High-speed rail detection installation device

Abstract

The present invention relates to the field of railway track detection, and provides a high-speed track detection installation device, including: a horizontal beam, a vertical beam and an oblique beam that are arranged horizontally and connected end to end in sequence to form a triangular structure on the horizontal plane; wherein an inertial navigation installation reference surface is provided in the middle of the upper surface of the horizontal beam and / or the middle of the lower surface; the lower surface of the horizontal beam is provided with more than two groups of camera installation reference surfaces; the vertical beam includes a high beam, a low beam and a connecting beam, the lower surface of the high beam is connected to one end of the upper surface of the horizontal beam, and the upper surface of the low beam is connected to one end of the lower surface of the oblique beam; the lower surface of the low beam is provided with more than one group of camera installation reference surfaces; the other end of the lower surface of the oblique beam is connected to the other end of the upper surface of the horizontal beam. The installation device can be directly installed on the car body or the bogie, reducing the overall weight while ensuring the structural strength, and combining the inertial navigation system, odometer and laser camera assembly for track detection to improve the track detection accuracy.

Description

Technical Field

[0001] The present invention relates to the field of railway track detection, and in particular to a high-speed track detection installation device and method. Background Art

[0002] Since the beginning of this century, China has stepped up its efforts to build rail transit infrastructure. The mileage of various types of tracks, including high-speed rail, EMU trains, conventional rail, and subways, has grown rapidly, and the burden of train transportation has reached unprecedented levels. Tracks are the foundation of train operation, and the quality of track geometry (gauge, level, track alignment, height, lateral deviation, and vertical deviation, among others) is closely linked to train safety.

[0003] With the continuous increase in rail transit train speeds, traffic density, and loads, track performance is being put to the test, and track maintenance is becoming increasingly difficult. Track (geometric parameter) inspection systems have received significant attention as a key means of ensuring track safety. Comprehensive inspection of track geometry is required during the construction and maintenance of all types of track. With the rapid growth in rail transit mileage both domestically and internationally, the demand for track inspection systems is also rapidly increasing.

[0004] At present, track detection systems can be divided into two categories based on detection carrier and speed:

[0005] (1) Low-speed track inspection system: The main carrier is a non-powered inspection trolley, usually a T-shaped structure. During the inspection operation, it needs to be pushed manually or by other powered vehicles. The maximum inspection speed is usually less than 60 km / h;

[0006] (2) High-speed track inspection system: The main carriers are various powered operating vehicles (high-speed rail, EMU, conventional rail, intercity rail, subway, etc.) and working vehicles (tamping vehicles, grinding vehicles, inspection vehicles, etc.). Track inspection is carried out while the train is running. The maximum inspection speed is usually greater than 60 km / h.

[0007] There are currently two main types of high-speed track detection systems: high-speed optical track detection systems and high-speed gyroscopic track detection systems.

[0008] The Design and Development of GJ-6 Track Detection System introduces a typical high-speed gyro track detection system, such as Figure 1 As shown, the track detection system includes a gyroscope and multiple sensors for data processing. Figure 2 and Figure 3 As shown, a straight mounting base is used.

[0009] The existing high-speed gyro track detection system has the following main disadvantages:

[0010] (1) The track detection scheme based on inertial reference requires a large number of sensors (23), which makes the system more complex, costly, and difficult to use and maintain.

[0011] (2) When a linear mounting base is used, sensors need to be installed on the mounting base, vehicle body, and axle box, which makes installation more difficult.

[0012] (3) The simple fusion data processing method of multiple sensors based on gyroscopes, accelerometers, odometers, displacement meters and laser camera components is difficult to effectively overcome the negative impact of gyroscope errors (zero bias, installation error, scale factor error, etc.) and accelerometer errors (zero bias, installation error, scale factor error, etc.) on track detection accuracy.

[0013] (4) Under dynamic conditions, the magnitude of the Earth's rotation angle component detected by each gyroscope in the existing high-speed gyro orbit detection system is constantly changing, and the magnitude of the Earth's gravity acceleration component detected by each accelerometer is constantly changing. The Earth's rotation angular velocity component detected by each gyroscope and the gravity acceleration component detected by each accelerometer cannot be completely deducted, which leads to a decrease in orbit detection accuracy.

[0014] (5) The lack of specialized high-precision temperature compensation and high-precision system calibration methods tailored to the changing operating conditions (ambient temperature, inspection speed, and track parameters) of high-speed track inspections has limited further improvements in track inspection accuracy. Track inspection accuracy and reliability significantly decrease when ambient temperature, inspection speed, and track parameters vary significantly.

[0015] (6) When using a single odometer solution, it is difficult to avoid the odometer failure problem.

[0016] Therefore, there is an urgent need for a high-speed track detection system that can improve track detection accuracy and is less difficult to install. Summary of the Invention

[0017] In response to multiple problems existing in the existing technology, based on the sensor configuration and measurement principle of the inertial navigation system, the present invention provides a high-speed track detection and installation device, a high-speed track detection system and a processing method for the high-speed track detection and installation device, which can reduce the number of sensors, reduce the installation difficulty, and improve the track detection accuracy.

