RU2686341C1 - Method of determining parameters of track geometry and system for its implementation - Google Patents

Abstract

FIELD: transportation.SUBSTANCE: invention relates to the field of railway automation and telemechanics for continuous recording of the spatial position of track in path diagnostics, design and survey and other types of works. To implement the method of determining parameters of track geometry, a system consisting of a track measuring bogie (1) and a photogrammetric coordinate measuring device (2) is used. Positioning device (1) moves on two wheel pairs (8) connected by longitudinal support frame (12). On the bogie three sighting targets (7, 11) are installed. One has the shape of cylinder and is located vertically upwards on support frame closer to rear wheel pair. Other two are shaped to a ball and are located at the ends of the front axle of the wheel pair. Centre of axis lies on one straight line with their centres. Plate of the laser radiation reflector (9) with a sighting mark is placed above the centre of the said axis. With its help photogrammetric coordinate-measuring device (2) tracks movement of measuring device (1) and performs continuous registration of coordinates of sighting targets (11) installed on axle of wheel pair above left and right threads of track, respectively. These coordinates are used to define parameters of rail track geometry.EFFECT: result is automation of the process, higher accuracy characteristics when determining parameters of track geometry.4 cl, 7 dwg

Description

The technical solution relates to the field of railway automatics and telemechanics for continuous recording of the spatial position of the rail track during track diagnostics, design and survey, and other types of work.

There is a method for determining the spatial coordinates and geometrical parameters of a track and a device for its implementation [1]. The device contains a track-measuring trolley, including two wheel pairs, which are interconnected by a supporting frame, installed perpendicular to the direction of movement. In this case, the first and second satellite antennas are installed in the end portions of the said support frame above the respective rail threads. The phase centers of the antennas lie on one straight line in a plane perpendicular to the direction of movement of the track-measuring trolley. These satellite dishes are connected respectively to the first and second inputs of the satellite receiver, the input-output of which is connected to the modem receiving the signals of the base satellite station, and the output of the specified satellite receiver is connected to the on-board computer.

The disadvantage of this technical solution is the higher error of the satellite receiver as compared with the error of optical sight or geodetic instruments. Moreover, with such a device design, an error of measurement results appears due to the fact that the plane formed by two points with coordinates in the phase centers of satellite antennas and the third point between them, obtained by averaging their coordinates, will deviate from the perpendicularity to the vector of motion of the device. In this case, the deviation, and after it the error, will increase with an increase in the difference between the gradients of the rail threads relative to each other.

The closest to the proposed system is adopted for the prototype technical solution for determining the parameters of the track using the sighting optical device [2, 3]. The known device is designed to determine the position of the rail threads in the plan and the profile in one diameter with reference to the reference network, within one artificial structure, a switch, a picket. The instrument kit consists of a telescope on a support with a round level, measuring and working rails. The telescope rotates 360 ° in the horizontal and vertical planes on the same vertical rack. The horizontal support of the device and the vertical stand are complemented by circles for measuring angles. The device itself is mounted on a lightweight telescopic tripod. The telescope has a cylindrical level and is a telescopic optical system with internal focusing, performed by rotating the cremallere ring. In the plane of the lens placed a grid of threads with horizontal, vertical and rangefinder strokes. The measuring rail has a longitudinal scale to which, if necessary, a stamp with an additional transverse scale is attached. The longitudinal axial line on the scale serves to guide the vertical line of the pipe grid when straightening the path. The working rail has the same design as the measuring rod, only instead of the scale on the rod, two marks with diamonds are hung: the upper one serves to pick up the instrument tube when lifting the track, the lower one - when leveling. Diagonals of rhombuses of a working lath serve as conditional zero lines.

The disadvantage of the existing technical solution is the lack of automation of the measuring process, which leads to a low measurement speed and leads to an increase in the complexity of the work. In addition, this technical solution does not provide for the continuity of measurements on a controlled section of the railway track.

The objective of the invention is to increase the productivity of work when carrying out field surveys to ensure continuity and high accuracy of measurements within one section of the railway track. The technical result of the invention is the automation of the measuring process and the design of the system, providing higher accuracy characteristics when determining the parameters of the geometry of the rail track.

