Automatic calibration device and method for superelevation channel of track detection system

Abstract

The present invention provides an automatic calibration device and method for an ultra-high channel of a track detection system. In a spatial rectangular coordinate system with X, Y, and Z axes as coordinate axes, the automatic calibration device for the ultra-high channel of the track detection system comprises a connecting rod (2), an angular platform connecting seat (3), and an angular platform (4) connected in sequence, wherein the connecting rod (2) extends along the X-axis direction, and the angular platform (4) comprises an upper turntable (41) and a lower base (42) arranged up and down, wherein the upper turntable (41) can rotate around a first straight line, and the first straight line is parallel to the Y-axis. The automatic calibration device and method for the ultra-high channel of the track detection system drive the posture change of the inertial component by accurately controlling the change of angle and time, identify the sensor data curve, and accurately control the ultra-high calibration device to perform ultra-high automatic calibration of the track detection system, thereby replacing the previous manual calibration and improving the calibration efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to an automatic calibration device for a superelevation channel of a track detection system, and also relates to an automatic calibration method for a superelevation channel of a track detection system. Background Art

[0002] A track inspection system is a set of instruments installed on trains or EMUs (or inspection beams) to perform dynamic, real-time inspection of track geometric irregularities. It generally employs inertial measurement principles and machine vision measurement technology, using sensors such as gyroscopes, accelerometers, and industrial cameras to measure the position and attitude of the left and right rails relative to the inspection device, thereby calculating the lateral and longitudinal geometric irregularities of the left and right rails and their relative positional relationship. Key measurement parameters include track gauge, left (right) height, left (right) track orientation, level, triangular pit, and superelevation.

[0003] Track detection systems primarily consist of inertial components, sensors such as laser displacement meters, signal processing, and data processing. Because the sensor's scale factor changes over time, the gain and phase of the sensor's signal processing channel require regular calibration to ensure it meets the detection system's design requirements. This is primarily accomplished by inputting standard quantities to adjust the sensor's gain and phase. Because the equipment is mounted on the vehicle and difficult to remove, on-site calibration tools are used.

[0004] Superelevation refers to the difference in height between the top surfaces of the left and right rails on the same track cross section. It is calculated by calculating the angle between the running surface and the horizontal reference plane. It is mainly measured by three sensors: gyroscope 62, inclinometer 61, and displacement measurement sensor 63. Inclinometer 61 (INCL) and gyroscope 62 (ROLL) are used together to measure the roll angle θ of the mounting carrier (detection beam). c Gyro 62 measures θ c The high-frequency component θ in cH Inclinometer 61 measures θ c The low-frequency components in (including the inclination angle when the vehicle is stationary) θ cL θ cH and θ cL The sum is θ c The displacement measuring sensor 63 (calibrated before leaving the factory) measures the relative angle θ between the detection beam and the track plane. ct Orbital inclination θ t is the vehicle body roll angle θ c and the angle θ between the vehicle body and the wheel axle ct The algebraic sum of θ t and the distance D between the two rail center lines (e.g. 1506mm), calculate the superelevation value, refer to the following formula 1 and Figure 1 shown.

[0005] H=D×sin(θ t ) Formula 1

[0006] Where H is the superelevation value, in mm; D is the distance between the center lines of the two tracks, in mm.

[0007] Gyroscope 62 and inclinometer 61 are typically designed and installed as a single unit, referred to in rail inspection systems as inertial assembly 6 (also known as gyro platform or inertial platform). Calibration of inertial assembly 6 primarily involves adjusting the gain of the inclinometer 61's signal processing channel and adjusting the gain and phase of the gyroscope 62's signal processing channel using the calibrated inclinometer 61. This ensures that the inclinometer 61 primarily measures low frequencies, while the gyroscope 62 measures high frequencies, providing mutual compensation in the inspection system.

