TW201415032A - Space track curvature inversion method - Google Patents

Abstract

The present invention discloses a space track curvature inversion method, in which a triaxial gyroscope is mounted on a track moving vehicle. When the track moving vehicle passes the track road, the triaxial gyroscope will read the data to obtain the angular velocity value of the track moving vehicle at each track position point, which will be converted to the track surface itself using the space coordinate transformation to obtain the three-dimensional curvature and curvature variation for the route of track moving vehicle; then, employing the backend real-time processor to convert the obtained angular velocity value into curvature data and implementing the numerical determination on the curvature data, so as to make sure if the track occurs with any abnormal situation. Thus, the obtained curvature variation may be used as the guideline of space geometric curve correction and track irregularity assessment. The present invention may be widely applied to irregularity detection using different wavelengths so as to achieve better precision while determining the track irregularity and track geometrical curve variation.

Description

Spatial orbit curvature inverse calculation method

The invention relates to a method for inverse calculation of spatial orbital curvature, in particular to an available curvature change amount as a criterion for orbital geometric line shape correction and track irregularity evaluation, which is widely used for detection of different wavelength irregularities. It is effective to determine the accuracy of the track and the geometry of the track.

According to the track structure, it has the function of fixed train travel route and stably transferring the train to the lower civil structure, which is an important part of the rail transit system; and the rail may force some components under the action of huge moving load. The loose phenomenon, or the foundation subsidence, the deformation of the bridge beam, etc., may cause the geometry of the track structure to be different from the original design and cause the track to be irregular. Once the track is not complete, it will affect the comfort of the train passengers. Affecting the stability and safety of the train as a whole, the judgment of the track irregularity is a part of the overall railway system that cannot be ignored.
In order to reduce the possibility of damage caused by various anomalies on the track surface, regular track inspection and maintenance work is an important issue that cannot be ignored in the track system. In the frequent testing, manual inspection requires a large amount of personnel costs, and it is easy to include the self-subjective awareness of the inspectors, which makes it inevitable to miss the track detection. Therefore, the development of more accurate, fast and low-cost track integrity detection technology has become a research topic of many experts and scholars today, and developed a track detection mode based on a variety of different theories.
However, the operation of a rail train in orbit is a motion behavior in a spatial curve, which has mechanical complexity, and the correlation between the acceleration response and the orbital line type in space is not negligible. In the past, the motion actors in the study space curve used the dynamic response of the rail train to detect the curvature change of the track. Weston et al.'s (2007), the orbital line type was obtained by the individual conversion of the vertical and horizontal accelerations of the rail train, but not considered. The phenomenon that the curvature in each direction is coupled in the acceleration response. In order to control the extra acceleration response of the rail train during the running due to the track line type and avoid the possible driving safety concerns, it is necessary to know the change of the track line type for a long time, and also to evaluate the train comfort. And one of the safety standards.
Using the technology of the past (Liao Qinglong, "Application of Orbital Theory and Tracks", China Civil Engineering and Engineering Journal, Vol. 31, No. 2, April 2004, pp. 49-53) In the moving coordinate system of the rail train, the vibration response of the rail train is discussed. Because the coupling equation between the curvature and the curvature change in each direction is taken into account in the acceleration equation, the calculation results are different. The results of using the basic curvature calculation method are common. The vibration amplitude is large, and it can be seen that the general algorithm does not consider the result of the curvature coupling effect, especially in the direction of the vertical orbital plane, the amplitude of the judgment is conservative, and the detailed line shape change of the trajectory cannot be accurately diagnosed. Will cause errors.
In view of this, the inventors of this case have intensively discussed the above-mentioned problems of conventional inventions, and actively pursued solutions through years of experience in R&D and manufacturing of related industries. After long-term efforts in research and development, they finally succeeded in developing this book. Invented the "space orbit curvature inverse calculation method" to improve the various problems of the application.

The main purpose of the present invention is to obtain the curvature change amount as the criterion for the orbital geometric line shape correction and the track irregularity evaluation, and to widely apply to the detection of different wavelength irregularities, and to determine the track irregularity and the track geometric line shape change. It has the effect of better precision.
For the purposes of the above, the present invention is a spatial orbital curvature inverse calculation method comprising the following steps:
Step 1: Install a three-axis gyroscope on the orbiting vehicle.
Step 2: When the track moves the vehicle through the track surface, the data is simultaneously read by the three-axis gyroscope.
Step 3: The three-axis gyroscope obtains the angular velocity value of the vehicle moving at each orbital position point.
Step 4: Convert the space coordinates to the orbital surface itself to obtain the three-dimensional curvature and curvature change of the orbital moving vehicle.
Step 5: The future end processor converts the obtained angular velocity value data into curvature data, and then performs numerical judgment on the curvature data to determine whether the track is abnormal.
In an embodiment of the invention, the track moving vehicle is provided with a monitoring mechanism connecting the three-axis gyroscope and the back-end instant processor.
In an embodiment of the invention, the monitoring mechanism is connected to the back end immediate processor in a wired manner.
In an embodiment of the invention, the monitoring mechanism is wirelessly coupled to the back end immediate processor.
In an embodiment of the invention, the monitoring mechanism is further connected with at least four three-axis accelerometers and a vehicle speeder, and wherein the two three-axis accelerometers are respectively connected to a three-axis gyroscope.