The task is solved due to the fact that in the method of determining the parameters of the geometry of a rail track using a system consisting of a photogrammetric coordinate measuring device and a track-measuring trolley moving on two wheel pairs connected by a longitudinal support frame, three sighting targets are installed, one on the support frame, the other two are at the ends of the front axle of the wheelset, and above the center of this axis is placed a plate of a reflector of laser radiation with a target mark, with which otogrammetricheskim coordinate-measuring device, during the movement trolley puteizmeritelnoy tracked its movement and is continuously recording the coordinates of target points set on a wheelset axle of the left and right yarns of the track respectively, and from these parameters the coordinates of the geometry of the track defined.

The claimed technical result is also achieved by the fact that the characterizing elements of the system for determining the parameters of the geometry of a rail track, according to the invention, are a photogrammetric coordinate measuring device and a remotely controlled track measuring car that moves on two wheel pairs connected by a longitudinal supporting frame and on which three are mounted target, one on the support frame, the other two on the ends of the front axle of the pair of wheels, and above the center of the specified axis to the body of the hinge The first node is attached, perpendicular to the direction of movement, of a laser beam reflector plate with a target mark, in turn the photogrammetric coordinate measuring device has a stand with a treger ensuring the leveling of a dual-axis platform with a digital camera and a rangefinder attached to it, placed in such a way that the laser beam of the rangefinder co-directed to the main optical axis of the camera, while taking pictures from the camera are processed by the on-board computer in order to detect the target ki and pointing at her laser rangefinder, while the direction of the vector of the main optical axis of the camera is determined by optical encoders that are on the platform axes.

The tracking of the photogrammetric coordinate-measuring device of movements of the track-measuring carriage is achieved due to the fact that three track targets are installed on the track-measuring carriage, one of which has the shape of a cylinder and is located vertically upwards on the support frame, closer to the rear wheel pair, the other two are ball-shaped and are located on the ends of the front axle of the wheelset, so that the center of the axis lies on the same straight line with their centers, and the target mark has the shape of a circle, with all the targets and the mark are monotonously ok asheny in a contrasting color, which allows to visually distinguish between them on the background of the area.

In the course of movement of the track-measuring trolley, the on-board computer with a computer program installed on it performs the recalculation of the recorded current values of the spherical coordinates (r ₁ , θ ₁ , φ ₁ ) and (r ₂ , θ ₂ , φ ₂ ) of the target sight centers installed above the left and the right tracks of the track, respectively, into spatial rectangular coordinates with their reference to the reference railway network and determine from them the parameters of the geometry of the rail track.

The essence of the method and the system that implements it, are explained in the drawings. 1 shows a schematic layout of the elements of the system according to the invention, FIG. 2 shows a general view of a track-measuring carriage, FIG. 3 shows a general view of a photogrammetric coordinate measuring device, FIG. 4 shows a block diagram of a system for determining rail geometry parameters. rut, figure 5 is a schematic diagram of the formation of the image in the camera, figure 6 is a schematic diagram explaining the specific implementation of the method according to the invention, figure 7 is an example of the results of the work issued to the photogram system-parameter.

The main elements of the system (figure 1) are track-measuring trolley 1 and photogrammetric coordinate measuring device 2, which is installed ahead on the railway tracks.

The track carriage 1 (FIG. 2) consists of two wheel pairs 8 interconnected by a supporting frame 12. The frame is fixed to the front axle of the wheel set using a hinge unit 13. It ensures stable contact of the front wheel pair with the rail track. The reticle 11 is made in the form of a ball and placed on both ends of the axis of the front wheelset in such a way that the center of the axis lies on the same straight line with their centers. This design allows you to eliminate the occurrence of error when the angular position of the track-measuring trolley relative to its center during movement. Another sighting target 7, made in the form of a cylinder and is located vertically upwards on the support frame 12, closer to the rear wheel pair. The wheels of the front wheelset are pressed against the side surfaces of the rails by the expanding spring 10, which makes it possible to determine the distance between the inner edges of the rail heads and control the width of the rail track. On the rear wheel pair is a compartment with an electric motor 3, a microcontroller 4 and a rechargeable battery 5. Equipping the track-measuring trolley with a radio signal receiver 6 provides the ability to remotely control it, which has a positive effect on performance and allows the operator to control the entire measurement process. Above the axis of the front wheel pair to the housing of the bearing unit 13 is attached a plate of a reflector of laser radiation 9 with a sight mark in the center, which has the shape of a circle. The sighting targets 7, 11 and the sighting mark on the plate 9 are painted in a contrasting color, which allows the photogrammetric coordinate measuring device 2 to detect them against the background of the terrain and determine the coordinates of rail threads from any angle in the line of sight.