[0008] In the prior art, the gain calibration of the signal processing channel of the inclinometer 61 is usually done by using a 1.5-meter-long rigid ruler (the standard distance between the center lines of two rails). The inertial component is fixed to the middle of the rigid ruler in the direction of use. One end of the rigid ruler is raised to keep the rigid ruler at a certain angle. The parameters of the signal processing channel of the inclinometer 61 are adjusted to make the change in the system angle consistent with the change in the rigid ruler angle. When calibrating the signal processing channel of the gyroscope 62, a screwdriver is usually used to manually pry the gyroscope platform to simulate the changes in the detection of the vehicle on the curve. By adjusting the parameters and observing the characteristic points on the curve, it is determined whether the detection requirements are met, such as Figure 2 shown.

[0009] The use of a rigid ruler as a calibration device is bulky and inconvenient to carry. Manual calibration, on the other hand, requires extensive experience. Furthermore, with the increasing demand for track inspection data accuracy, the on-site use of a steel ruler and manual prying methods cannot generate standard and high-precision inputs, making it difficult to meet the accuracy requirements of current systems. Summary of the Invention

[0010] To address the low calibration accuracy of existing inertial components, the present invention provides an automatic calibration device and method for the ultra-elevation channel of a track detection system. This device and method precisely controls changes in angle and time to drive the posture changes of the inertial component, identifies sensor data curves, and precisely controls the ultra-elevation calibration device to automatically calibrate the track detection system at ultra-elevation, replacing traditional manual calibration and improving calibration efficiency and accuracy.

[0011] The technical solution adopted by the present invention to solve its technical problem is:

[0012] An automatic calibration device for an ultra-high channel of a track detection system. In a spatial rectangular coordinate system with X, Y, and Z axes, the automatic calibration device for the ultra-high channel of the track detection system includes a connecting rod, an angular platform connecting seat, and an angular platform connected in sequence. The connecting rod extends along the X-axis direction. The angular platform includes an upper turntable and a lower base arranged up and down. The lower base is connected to the angular platform connecting seat. The upper surface of the upper turntable can be parallel to the plane where the X-axis and the Y-axis are located. The upper turntable can rotate around a first straight line, and the first straight line is parallel to the Y-axis.

[0013] A method for automatically calibrating a superelevation channel of a track detection system is disclosed. The method employs the aforementioned automatic calibration device for the superelevation channel of a track detection system. The device further comprises a computer and a control box connected in sequence. The angle table is an electrically controlled angle table connected to the control box. The computer is capable of controlling the rotation angle of an upper turntable.

[0014] The automatic calibration method of the superelevation channel of the track detection system comprises the following steps:

[0015] Step 1: On-site equipment installation;

[0016] Placing both ends of the connecting rod on two steel rails respectively, installing an inertial assembly on the upper turntable, the inertial assembly including an inclinometer and a gyroscope, and connecting the inertial assembly to the computer;

[0017] Step 2: Calibrate the gain of the inclinometer;

[0018] Step 3: Calibrate the gain and phase of the gyro.

[0019] The beneficial effects of the present invention are as follows: the automatic calibration device and method for the ultra-elevation channel of the track detection system drives the posture change of the inertial component by precisely controlling the changes in angle and time, identifies the sensor data curve, and precisely controls the ultra-elevation calibration device to perform ultra-elevation automatic calibration of the track detection system, replacing the previous manual calibration and improving the calibration efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 It is a schematic diagram of superelevation measurement and calculation.

[0022] Figure 2 It is a schematic diagram of the existing inertial component calibration mode.

[0023] Figure 3It is a schematic diagram of the automatic calibration device for the superelevation channel of the track detection system.

[0024] Figure 4 It is a schematic diagram of the rail connection component parts.

[0025] Figure 5 is a schematic diagram of the connecting rod.

[0026] Figure 6 This is a schematic diagram of the corner table connection seat.

[0027] Figure 7 It is a schematic diagram of the corner table.

[0028] Figure 8 It is a schematic diagram of the rotation of the upper turntable of the angular table.

[0029] Figure 9 This is a connection diagram of the automatic calibration device for the superelevation channel of the track inspection system.

