model belongs to railroad track detection technique field, and in particular to it is several that one kind can be used to implement railroad track
The device what state quickly detects.
Background technique
Using track detecting trolley to high-speed railway and common both wired carry out track geometry status detection, current is main
Method is to set up high-acruracy survey robot in orbit, passes through the known control point CPIII to track two sides and carries out more survey time
Observation according to determining the survey station coordinate of robot measurement by Free Station resection method, then observes the prism on track detection car
Coordinate of the trolley under orbital coordinate system is determined by method of polar coordinates.The effective distance that the primary frame station of this method can be observed is 80m
Left and right, Free Station, working efficiency are lower again for each frame station needs.Simultaneously to the geometry state-detection of railroad track and
This two needs of work of the repetition measurement at the control point CPIII are respectively individually completed, and there are certain repetition operations.
Utility model content
The purpose of this utility model is to provide a kind of measurement trolleies realizing track and quickly detecting, comprising: car body, thereon
Equipped with the wheel that can be placed on two tracks of left and right；GNSS receiver, be located at the car body on, with to the trolley in orbit coordinate
Position in system is positioned；Inertial navigation system is located on the car body, to believe the position in the trolley moving process
Breath and azimuth information measure；Robot measurement is located on the car body, with the position to the trolley in orbital coordinate system
It sets and is positioned, or complete the data acquisition of CPIII control net repetition measurement；Distance measuring sensor, positioned at the left and right sides of the car body,
Wherein the distance measuring sensor in left side measures its distance for arriving left rail, and the distance measuring sensor on right side measures it to the right side
The distance of siding track；Obliquity sensor, to measure the inclination angle after the trolley is erected on track on the car body；And
Computer, with the GNSS receiver, the inertial navigation system, the robot measurement, the distance measuring sensor and institute
State obliquity sensor connection.Positioning of the trolley in orbital coordinate system is realized by a variety of quick positioning methods, is passed by ranging
Sensor measures gauge, obliquity sensor measures inclination angle, computer calculate superelevation, twist irregularity, length wave vector away from etc., realize rail
Geometry state-detection.
There is push rod on the measurement trolley that above-mentioned realization track quickly detects, the car body.
The utility model is when to high-speed railway and common both wired carry out track geometry status detections, by using dynamic
The mode of measurement improves the locating speed of track detection car running track, greatly improves operating efficiency.According to the essence of different application
Degree requires, and GNSS, GNSS+ inertial navigation system, high-acruracy survey robot is respectively adopted to realize that track detecting trolley is in-orbit
The acquisition work of railroad track geometric information database is completed in quick positioning in road coordinate system in conjunction with distance, obliquity sensor.Its
In data storage, communication and in real time processing by trolley computer complete.Wherein, GNSS receiver can be used alone reality
Existing centimeter-level positioning, can also cooperate inertial navigation system to realize the positioning result of higher precision；High-acruracy survey robot with
The control point CPIII is implemented in combination with the submillimeter level positioning of trolley, cooperates the control point CPIII along inertial navigation system and track
Realize the dynamic positioning of trolley travelling track.Meanwhile if the measurement method that operation process is netted using CPIII control, every 120m
Primary more survey time observations are carried out, the data of CPIII control net repetition measurement can be completed while carrying out track geometry status detection
Collecting work.
Detailed description of the invention
Fig. 1 is the measurement vehicle structure schematic diagram of the utility model.
Fig. 2 is the schematic diagram of the GNSS+ inertial navigation system work pattern of the utility model.
Fig. 3 is the schematic diagram of the robot measurement work pattern of the utility model.
Description of symbols:
A1- wheel；A2- handle；A3- inertial navigation element；A4- power supply；A5- pedestal；A6-GNSS antenna (can be replaced
Robot measurement)；A7-GNSS receiver；A8- track gauge sensor；A9- car body；A10- push rod；C1- robot measurement；C2-
The control point CPIII；C3- rail.
Specific embodiment
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
In the description of the present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom",
The orientation or positional relationship of the instructions such as "left", "right" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the utility model rather than requires the utility model that must be constructed and operated in a specific orientation.
A kind of measurement trolley realizing track and quickly detecting, including positioning system, distance measuring sensor, obliquity sensor and meter
Calculation machine, positioning system include GNSS receiver, inertial navigation system and high-acruracy survey robot.
By a variety of quick positioning methods such as GNSS, GNSS+ inertial navigation system, robot measurement realize trolleies from
Positioning in orbital coordinate system, the inclination angle then measured in real time by gauge, obliquity sensor that distance measuring sensor measures in real time
Calculate the superelevation of each anchor point track, twist irregularity, length wave vector away from etc., realize the geometry state-detection of rail.