The photogrammetric device 2 (FIG. 3) consists of a tripod 14 with a treker 15 mounted on it, which ensures the leveling of a dual-axis platform 16 fixed on it, on which, in turn, a digital camera 23 and a laser range finder 22 are placed. the abscissa on the coordinate plane of the CCD array 24 of the camera 23, which is an important condition for the correct operation of the system. The camera 23 is mounted on the platform 16 so that its main optical axis is aligned with the laser beam of the rangefinder 22. The computational program installed on the on-board computer 19 processes digital images generated by the camera 23 to detect a circle on the reflective plate 9. Then, the angles of the center of the target mark are calculated from the main optical axis and control commands are formed for the two-axis platform 16, which, using the stepper motors built into it, induces the camera 23 and the laser beam numbers 22 on the reflective plate 9. The direction of the vector of the main optical axis of the camera is determined by the absolute optical encoders 21, also located on the axes of the platform. Track mark tracking and guidance is performed automatically by the system in real time. Also, the system using a radio transmitter 18 allows remote control of the track-measuring trolley 1.

In the course of its movement, the track-measuring carriage 1 (FIG. 4) transmits by means of sighting targets 11 placed on the axis of the front wheelset 8, the shape of the curves formed by the points of contact of the wheels with the rail heads. The photogrammetric device 2 calculates the position of the sighting targets 11 from photographs taken with the help of a digital camera 23 and, taking into account the distance to the truck, measured by a laser range finder 22, determines various parameters of the track gauge geometry. After the track-measuring trolley 1 approaches the photogrammetric device 2 at a distance at which the sight targets 11 are out of the field of view of its camera 23, then the indicated device 2 is reset to the end point of the next controlled part of the path. The maximum allowable distance from the measuring trolley 1 is determined by the technical characteristics of the camera 23 used and the accuracy requirements of the measurement results. Each permutation of the device 2 is accompanied by its re-binding to the reference railway network, during which the specified device 2 determines its location using reference points.

The method is as follows.

вычисляется относительно главной оптической оси, в то время как само направление оси

относительно точки съемки определяется оптическими энкодерами. Принимая в расчет расстояние r с которого было получено изображение, вычисляются координаты центров визирных целей в собственной прямоугольной системе координат фотокамеры

и сферической системе координат фотограмметрического устройства

относительно точки съемки О. В этой точке размещается фотограмметрическое устройство (фиг.6, а), которое обнаруживает визирную марку и наводит главную оптическую ось фотокамеры, а также луч лазерного дальномера в некоторую точку С на отражательной пластине, прикрепленной над осью передней колесной пары. Расстояние ОС измеряется с помощью лазерного дальномера. Точками A, B и D заданы координаты центров визирных целей, которые располагаются на концах оси передней колесной пары тележки и на опорной раме, соответственно. При этом расстояние АС является известным и неизменным, в то время как BC изменяется под воздействием распирающей пружины в зависимости от ширины рельсовой колеи. Оптические лучи фотокамеры OA, OB и OD пересекают в точках A, B и D центры визирных целей. Проекции точек A и B на главную оптическую ось фотокамеры обозначены A′ и B′, соответственно.The camera has viewing angles ω and ψ along the length and width of the CCD matrix, respectively (figure 5). These angles set the boundaries of the camera's field of view, which is a rectangular truncated pyramid of height r, with a base of length W and width H. The image of the sighting targets and target is built on the plane of the CCD array 24 using a camera lens, the back main focus is indicated by the point F. target position