[0018] According to a first aspect of the present invention, there is provided a high-speed track inspection and installation device, comprising: horizontally arranged and sequentially connected end to end to form a triangular structure on the horizontal plane, a vertical beam and an oblique beam; wherein:

[0019] An inertial navigation installation reference surface is provided in the middle of the upper surface and / or the middle of the lower surface of the crossbeam; and two or more sets of camera installation reference surfaces are provided on the lower surface of the crossbeam;

[0020] The vertical beam includes a high beam, a low beam, and a connecting beam connecting the high beam and the low beam. The high beam and the low beam are parallel. The lower surface of the high beam is connected to one end of the upper surface of the horizontal beam, and the upper surface of the low beam is connected to one end of the lower surface of the oblique beam. The lower surface of the low beam is provided with one or more camera installation reference surfaces.

[0021] The other end of the lower surface of the oblique beam is connected to the other end of the upper surface of the horizontal beam.

[0022] According to an exemplary embodiment of the present invention, two sets of camera installation reference surfaces are respectively provided at both ends of the lower surface of the beam.

[0023] According to an exemplary embodiment of the present invention, the horizontal beam is used to install an inertial navigation system and two or more laser camera assemblies; the vertical beam is used to install one or two laser camera assemblies; and the inclined beam is used to fix the horizontal beam and the vertical beam.

[0024] According to an example embodiment of the present invention, one end of the upper surface of the horizontal beam is provided with a vertical beam installation reference surface, and the other end of the upper surface is provided with an oblique beam installation reference surface; the lower surface of the high beam of the vertical beam is provided with a horizontal beam installation reference surface, and the upper surface of the low beam of the vertical beam is provided with an oblique beam installation reference surface; one end of the lower surface of the oblique beam is provided with a vertical beam installation reference surface, and the other end of the lower surface is provided with a horizontal beam installation reference surface.

[0025] The horizontal beam installation reference surface, the inclined beam installation reference surface and the vertical beam installation reference surface are all used for position fixation and calibration.

[0026] According to an exemplary embodiment of the present invention, the height difference between the high beam and the low beam is the height difference between the upper surface of the cross beam and the lower surface of the cross beam.

[0027] According to an example embodiment of the present invention, the horizontal beams, vertical beams and inclined beams are processed by a stress relief treatment process and a deformation control process. The stress relief treatment process includes high and low temperature stress relief methods, natural stress relief and vibration stress relief methods, etc., which can significantly reduce material stress and processing stress; the deformation control process may include machine tool parameter control, combination of rough machining and fine machining, multiple clamping and clamping stress control methods, etc., wherein the machine tool parameters include tool head parameters, feed rate, spindle speed, cutting rate and cutting depth.

[0028] According to an exemplary embodiment of the present invention, the inertial navigation system mounting reference surface and the laser camera assembly mounting reference surface are each provided with a plurality of locating pins or holes. Furthermore, the vertical beam mounting reference surface, the inclined beam mounting reference surface, and the horizontal beam mounting reference surface are each provided with a plurality of locating pins or holes. These locating pins and holes enable highly precise and repeatable mounting between beams and between beams and the laser camera assembly or inertial navigation system, thereby reducing installation complexity and facilitating maintenance.

[0029] According to an exemplary embodiment of the present invention, a high-speed track inspection mounting device further includes a plurality of integral mounting holes and a plurality of sets of vibration dampers. Some of the integral mounting holes are located on the vertical beam, while others are located on the horizontal beam. A set of vibration dampers is located on each integral mounting hole. The mounting device is attached to a bogie or vehicle body via the vibration dampers. The stiffness, damping, and frequency parameters of the vibration dampers can be determined based on track inspection accuracy and dynamic range requirements.

[0030] According to an exemplary embodiment of the present invention, the high-speed track inspection installation device further includes a plurality of anti-falling installation holes, which are respectively provided at each corner of the triangular structure installation device for connection with the bogie or the vehicle body.

[0031] According to an exemplary embodiment of the present invention, one or two fall prevention mounting holes are provided at each corner of the triangular-structured mounting device.

[0032] According to an exemplary embodiment of the present invention, the anti-falling mounting hole is directly mounted with an anti-falling chain or the anti-falling chain is mounted with an eye bolt.

[0033] According to an exemplary embodiment of the present invention, one end of the anti-fall chain is connected to the anti-fall mounting hole or the eye bolt, and the other end is fixed to the bogie or the vehicle body.

[0034] According to an exemplary embodiment of the present invention, the horizontal beams, the vertical beams and the diagonal beams all include reinforcing ribs.

[0035] According to an exemplary embodiment of the present invention, every two beams are connected by bolts.

[0036] According to an exemplary embodiment of the present invention, two sets of camera installation reference surfaces are provided on the lower surface of the low beam, one of which is a reserved camera installation reference surface used as a backup.

[0037] According to an exemplary embodiment of the present invention, the camera installation reference surfaces on the horizontal beam and the vertical beam include a plurality of bosses, each of which is provided with a plurality of positioning pins or positioning holes for mounting the laser camera assembly.