[0030] Figure 10 This is a schematic diagram of the relationship between the ultra-high signal processing channel, the inclinometer signal processing channel, and the gyroscope signal processing channel.

[0031] Figure 11 It is a schematic diagram of the status of the upper turntable at different times.

[0032] Figure 12 This is a schematic diagram showing insufficient gain in the gyro signal processing channel.

[0033] Figure 13 This is a schematic diagram showing that the gain of the gyro signal processing channel is too large.

[0034] Figure 14 This is a diagram of the gyro signal processing channel in balance.

[0035] 1. Rail connection assembly; 2. Connecting rod; 3. Angle table connection seat; 4. Angle table; 5. Rail; 6. Inertia assembly;

[0036] 11. Upper pipe clamp; 12. Lower locking seat; 13. Upper quick-release screw; 14. Upper locking block; 15. Inner locking block;

[0037] 21. Connecting rod joint; 22. Externally threaded barrel;

[0038] 31. Base plate; 32. Lower pipe clamp; 33. Lower quick-release screw;

[0039] 41. Upper turntable; 42. Lower base; 43. Stepper motor;

[0040] 51. Rail head;

[0041] 61. Inclinometer; 62. Gyroscope; 63. Displacement measurement sensor; 64. Ultra-high signal processing channel; 65. Inclinometer signal processing channel; 66. Gyroscope signal processing channel. DETAILED DESCRIPTION

[0042] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] An automatic calibration device for an ultra-high channel of a track detection system, in a spatial rectangular coordinate system with X, Y, and Z axes as coordinate axes, the automatic calibration device for the ultra-high channel of the track detection system includes a connecting rod 2, an angular platform connecting seat 3, and an angular platform 4 connected in sequence, the connecting rod 2 extends along the X-axis direction, the angular platform 4 includes an upper turntable 41 and a lower base 42 arranged up and down, the lower base 42 is connected to the angular platform connecting seat 3, the upper surface of the upper turntable 41 can be parallel to the plane where the X-axis and the Y-axis are located, and the upper turntable 41 can rotate around a first straight line, and the first straight line is parallel to the Y-axis, such as Figure 3 shown.

[0044] The automatic calibration device for the ultra-high channel of the track detection system (also known as the automatic calibration device for the ultra-high signal processing channel) can be installed on the track for on-site calibration. A high-precision angle platform is mounted on the rail 5 near the detection beam of the track detection system via connecting rods. The inertial component 6 is mounted on the angle platform 4. The angle platform 4 is connected to the detection system computer via the control box described below. The inertial component 6 is also connected to the detection system computer via a data cable. The computer drives the posture changes of the inertial component 6 by precisely controlling changes in angle and time.

[0045] In this embodiment, both ends of the connecting rod 2 are provided with a rail connecting assembly 1. The function of the rail connecting assembly 1 is to connect and fix the connecting rod 2 to the rail 5. The rail connecting assembly 1 contains an upper pipe clamp 11 and a lower locking seat 12 arranged upper and lower. The upper pipe clamp 11 can clamp and fix the connecting rod 2, and the lower locking seat 12 can be connected and fixed to the rail 5. The rail 5 extends along the Y-axis direction.

[0046] In this embodiment, the upper pipe clamp 11 is connected to an upper quick-release screw 13, and the lower locking seat 12 includes an upper locking block 14 and an inner locking block 15. The upper locking block 14 and the inner locking block 15 form a bayonet that can mate with the inner side of the rail head 51 of the rail 5. The upper locking block 14 and the inner locking block 15 can be connected as a whole or can be detachably connected.

[0047] Preferably, the upper locking block 14 and the inner locking block 15 are detachably connected, such as the upper portion of the inner locking block 15 is connected to the upper locking block 14 by bolts. When the bayonet is matched with the rail head 51 of the rail 5, that is, when the lower locking seat 12 is connected to the rail head 51 of the rail 5, the upper locking block 14 is located above the rail head 51, and the inner locking block 15 is located on the inner side of the rail head 51. Figure 4 shown.