calculated relative to the main optical axis, while the axis direction itself

relative to the point of shooting is determined by optical encoders. Taking into account the distance r from which the image was obtained, the coordinates of the centers of the target targets are calculated in the camera’s own rectangular coordinate system

and spherical coordinate system of a photogrammetric device

with respect to the O point. At this point a photogrammetric device is placed (Fig. 6, a), which detects the target mark and induces the main optical axis of the camera, as well as the beam of the laser range finder at a certain point C on the reflective plate attached above the front wheelset axis. The distance of the operating system is measured using a laser rangefinder. The points A, B and D are given the coordinates of the centers of the target, which are located at the ends of the axis of the front wheelset of the bogie and on the support frame, respectively. The distance AC is known and unchanged, while the BC is changed under the influence of the arching spring, depending on the width of the rail track. The optical rays of the OA, OB, and OD cameras intersect at the A, B, and D points of the center of sight. The projections of points A and B onto the main optical axis of the camera are marked A ′ and B ′, respectively.

расположенной на прямой AB. Например, можно вычислить координаты правой визирной цели с центром в точке A. Ее угловое положение в системе координат камеры

определяется из выражения:The target and mark are projected onto the CCD of the camera as images with the centers at the points A ″, B ″, C ″ and D ″ (Fig.6, b). If a rectangular coordinate system is constructed on the image, then ∆x and ∆y will denote the distances between the centers of the sight targets A and B along the X and Y axes. These distances are necessary for calculating the position in the spherical coordinate system of any point

located on the line AB. For example, you can calculate the coordinates of the right sighting target with the center at point A. Its angular position in the camera's coordinate system

is determined from the expression:

, (1)

, (one)

where N _X , N _Y is the number of pixels in the row and column of the CCD matrix.

 To get the distance to the target, you first need to calculate the length of the segment AB from the expression:

. (2)

. (2)

The length A˝B˝ on the plane of the camera image is expressed in pixels. To convert it into a metric measure of length, it is necessary to calculate the conversion factor (multiplier):

, (3)

, (3)

where pix is the physical size of a pixel in the image;

       f is the focal length of the camera lens.

Then the angle between the straight line passing through the centers of the targets and the plane of the camera image is determined:

. (4)

. (four)

The distance to point A can be calculated from the expression:

,(5)

,(five)

Where

The distance to point B is determined from the expression:

,(6)

, (6)

Where

систему координат с помощью системы уравнений:To determine the point of contact of the wheel of the cart with the rail, it is necessary to calculate on the straight line AV the coordinates of the point M, which we designate the center of the wheel with the target sight A. attached to it. The point M will be located above the inner edge of the rail head. Target coordinates are converted from spherical to rectangular

coordinate system using the system of equations:

.(7)

. (7)

направляющий вектор прямой АВ, в пространстве, вычисляются его координаты из системы уравнений:Designating

directing vector of line AB, in space, its coordinates are calculated from the system of equations:

(8)

(eight)

Therefore, the parametric equations of the straight line AB can be written down by the system of equations:

,(9)

,(9)

where l is a parameter of the equation.

Since the length of the segment AM is known, the parameter l can be calculated from the following relation:

. (10)

. (ten)

The length of the segment AB is calculated from the expression:

.(11)

.(eleven)

To calculate the wheel center coordinates with the target sight B, indicated by the point N, the parametric equation of the straight line AB can be written as follows:

. (12)

. (12)

и

для каждой i-ой точки рельсового пути, определяются текущие координаты оси рельсового пути 

из выражений:Calculating, thus, the coordinates of the wheel centers

and

for each i-th point of the track, the current coordinates of the axis of the track are determined

from expressions:

(13)

(13)

оси железнодорожного пути с центров колес на уровень головок рельсов осуществляется по известным в геодезии вычислительным процедурам с получением значений координат

оси пути (редуцированные).Coordinate reduction

railway axles from wheel centers to railheads are carried out using computational procedures known in geodesy to obtain coordinate values

track axes (reduced).