[0038] According to an exemplary embodiment of the present invention, the inertial navigation installation reference surface on the beam includes a plurality of bosses, each boss is provided with a plurality of positioning pins or positioning holes for installing the inertial navigation system.

[0039] According to an exemplary embodiment of the present invention, a plurality of positioning pins or positioning holes are provided on the horizontal beam installation reference surface, the vertical beam installation reference surface, and the inclined beam installation reference surface.

[0040] According to an exemplary embodiment of the present invention, one or more of a stress relief process, a machine parameter optimization process, a rough-and-fine machining process, or a clamping stress control process are used to process the horizontal beams, vertical beams, and oblique beams.

[0041] According to an exemplary embodiment of the present invention, the stress relief process includes performing multiple stress relief methods during the processing, and the stress relief methods include high and low temperature stress relief, natural stress relief or vibration stress relief, which significantly reduces material stress and processing stress.

[0042] According to an exemplary embodiment of the present invention, the machine tool parameter optimization process includes optimizing machine tool parameters to reduce machining deformation and stress and improve the stability of various parts after machining. The machine tool parameters include tool head parameters, feed rate, spindle speed, cutting rate, and cutting depth.

[0043] According to an exemplary embodiment of the present invention, the rough-finish combined machining process includes combining multiple roughing and finishing operations to improve the stability of each part after machining.

[0044] According to an exemplary embodiment of the present invention, the clamping stress control process includes using multiple clamping and clamping stress control during the processing to improve the stability of each part after processing.

[0045] According to a second aspect of the present invention, a high-speed track detection system is provided, comprising the high-speed track detection installation device, an inertial navigation system, multiple sets of laser camera components and an odometer; wherein,

[0046] The mounting device fixes the inertial navigation system and multiple sets of laser camera assemblies;

[0047] The inertial navigation system is connected to the odometer and the laser camera assembly via an electrical interface, and is used to measure at least the attitude, speed and position data of the mounting device, and calculate the track geometry state by combining the odometer data and the data of the laser camera assembly;

[0048] The odometer is arranged on a wheel of a detection vehicle adjacent to the mounting device.

[0049] According to an exemplary embodiment of the present invention, the high-speed track detection system further includes a display control device, which is connected to the inertial navigation system via an electrical interface and is used at least for displaying and controlling the system.

[0050] According to an example embodiment of the present invention, the high-speed track detection system further includes a satellite navigation receiver, which is connected to the inertial navigation system via an electrical interface and is used to measure the position and speed of the detection vehicle equipped with the high-speed track detection system, while using the satellite navigation system as a time reference for data and synchronized second pulse signals.

[0051] According to an exemplary embodiment of the present invention, the high-speed track inspection system further includes a system power supply for supplying power to various parts of the system.

[0052] According to an exemplary embodiment of the present invention, the high-speed track inspection system further includes a temperature sensor mounted on the high-speed track inspection mounting device. The temperature sensor is electrically connected to the inertial navigation system (INS) and is used to detect the temperature of the high-speed track inspection mounting device and perform temperature compensation using the INS. A high-precision temperature calibration and compensation method is employed to perform high-precision temperature compensation for mounting device deformation based on temperature sensor measurement data and temperature calibration data, thereby improving track inspection accuracy.

[0053] According to an exemplary embodiment of the present invention, the inertial navigation system includes a gyroscope, an accelerometer, an inertial device circuit, a navigation computer, a temperature sensor, and a universal interface circuit; wherein,

[0054] The gyroscope is used to measure angular velocity data;

[0055] The accelerometer is used to measure acceleration data;

[0056] The inertial device circuit is used to collect gyroscope and accelerometer measurement data;

[0057] The navigation computer is used to complete at least inertial navigation solution, temperature data solution, laser camera data solution, odometer data solution, and various measurement models and error compensation model solutions;

[0058] The temperature sensor is used to measure temperature data;

[0059] The universal interface circuit is used for connecting at least an odometer, a temperature sensor and a laser camera assembly.

[0060] According to an exemplary embodiment of the present invention, the navigation computer further includes a power supply circuit, which is used to convert external input power into various power supplies required within the system.

[0061] According to an exemplary embodiment of the present invention, the universal interface circuit is further used to connect to a display control device.

[0062] According to an exemplary embodiment of the present invention, the universal interface circuit is further used to connect to a satellite navigation receiver.

[0063] According to an exemplary embodiment of the present invention, the laser camera assembly is used to measure the relative position and relative posture parameters between the mounting device and the rail. Each set of laser camera assemblies includes a laser, a transmitting optical system, a high-speed camera and a receiving optical system.

[0064] According to an exemplary embodiment of the present invention, the odometer includes a photoelectric encoder, a magnetoelectric encoder, a resistance encoder, or a magnetic nail plus a Hall sensor, and is used to measure the mileage and speed of the inspection vehicle equipped with the railway track inspection system.

[0065] According to an exemplary embodiment of the present invention, there are a plurality of odometers, each of which is installed on a wheel.