Please refer to FIG. 1 for a schematic diagram of the basic architecture of the present invention. As shown in the figure: The present invention is a spatial orbit curvature inverse calculation method, which comprises at least the following steps:
Step 1: Install a three-axis gyroscope 2 on the orbiting moving vehicle 1, and the rail moving vehicle 1 is provided with a monitoring mechanism 3 connected to the three-axis gyroscope 2, and the monitoring mechanism 3 is further wired or wireless. The method is connected with a back-end instant processor 4 (the present invention is wirelessly used as an embodiment), at least four three-axis accelerometers 5 and a vehicle speedometer 6, and two of the three-axis accelerometers 5 are respectively associated with one or three The axial gyroscope 2 is connected.
Step 2: When the track moving vehicle 1 passes the track surface, the three-axis gyroscope 2 cooperates with the monitoring mechanism 3, the three-axis accelerometer 5 and the vehicle speed 6 to read the relevant vehicle line data.
Step 3: The three-axis gyroscope 2 obtains the angular velocity value of the vehicle 1 for each orbital position point orbit.
Step 4: Convert the space coordinates to the track surface itself to obtain the three-dimensional curvature and curvature change of the track moving vehicle 1 stroke.
Step 5: The future end processor 4 converts the obtained angular velocity value data into curvature data, and then performs numerical judgment on the curvature data to determine whether the track is abnormal.
The invention proposes a method for inversely calculating the curvature along the arc length and the amount of curvature change by the acceleration signal of the moving axle, which can be used for detecting the defect of the track system, that is, the imperfect point, and judging the track irregularity and the track. When the geometric line shape changes, it has the effect of better precision.
In summary, the spatial orbit curvature inverse calculation method of the present invention can effectively improve various disadvantages of the conventional use, and the curvature change amount can be obtained as the criterion for the orbital space line shape correction and the track irregularity evaluation, and is widely applied to different wavelengths. The detection has the effect of better precision when judging the track irregularity and the geometric line shape change of the track; thereby making the invention more progressive, more practical and more suitable for the use of the consumer, and has indeed met the invention patent For the requirements of the application, the patent application is filed according to law.
However, the above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto; therefore, the simple equivalent changes and modifications made in accordance with the scope of the present invention and the contents of the invention are modified. All should remain within the scope of the invention patent.

1. . . Track moving vehicle

2. . . Triaxial gyroscope

3. . . Monitoring agency

4. . . Backend instant processor

5. . . Triaxial accelerometer

6. . . Speedometer

Figure 1 is a schematic diagram of the basic architecture of the present invention.

1. . . Track moving vehicle

2. . . Triaxial gyroscope

3. . . Monitoring agency

4. . . Backend instant processor

5. . . Triaxial accelerometer

6. . . Speedometer

Claims (5)

A spatial orbit curvature inverse calculation method includes the following steps:
Step 1: Install a three-axis gyroscope on the orbiting vehicle;
Step 2: When the track moves the vehicle through the track surface, the data is simultaneously read by the three-axis gyroscope;
Step 3: The three-axis gyroscope obtains the angular velocity value of the vehicle moving at each orbital position point orbit;
Step 4: Convert the space coordinate to the track surface itself to obtain the three-dimensional curvature and curvature change of the track moving vehicle; and Step 5: The future end processor converts the obtained angular velocity value data into curvature data, and then on the curvature data. Make a numerical judgment to determine if the track is abnormal. According to the spatial orbit curvature inverse calculation method described in claim 1, wherein the track moving vehicle is provided with a monitoring mechanism connecting the three-axis gyroscope and the back-end instant processor. According to the spatial orbit curvature inverse calculation method described in claim 2, the monitoring mechanism is connected to the back-end instant processor in a wired manner. The spatial orbit curvature inverse calculation method according to claim 2, wherein the monitoring mechanism is wirelessly connected to the back end immediate processor. According to the space orbit curvature inverse calculation method described in claim 2, wherein the monitoring mechanism is further connected with at least four three-axis accelerometers and a vehicle speed, and two of the three-axis accelerometers are respectively Three-axis gyroscope connection.