The width of the rail track S _i at each i-th point is determined by the length of the segment MN from the expression:

(14)

(14)

The level of rail threads, which is the difference in the height of the top of the rail heads, is determined from the expression:

(15)

(15)

The on-board computer, in accordance with the computational program, builds two spatial curves according to the coordinates of the targets, defining the bends of the rail threads in the plan and profile. As an example, figure 7 depicts graphs constructed from the coordinates of a rail track, obtained by implementing a technical solution, according to the invention. After the track-measuring trolley approaches the distance at which the target targets are outside the field of view of the camera, the photogrammetric device is installed at the next point of the controlled section of the path. The maximum allowable distance from the measuring trolley is determined by the technical characteristics of the camera used and the accuracy requirements of the measurement results. Each shift of the photogrammetric device is accompanied by its re-binding to the reference railway network.

The technical solution according to the invention made it possible to automate the process of measuring the coordinates of rail threads and reduced the laboriousness of work in determining the parameters of the geometry of the rail track. In addition, measurement continuity was ensured throughout the entire controlled section of the railway track.

Thus, the set of essential features of the group of inventions provided an increase in productivity when carrying out various kinds of work related to monitoring the condition of a railway track, while ensuring higher accuracy of measurements.

Information sources

1. RF patent №2628541, IPC B61K9 / 08, for the invention “Method for determining spatial coordinates and geometrical parameters of a railway track and device for its implementation”.

2. Nepomnyaschikh E. V., Kirpichnikov K.A. Diagnosis of the state of the railway track: a manual on the implementation of laboratory work for students of the 2nd and 4th year of full-time and part-time tuition in the specialty 271501 “Construction of railways, bridges and transport tunnels” Chita: ZabiZhT, 2012. –109 p.

3. RF patent № 2138016, IPC G01C15 / 12, for the invention of the "Sight optical device."

Claims (4)

1. The method of determining the parameters of the geometry of a rail track using a system consisting of a track-measuring carriage and a photogrammetric coordinate-measuring device, characterized in that on the track-measuring car, which moves on two wheel pairs, connected by a longitudinal support frame, three sighting targets are installed, one on the support frame, the other two at the ends of the front axle of the wheelset, and above the center of this axis is placed a plate of a laser radiation reflector with a target mark, with the help of Using a photogrammetric coordinate-measuring device, in the process of moving the track-measuring trolley, its movements are monitored and the coordinates of target targets mounted on the axis of the wheel pair above the left and right tracks of the track are recorded continuously, and the parameters of the rail gauge are determined by these coordinates. 2. A system for determining the parameters of the geometry of a rail track, consisting of a photogrammetric coordinate-measuring device and a remote-controlled track-measuring trolley, which moves on two wheel pairs, connected by a longitudinal support frame, and on which three sighting targets are installed, one on the support frame, the other two At the ends of the front axle of the wheelset, and above the center of the said axis, to the body of the hinge assembly is attached, perpendicular to the direction of movement, a plate of a laser radiation reflector from The photogrammetric coordinate-measuring device, in turn, has a stand with a treger that ensures the leveling of a dual-axis platform with a digital camera and a rangefinder attached to it, placed in such a way that the laser beam of the rangefinder is aligned with the main optical axis of the camera, and the images obtained from the camera are processed on-board computer to detect the target mark and aim the laser beam of the rangefinder at it, while the direction of the vector of the main optical axis Cameras determined by optical encoders that are on the platform axes. 3. The system according to claim 2, characterized in that three target targets are installed on the track-measuring trolley, one of which has the shape of a cylinder and is located vertically upwards on the support frame, closer to the rear wheel pair, the other two are ball-shaped and located at the ends of the front the axis of the wheel set so that the center of the axis lies on the same straight line with their centers, and the target mark has the shape of a circle, while all the target and the mark are monotonously colored in a contrasting color allowing them to be visually distinguished against the background of the terrain. 4. The system according to claim 2 or 3, characterized in that said on-board computer is equipped with a computer program that performs the recalculation of the recorded current values of the spherical coordinates (r ₁ , θ ₁ , φ ₁ ) and (r ₂ , θ ₂ , φ ₂ ) centers the sighting targets set above the left and right strands of the track, respectively, in spatial rectangular coordinates with their reference to the reference railway network and defining the parameters of the geometry of the track gauge.

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