[0066] According to a third aspect of the present invention, a high-speed track inspection vehicle is provided, comprising the high-speed track inspection system and a powered vehicle, the powered vehicle comprising an operating vehicle and a work vehicle, the operating vehicle comprising a high-speed train, an EMU, a conventional train, an intercity train and a subway, and the work vehicle comprising a tamping vehicle, a grinding vehicle and an inspection vehicle.

[0067] The beneficial effects of the present invention are:

[0068] The present invention proposes a novel mounting device, which is mainly used to install the main sensor of a high-speed inertial navigation track detection system. The present invention also provides a high-speed track detection system based on the mounting device, which can improve the accuracy of railway track detection. The following points are specifically explained:

[0069] (1) The installation device proposed in the present invention is mainly composed of three beams: a horizontal beam, a vertical beam and an inclined beam; the three beams can be installed repeatedly with high precision through the positioning pins and positioning holes of the reference surface, and can install the main sensors of the high-speed inertial navigation railway track detection system (including the inertial navigation system and the laser camera assembly) with high precision, and has a high-precision repeated installation function.

[0070] (2) The size of the installation device is large, and the length of the three beams is usually between 1 and 3 meters. Through structural optimization methods, theoretical analysis and simulation calculation methods are used to optimize the structure of the installation device as a whole and each part. The beam structure and reinforcement ribs are used to significantly reduce the overall weight while ensuring the structural strength.

[0071] (3) The present invention conducts a comprehensive analysis of the ambient temperature and stress state characteristics of the high-speed track detection system, and performs sufficient thermal and mechanical analysis on the entire installation device and each part. By changing the parameters of the structural beam and the reinforcement ribs, the overall weight is significantly reduced.

[0072] (4) The use of four types of processing technology can significantly improve the processing accuracy and stability, significantly improve the accuracy and reliability of the installation device under relatively harsh temperature and stress conditions, and further improve the accuracy and reliability of the entire high-speed track detection system.

[0073] (5) A plurality of anti-fall installation holes are provided on the installation device, and anti-fall protection is provided by an anti-fall chain to improve the safety of the installation device.

[0074] (6) Deeply integrating the data of the inertial navigation system, laser camera assembly and odometer and using fewer sensors can reduce the installation difficulty and the installation error of the gyroscope and accelerometer, overcome the angular velocity component of the earth's rotation and the gravitational acceleration component, and improve the detection accuracy.

[0075] (7) Multiple odometers are used to improve detection accuracy and avoid failure of a single odometer.

[0076] (8) An overall vibration reduction scheme is adopted to reduce the overall vibration of the mounting device and the sensor installed on the mounting device.

[0077] (9) Real-time detection of the temperature of the installation device, using high-precision temperature calibration and compensation methods, and high-precision compensation of the deformation of the installation device based on the measurement data of the temperature sensor and the temperature calibration data to improve the track detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 This is a schematic diagram of the sensor installation of a high-speed gyro track detection system in the prior art;

[0079] Figure 2 It is a structural diagram of a linear mounting base in the prior art.

[0080] Figure 3 This is a physical picture of a linear mounting base in the prior art.

[0081] Figure 4 It is a three-dimensional diagram of the high-speed track detection installation device.

[0082] Figure 5 This is a top view of the high-speed track detection installation device.

[0083] Figure 6 This is a three-dimensional image of the beam from one angle.

[0084] Figure 7 This is a three-dimensional image of the beam from another angle.

[0085] Figure 8 This is a top view of the beam.

[0086] Figure 9 This is a bottom view of the beam.

[0087] Figure 10 This is a three-dimensional diagram of the vertical beam from one angle.

[0088] Figure 11 This is a three-dimensional image of the vertical beam from another angle.

[0089] Figure 12 This is the main view of the vertical beam.

[0090] Figure 13 This is a top view of the vertical beam.

[0091] Figure 14 This is a bottom view of the vertical beam.

[0092] Figure 15 This is a three-dimensional diagram of an inclined beam from one angle.

[0093] Figure 16 This is a three-dimensional image of the inclined beam from another angle.

[0094] Figure 17 This is a top view of the inclined beam.

[0095] Figure 18 This is the bottom view of the inclined beam.

[0096] Figure 19 It is a structural diagram of a high-speed track detection system according to a second embodiment.

[0097] Figure 20 This is a stereoscopic view from one angle of the high-speed track detection installation device equipped with an inertial navigation system and a laser camera assembly.

[0098] Figure 21 This is a stereoscopic view from another angle of the high-speed track detection installation device equipped with an inertial navigation system and a laser camera assembly.

[0099] Figure 22 This is a top view of the high-speed track detection installation device equipped with an inertial navigation system and laser camera components.

[0100] Figure 23 This is a left view of the high-speed track detection installation device equipped with an inertial navigation system and laser camera components.

[0101] Figure 24 This is a rear view of the high-speed track detection installation device equipped with an inertial navigation system and laser camera components.

[0102] Figure 25 This is a bottom view of the high-speed track detection installation device equipped with an inertial navigation system and a laser camera assembly.

[0103] Figure 26 This is a structural diagram of the laser camera assembly.