GNSS receiver is that can receive Beidou, GPS, GLONASS, GALILEO satellite-signal, realizes the survey of positioning service
Amount type receiver.By RTK real-time resolving GNSS receiver received signal, the track centerline positioning of Centimeter Level can be obtained
Precision is transformed into orbital coordinate system according to known coordinate system conversion parameter, realizes the accurate positioning of measurement trolley.
High-acruracy survey machine artificially has automatic rotation, sights automatically, the total station of automatic measurement function.When initialization
More survey time observations are carried out by CPIII control point of the robot measurement to railroad track two sides, using Free Station resection
Calculate location information of the trolley in orbital coordinate system.If carried out using the measurement method of CPIII control net every 120m
Primary more survey time observations can complete the data acquisition of CPIII control net repetition measurement while carrying out track geometry status detection
Work.The control point CPIII is that high-speed railway controls net, is generally laid every 50~70m in track two sides a pair of.High-acruracy survey
Robot, by being oriented to the control point CPIII on the way, is realized to by inertial navigation during measuring moving of car
The amendment of the location fix information of system-computed quickly obtains high-precision measurement trolley trace information.
The calibration with orbital coordinate system is completed after inertial navigation system is initialized, passes through the process mobile in measurement trolley
In quadrature to gyro accelerometer the real-time position information and azimuth information obtained in trolley dynamic process.
When GNSS+ inertial navigation system Pattern localization, GNSS receiver and inertial navigation system are installed on measurement trolley
On, inertial navigation system carries out initialization in 5-10 minutes first, then trolley is pushed to orbit.It is real-time by RTK
It resolves, and is corrected according to inertial navigation system, can achieve millimetre-sized positioning accuracy.
When robot measurement+inertial navigation system Pattern localization, inertial navigation system and robot measurement are installed on survey
It measures on trolley, robot measurement determines self-position and azimuth information, assist by being observed to the known control point CPIII
Inertial navigation system is initialized.Orbit centre is carried out by initial information and inertial navigation system during trolley pushes
Line positioning.Every 60 meters, robot measurement is observed a known CPIII point by track, corrects inertial navigation system
Deviation.When track detecting+CPIII repetition measurement mode, stop every 120 meters of trolleies, each 3 pairs of front and back is completed by robot measurement
The angle and distance of CPIII point is observed, and is used for CPIII balancing calculation of GPS net, while CPIII adjustment result can also be used in post-processing
In the correction of inertial navigation system.This mode can achieve the positioning accuracy better than 1 millimeter.
Distance measuring sensor is mounted on the left and right sides of trolley, respectively the distance value of measurement distance measuring sensor to track, by two
The distance value that side distance measuring sensor observes is added to obtain the gauge between two rails with the spacing of two sides distance measuring sensor.
Obliquity sensor is used to measure trolley and is erected at the inclination angle controlled on two rail localities on track.
Computer is connect with positioning system, distance measuring sensor and obliquity sensor, the position of dynamically recording trolley, gauge,
The information such as inclination angle construct the track and respective rail status information library of trolley.For measurement position, pass through gauge and Dip countion
The superelevation of two rails of left and right.For any position on track can by interpolation calculate twist irregularity, length wave vector away from etc. geological informations.
Claims (2)
1. a kind of measurement trolley realizing track and quickly detecting characterized by comprising
Car body which is provided with the wheel that can be placed on two tracks of left and right；
GNSS receiver is located on the car body, to position to position of the trolley in orbital coordinate system；
Inertial navigation system, be located at the car body on, in the trolley moving process location information and azimuth information into
Row measurement；
Robot measurement is located on the car body, to position to position of the trolley in orbital coordinate system, or completes
CPIII controls the data acquisition of net repetition measurement；
Distance measuring sensor, positioned at the left and right sides of the car body, wherein the distance measuring sensor in left side measures it to left side rail
The distance in road, the distance measuring sensor on right side measure its distance for arriving right rail；
Obliquity sensor measures the inclination angle after the measurement trolley is erected on track on the car body；And
Computer, with the GNSS receiver, the inertial navigation system, the robot measurement, the distance measuring sensor
It is connected with the obliquity sensor.