[0104] Figure 27 It is a structural diagram of a high-speed railway track detection system according to a fourth embodiment.

[0105] Among them, 1 is the high-speed track detection installation device, 11 is the crossbeam, 11A is the upper surface of the crossbeam, 11B is the lower surface of the crossbeam, 111 is the inertial navigation installation reference surface, 112 is the camera installation reference surface, 113 is the vertical beam installation reference surface, 114 is the inclined beam installation reference surface, 12 is the vertical beam, 12A is the upper surface of the vertical beam, 12B is the lower surface of the vertical beam, 121 is the high beam, 121B is the lower surface of the high beam, 122 is the connecting beam, 123 is the low beam, 123A is the upper surface of the low beam, 123B is the lower surface of the low beam, d —Height difference between high beam and low beam, 124—Camera installation reference surface, 125—Horizontal beam installation reference surface, 126—Inclined beam installation reference surface, 13—Inclined beam, 13A—Upper surface of inclined beam, 13B—Lower surface of inclined beam, 131—Horizontal beam installation reference surface, 132—Vertical beam installation reference surface, 14—Integral mounting hole, 15—Anti-fall mounting hole, 2—Inertial navigation system, 3—Laser camera assembly, 4—Odometer, 5—Display control device, 6—System power supply, 7—Satellite navigation receiver, 8—Shock absorber. DETAILED DESCRIPTION

[0106] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the description of the present invention will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The accompanying drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale.

[0107] In addition, the described features, structures or characteristics can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solutions of the present invention can be practiced while omitting one or more of the specific details, or other methods, components, steps, etc. can be adopted. In other cases, well-known structures, methods, implementations or operations are not shown or described in detail to avoid obscuring various aspects of the present invention.

[0108] According to the first embodiment of the present invention, in order to improve the track detection accuracy, the present invention provides a high-speed track detection installation device capable of installing an inertial navigation system and a laser camera assembly based on an inertial navigation system. Figure 4 and Figure 5 As shown, it includes horizontal beams 11, vertical beams 12 and oblique beams 13 which are arranged horizontally and connected end to end in sequence to form a triangular structure on the horizontal plane.

[0109] like Figure 6-9As shown, the crossbeam 11 is used to install an inertial navigation system and two sets of laser camera assemblies, including an upper surface 11A and a lower surface 11B of the crossbeam. The upper surface 11A of the crossbeam is used for fixation and calibration with the inertial navigation system, the vertical beam 12 and the oblique beam 13, including an inertial navigation installation reference surface 111 located in the middle and vertical beam installation reference surfaces 113 and oblique beam installation reference surfaces 114 distributed on both sides of the inertial navigation installation reference surface 111. A plurality of positioning holes are provided on the vertical beam installation reference surface 113 and the oblique beam installation reference surface 114. Figure 8 The center vertical beam mounting datum surface 113 is rectangular, and the diagonal beam mounting datum surface 114 is pentagonal. In actual scenarios, mounting datum surfaces of other shapes can be set based on the shapes of the vertical beam 12 and diagonal beam 13. The lower surface 11B of the crossbeam is used for fixing and calibrating the inertial navigation system and two sets of laser camera assemblies. It includes an inertial navigation mounting datum surface 111 located in the center and two sets of camera mounting datum surfaces 112 distributed on either side of the inertial navigation mounting datum surface 111. The inertial navigation mounting datum surface 111 includes multiple bosses, each with two locating pins, which are used for high-precision repeatable installation with the inertial navigation system. The camera mounting datum surface 112 includes multiple bosses, each with three locating pins, which are used for high-precision repeatable installation with the laser camera assembly. Two integral mounting holes 14 are provided on both sides of the crossbeam 11 for integral installation of the mounting device or installation of the shock absorber. Each integral mounting hole 14 is mounted to the bogie or vehicle body through the shock absorber. The shock absorber's stiffness, damping, and frequency parameters are determined based on track inspection accuracy and dynamic range requirements. Each integral mounting hole 14 is flanked by two anti-fall mounting holes 15. These mounting holes 15 can be used to attach an anti-fall chain directly or via eyebolts. The chains are then secured to the bogie or vehicle body. The lower surface 11B of the crossbeam is machined with multiple special-shaped reinforcement ribs to enhance overall structural strength.

[0110] like Figure 10-14 As shown, the vertical beam 12 is used to install a set of laser camera components, and is composed of a high beam 121, a low beam 123 and a connecting beam 122. The high beam 121 and the low beam 123 are both parallel to the horizontal plane. The height difference d between the high beam 121 and the low beam 123 is the height difference between the upper surface 11A of the horizontal beam and the lower surface 11B of the horizontal beam. The connecting beam 122 is used to connect the high beam 121 and the low beam 12. The vertical beam 12 includes a vertical beam upper surface 12A and a vertical beam lower surface 12B. The vertical beam upper surface 12A includes a low beam upper surface 123A. The low beam upper surface 123A is used for fixing and calibrating with the inclined beam 13, and includes an inclined beam installation reference surface 126. The inclined beam installation reference surface 126 is provided with a plurality of positioning holes. Figure 13The middle oblique beam installation reference surface 126 is a pentagon and can be adjusted to other shapes according to the shape of the oblique beam 13. The vertical beam lower surface 12B includes a high beam lower surface 121B and a low beam lower surface 123B. The high beam lower surface 121B is used for fixing and calibrating with the cross beam 11, and includes a cross beam installation reference surface 125, which is provided with a plurality of positioning holes. Figure 14 The middle crossbeam mounting reference surface 125 is rectangular and can be adjusted to other shapes according to the shape of the crossbeam 11. The lower surface 123B of the low beam is used for fixing and calibrating the laser camera assembly, including the camera mounting reference surface 124. Figure 14 The structure includes two sets of camera mounting datum surfaces 124, one of which is reserved for backup. Each set of camera mounting datum surfaces 124 includes multiple bosses, each with three locating pins for high-precision, repeatable mounting of the laser camera assembly. The vertical beam 12 features an integral mounting hole 14 for mounting the mounting device or shock absorber. These holes, in conjunction with the two integral mounting holes 14 on the crossbeam 11, secure the three beams of the triangular structure to the vehicle body. Each integral mounting hole 14 is mounted to the bogie or vehicle body via a shock absorber. The shock absorber's stiffness, damping, and frequency parameters are determined based on track inspection accuracy and dynamic range requirements. The vertical beam 12 also features two anti-fall mounting holes 15, which can be used to attach an anti-fall chain directly or via eyebolts. The chains are then secured to the bogie or vehicle body via the anti-fall chains. The lower surface 12B of the vertical beam features multiple special-shaped reinforcement ribs to enhance overall structural strength.

[0111] like Figure 15-18 As shown, the inclined beam 13 is used to fix the horizontal beam 11 and the vertical beam 12, including the upper surface 13A and the lower surface 13B of the inclined beam. The lower surface 13B of the inclined beam is used for fixing and calibrating the horizontal beam 11 and the vertical beam 12, including the horizontal beam installation reference surface 131 and the vertical beam installation reference surface 132 distributed at both ends of the lower surface 13B of the inclined beam. Figure 18 In the figure, the horizontal beam mounting reference surface 131 is located on the right side and is provided with multiple positioning holes. This surface is pentagonal and can be adjusted to other shapes according to the shape of the horizontal beam 11. The vertical beam mounting reference surface 132 is located on the right side and is provided with multiple positioning holes. This surface is pentagonal and can be adjusted to other shapes according to the shape of the vertical beam 12. The lower surface 13B of the diagonal beam is machined with multiple special-shaped reinforcement ribs to enhance the overall structural strength.

[0112] Use bolts to install the horizontal beam 11, vertical beam 12 and oblique beam 13 together through the positioning holes to form Figure 4 and Figure 5The existing high-speed gyro detection system's mounting base can only be installed on the train's bogie, while the high-speed track detection mounting device has good adaptability and can be directly installed on the train body or on the bogie, significantly reducing the difficulty of installation.

[0113] The mounting device is also provided with a plurality of threaded holes for wiring and installing a protective cover of the laser camera assembly.

[0114] The mounting device is large, with three beams typically ranging in length from 1 to 3 meters. To ensure structural strength while minimizing overall weight, the present invention utilizes theoretical analysis and simulation methods for structural optimization. The use of a beam structure and reinforcements significantly reduces overall weight. Furthermore, a comprehensive analysis of the ambient temperature and stress characteristics of the high-speed rail inspection system was conducted, along with thorough thermal and mechanical analysis of the mounting device as a whole and each component. By varying the parameters of the structural beams and reinforcements, the overall weight was significantly reduced. However, the mounting device's large size presents significant challenges in high-precision machining and deformation control of large parts. To meet the long-term operational requirements of the high-speed rail inspection system under harsh temperature and stress conditions, the three beams were optimized during machining using one or more of the following processes: stress relief, machine parameter optimization, combined roughing and finishing, or clamping stress control. Specifically, the stress relief process involves multiple stress relief methods during machining, including high- and low-temperature stress relief, natural stress relief, or vibration stress relief, significantly reducing material and machining stresses. The machine parameter optimization process involves optimizing machine parameters to reduce machining deformation and stress, and improve the stability of each component after machining. Machine tool parameters include tool head parameters, feed rate, spindle speed, cutting rate, and depth of cut. The combined roughing and finishing process involves combining multiple roughing and finishing operations to improve the stability of each part after machining. The clamping stress control process involves multiple clamping operations and clamping stress control during machining to improve the stability of each part after machining.

[0115] According to a second embodiment of the present invention, a high-speed track detection system is provided. Figure 19 As shown, it includes a high-speed track detection installation device 1 of the first embodiment, an inertial navigation system 2, three sets of laser camera assemblies 3, three odometers 4, a display control device 5, a system power supply 6 and three shock absorbers 8.