2. the measurement trolley according to claim 1 realizing track and quickly detecting, which is characterized in that have on the car body
Push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821783079.XU CN209479681U (en) | 2018-10-31 | 2018-10-31 | Realize the measurement trolley that track quickly detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821783079.XU CN209479681U (en) | 2018-10-31 | 2018-10-31 | Realize the measurement trolley that track quickly detects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209479681U true CN209479681U (en) | 2019-10-11 |
Family
ID=68114568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821783079.XU Expired - Fee Related CN209479681U (en) | 2018-10-31 | 2018-10-31 | Realize the measurement trolley that track quickly detects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209479681U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803200A (en) * | 2019-11-05 | 2020-02-18 | 武汉市市政建设集团有限公司 | CPIII control point-based track mileage positioning method and device |
| CN110849299A (en) * | 2019-11-22 | 2020-02-28 | 东南大学 | Track unevenness measuring device and method based on image processing |
| CN111891177A (en) * | 2020-06-24 | 2020-11-06 | 中铁第一勘察设计院集团有限公司 | Rapid detection system for smoothness dynamic and static combination of high-speed railway track |
| CN115491938A (en) * | 2022-09-19 | 2022-12-20 | 中铁大桥局集团第一工程有限公司 | Fine adjustment method for ballastless track on long-connection large-span railway steel bridge |
-
2018
- 2018-10-31 CN CN201821783079.XU patent/CN209479681U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803200A (en) * | 2019-11-05 | 2020-02-18 | 武汉市市政建设集团有限公司 | CPIII control point-based track mileage positioning method and device |
| CN110803200B (en) * | 2019-11-05 | 2021-07-06 | 武汉市市政建设集团有限公司 | CPIII control point-based track mileage positioning method and device |
| CN110849299A (en) * | 2019-11-22 | 2020-02-28 | 东南大学 | Track unevenness measuring device and method based on image processing |
| CN111891177A (en) * | 2020-06-24 | 2020-11-06 | 中铁第一勘察设计院集团有限公司 | Rapid detection system for smoothness dynamic and static combination of high-speed railway track |
| CN115491938A (en) * | 2022-09-19 | 2022-12-20 | 中铁大桥局集团第一工程有限公司 | Fine adjustment method for ballastless track on long-connection large-span railway steel bridge |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209479681U (en) | Realize the measurement trolley that track quickly detects | |
| CN206704211U (en) | Heavy haul train alignment system based on movable block | |
| CN103343498B (en) | Track irregularity detecting system and method based on INS/GNSS | |
| CN1680776B (en) | System and method for creating accurate topographical maps using DGPS with low drift | |
| CN103115581B (en) | Multifunction railway measuring system and method | |
| CN102251451B (en) | Track geometric state measurement system and method based on multisource information fusion technology | |
| CN107299568A (en) | A kind of track dynamic measuring system and method | |
| CN103754235B (en) | A kind of high ferro is measured by inertia positioning and orienting device and method | |
| CN107894232A (en) | A kind of accurate method for locating speed measurement of GNSS/SINS integrated navigations and system | |
| CN107687114B (en) | A kind of track absolute position and bias measurement method | |
| CN107389064A (en) | A kind of unmanned vehicle based on inertial navigation becomes channel control method | |
| CN109552356A (en) | Smoothness of high-speed railway track detection system and method based on satellite positioning and inertial navigation | |
| CN107402006A (en) | Train precision positioning method and system based on the matching of track geometry characteristic information | |
| CN105849589A (en) | Satellite positioning system, positioning terminal, positioning method, and recording medium | |
| CN110803200B (en) | CPIII control point-based track mileage positioning method and device | |
| CN206291859U (en) | A kind of laser ranging railway tunnel based on gyroscope positioning detects car | |
| CN207318731U (en) | A kind of device for monitoring vehicle with Big Dipper positioning and directing | |
| CN109613584A (en) | The positioning and orienting method of unmanned truck based on UWB | |
| CN114739425A (en) | Coal mining machine positioning calibration system based on RTK-GNSS and total station and application method | |
| CN112305570B (en) | Dynamic performance test system and test method for navigation positioning equipment | |
| CN102692210A (en) | Fixed-point scanning type rapid tunnel section clearance measurement and convergence measurement method | |
| CN108225286A (en) | A kind of vehicle-mounted total powerstation position and orientation estimation method of movement station | |
| CN108360318B (en) | A-INS accurate measurement for track irregularity detection is segmented linear approximating method | |
| CN105022073B (en) | Reduce the method for GPS location error and the self-con-tained unit based on GPS location | |
| CN108413945A (en) | A kind of orbit coordinate point longitude and latitude height measurement device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191011 Termination date: 20201031 |