[0116] like Figure 20-25As shown, an inertial navigation system 2 and three sets of laser camera assemblies 3 are fixed to the high-speed track inspection installation device 1. The inertial navigation installation reference surface 111 on the high-speed track inspection installation device 1 is fixed and aligned with the inertial navigation system 2 via locating pins. The inertial navigation system 2 can be mounted on the upper surface 11A or the lower surface 11B of the beam. The camera installation reference surface 112 and the camera installation reference surface 124 are fixed and aligned with the laser camera assemblies 3 via locating pins.

[0117] The inertial navigation system 2 is connected to the laser camera assembly 3, the odometer 4, and the display control device 5 via an electrical interface. It is used to measure at least the attitude, velocity, and position data of the high-speed track detection installation 1, and to calculate the track geometry by combining the data from the odometer 4 and the laser camera assembly 3. The inertial navigation system 2 includes a gyroscope, an accelerometer, an inertial device circuit, a navigation computer, a temperature sensor, a power supply circuit, and a universal interface circuit. The gyroscope is used to measure angular velocity data; the accelerometer is used to measure acceleration data; the inertial device circuit is used to collect gyroscope and accelerometer measurement data; the navigation computer is used to perform at least inertial navigation calculations, temperature data calculations, laser camera data calculations, odometer data calculations, and calculations for various measurement models and error compensation models; the temperature sensor is used to measure temperature data; the power supply circuit is used to convert external input power into various power supplies required by the system; and the universal interface circuit is used to connect at least the odometer, temperature sensor, laser camera assembly, and display control device.

[0118] The laser camera assembly 3 is used to measure the relative position and relative posture parameters between the high-speed track detection installation device 1 and the rail, such as Figure 26As shown, each laser camera assembly 3 includes a laser, a transmitting optical system, a high-speed camera, and a receiving optical system. The laser light emitted by the laser is collimated and shaped by the transmitting optical system to become a linear laser. The laser spot irradiated on a planar target is a straight line, while the laser spot irradiated on a non-planar target such as a rail is a curved line. The laser spot irradiated on the target passes through the receiving optical system and is imaged onto the area array imaging unit (CMOS or CCD) of the high-speed camera. Using camera calibration, image processing, and triangulation methods, the two-dimensional coordinates of each location of the laser spot in the laser plane coordinate system can be measured with high precision. Each laser camera assembly 3 also has an integrated temperature sensor that measures temperature data. Full-temperature calibration and error compensation methods are used to improve measurement accuracy. The high-speed track detection system uses three sets of laser camera assemblies 3 to measure the relative position (lateral displacement, vertical displacement) and attitude (azimuth, pitch angle, roll angle) parameters between the high-speed track detection installation device 1 and the rail. Each set of laser camera assemblies 3 can measure the lateral displacement and vertical displacement of the assembly relative to the rail. The three sets of laser camera assemblies 3 can measure the lateral displacement and vertical displacement of three positions on the high-speed track detection installation device 1 relative to the rail, thereby calculating the relative position (lateral displacement, vertical displacement) and attitude (azimuth, pitch angle, roll angle) parameters of the high-speed track detection installation device 1 relative to the rail.

[0119] The odometer 4 is used to measure the mileage and speed of the inspection vehicle equipped with the high-speed track inspection system. An odometer 4 is installed on a wheel of the inspection vehicle adjacent to the installation device 1, and includes a photoelectric encoder, a magnetoelectric encoder, a resistance encoder or a magnetic nail plus a Hall sensor.

[0120] The display control device 5 is used at least for displaying and controlling the system.

[0121] The system power supply 6 is used to supply power to various parts of the system.

[0122] The shock absorber 8 is mounted on the integral mounting hole 14. The shock absorber 8 is used to mount the high-speed track detection and installation device 1 on the bogie or vehicle body and to reduce vibration. The stiffness, damping, and frequency parameters of the shock absorber are determined based on the track detection accuracy and dynamic range requirements.

[0123] The high-speed track detection system also includes a temperature sensor arranged on the high-speed track detection installation device 1. The temperature sensor is connected to the inertial navigation system 2 through an electrical interface, and is used to detect the temperature of the high-speed track detection installation device 1 and perform temperature compensation through the inertial navigation system.

[0124] According to a third embodiment of the present invention, a high-speed track inspection vehicle is provided, comprising the high-speed track inspection system of the second embodiment and a powered vehicle. The powered vehicle is an inspection vehicle for underground tracks, such as a subway. The geographic location needs to be input during the initial alignment of the inertial navigation system 2.

[0125] According to a fourth embodiment of the present invention, a high-speed railway track detection system is provided. The fourth embodiment is substantially the same as the detection system of the second embodiment, except that: Figure 27 As shown, the high-speed track detection system of the fourth embodiment also includes a satellite navigation receiver 7, which is connected to the inertial navigation system 2 through an electrical interface and is used to measure the position and speed of the detection vehicle equipped with the high-speed track detection system, and at the same time uses the satellite navigation system as the time reference data and synchronized second pulse signal.

[0126] According to a fifth embodiment of the present invention, a high-speed track inspection vehicle is provided, comprising the high-speed track inspection system of the fourth embodiment and a powered vehicle, wherein the powered vehicle is an inspection vehicle for tracks on the ground, and comprises an operating vehicle and an operating vehicle, wherein the operating vehicle comprises a high-speed train, an EMU, a conventional train and an intercity train, and the operating vehicle comprises a tamping vehicle, a grinding vehicle and an inspection vehicle.

[0127] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A high-speed track detection system, characterized in that: include: High-speed track detection installation equipment, inertial navigation system, multiple sets of laser camera components and odometers; among them, The inertial navigation system and multiple sets of laser camera assemblies are fixed on the mounting device; The high-speed track detection installation device includes: a horizontal beam, a vertical beam and an inclined beam which are arranged horizontally and connected end to end in sequence to form a triangular structure on the horizontal plane; wherein, The crossbeam includes an upper surface and a lower surface of the crossbeam, and an inertial navigation installation reference surface is provided in the middle of the upper surface of the crossbeam and / or the middle of the lower surface; the lower surface of the crossbeam is provided with more than two sets of camera installation reference surfaces; the upper surface of the crossbeam is used for fixing and calibrating with an inertial navigation system, a vertical beam and an oblique beam, and includes an inertial navigation installation reference surface located in the middle and vertical beam installation reference surfaces and oblique beam installation reference surfaces distributed on both sides of the inertial navigation installation reference surface; the lower surface of the crossbeam is used for fixing and calibrating with an inertial navigation system and two sets of laser camera assemblies, and includes an inertial navigation installation reference surface located in the middle and two sets of camera installation reference surfaces distributed on both sides of the inertial navigation installation reference surface; The vertical beam includes a high beam, a low beam and a connecting beam connecting the high beam and the low beam, the high beam and the low beam are parallel, the lower surface of the high beam is connected to one end of the upper surface of the horizontal beam, and the upper surface of the low beam is connected to one end of the lower surface of the inclined beam; the lower surface of the low beam is provided with one or more camera installation reference surfaces; The other end of the lower surface of the inclined beam is connected to the other end of the upper surface of the horizontal beam; The inertial navigation system is connected to the odometer and the laser camera assembly through an electrical interface. The inertial navigation system is at least used to measure the attitude, speed and position data of the installation device, and calculate the track geometry state in combination with the odometer data and the data of the laser camera assembly; the inertial navigation system includes a gyroscope, an accelerometer, an inertial device circuit, a navigation computer, a temperature sensor and a universal interface circuit; the navigation computer is at least used to complete inertial navigation solution, temperature data solution, laser camera data solution, odometer data solution, multiple measurement models and error compensation model solutions; The odometer is arranged on a wheel of a detection vehicle adjacent to the mounting device.

2. The high-speed track detection system according to claim 1, characterized in that: The horizontal beams, vertical beams and inclined beams are all provided with reinforcing ribs.

3. The high-speed track detection system according to claim 1, characterized in that: The inertial navigation installation reference surface and the camera installation reference surface are both provided with a plurality of positioning pins or positioning holes, and the vertical beam installation reference surface, the inclined beam installation reference surface and the horizontal beam installation reference surface are both provided with a plurality of positioning pins or positioning holes.

4. The high-speed track detection system according to claim 1, characterized in that: It also includes a plurality of integral mounting holes and a plurality of sets of shock absorbers. Among the plurality of integral mounting holes, a part is arranged on the vertical beam, and another part is arranged on the horizontal beam. A set of shock absorbers is arranged on one integral mounting hole.

5. The high-speed track detection system according to claim 1, characterized in that: It also includes a plurality of anti-fall mounting holes, which are respectively arranged on each corner of the mounting device of the triangular structure and are used to be connected to the bogie or the car body; the anti-fall mounting holes are directly installed with the anti-fall chain or the anti-fall chain is installed through the eye bolt; one end of the anti-fall chain is connected to the anti-fall mounting hole or the eye bolt, and the other end is fixed to the bogie or the car body.

6. The high-speed track detection system according to claim 1, characterized in that: The horizontal beams, vertical beams and inclined beams are processed by one or more methods selected from the group consisting of stress relief treatment technology, machine tool parameter optimization technology, rough and fine processing technology and clamping stress control technology.

7. The high-speed track detection system according to claim 6, characterized in that: The stress relief process includes performing multiple stress relief treatment methods during the processing, and the stress relief treatment methods include high and low temperature stress relief, natural stress relief or vibration stress relief; The machine tool parameter optimization process includes optimizing the machine tool parameters to reduce machining deformation and stress; The rough and fine combined machining process includes combining multiple rough machining and fine machining; The clamping stress control process includes multiple clamping and clamping stress control during the processing.

8. The high-speed track detection system according to claim 1, characterized in that: It also includes a satellite navigation receiver, which is connected to the inertial navigation system through an electrical interface and is used to measure the position and speed of the detection vehicle equipped with the high-speed track detection system, and at the same time uses the satellite navigation system as the time base for time data and synchronized second pulse signals.

9. The high-speed track detection system according to claim 1, characterized in that: It also includes a temperature sensor arranged on the high-speed track detection installation device, and the temperature sensor is connected to the inertial navigation system through an electrical interface, and is used to detect the temperature of the high-speed track detection installation device and perform temperature compensation through the inertial navigation system.

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