[0048] In this embodiment, the automatic calibration device for the superelevation channel of the track detection system includes two parallel connecting rods 2, which are spaced apart along the Y-axis direction. The connecting rods 2 include multiple connecting rod sections 21, which are arranged along the X-axis direction. Adjacent connecting rod sections 21 are connected by externally threaded barrels 22. For example, each connecting rod 2 includes four connecting rod sections 21 and three externally threaded barrels 22. Figure 5 shown.

[0049] In this embodiment, the angle table connection seat 3 includes a base plate 31 and a lower pipe clamp 32 connected up and down. The lower pipe clamp 32 is connected to a lower quick-release screw 33. The connecting rod 2 is a cylindrical structure. The angle table connection seat 3 can move along the extension direction of the connecting rod 2. The lower pipe clamp 32 clamps and fixes the connecting rod 2. The upper surface of the base plate 31 is parallel to the plane where the X-axis and the Y-axis are located. Figure 6 shown.

[0050] In this embodiment, the automatic calibration device for the superelevation channel of the track detection system also includes a computer and a control box connected in sequence. The angle table 4 can be an existing electric angle table. The angle table 4 is connected to the control box. The computer can control the rotation angle of the upper turntable 41. The computer is installed with software for realizing automatic calibration of the superelevation channel. The control box is equipped with components such as a motor power supply and a driver. The computer sends rotation instructions to the control box, and the driver in the control box drives the motor to operate according to the instructions. Figure 7 shown.

[0051] The angle table 4 is an electrically controlled angle table that uses a worm gear structure to convert the rotational motion of the motor into an electric device that swings the angle of a certain point on the table space. The transmission method is that the stepper motor 43 drives the worm gear to rotate through the coupling, and the worm gear drives the turbine to slide along the guide rail through the gear teeth. By controlling the stepper motor 43, the rotation angle of the upper turntable 41 can be controlled. The angle selection range of the angle table 4 is ±10 degrees, the angle resolution is less than 0.001 degrees, and the repeatability of the positioning angle is less than 0.0001 degrees, which meets the system calibration requirement of no more than 0.03. Figure 8 shown.

[0052] The following describes an automatic calibration method for the superelevation channel of a track detection system. The automatic calibration method for the superelevation channel of the track detection system adopts the automatic calibration device for the superelevation channel of the track detection system. The purpose of the automatic calibration method for the superelevation channel of the track detection system is to automatically calibrate the superelevation signal processing channel of the inertial component 6 of the existing track detection system. The superelevation signal processing channel 64 is composed of the inclinometer signal processing channel 65 plus the gyroscope signal processing channel 66. Figure 9 and Figure 10 shown.

[0053] The automatic calibration method for the ultra-high channel of the track detection system (which may also be called the automatic calibration method for the ultra-high signal processing channel) uses a computer to identify sensor data curves and accurately control the ultra-high calibration device to perform ultra-high automatic calibration of the track detection system, replacing the previous manual calibration and improving calibration efficiency and accuracy.

[0054] Automatic calibration is completed by running an automatic calibration program on the computer of the detection system. The calibration program adds a user interaction interface, a synthetic data measurement module, a control module and a parameter adjustment module to the original computer acquisition and calculation module. An automatic calibration program is designed on the user interface, and two buttons, "zero position" and "balance", are designed on the program interface. They correspond to the entire process of zero position adjustment and automatic calibration of the gyro platform respectively. The automatic calibration principle of this scheme is to use a computer to control a high-precision angular position table 4 so that the inertial component 6 installed on the angular position table 4 rotates as required, and by calculating the sensor data in the inertial component 6, automatically adjust the parameters of the sensor channel so that the gain and phase meet the system detection requirements, thereby achieving the function of automatic calibration of the system. Functional block diagram Figure 9 shown.

[0055] The automatic calibration method of the superelevation channel of the track detection system comprises the following steps:

[0056] Step 1: On-site equipment installation;

[0057] On-site calibration is generally carried out under straight track conditions, and the automatic calibration device of the super-elevation channel of the track detection system is installed on the rail 5. That is, the two ends of the connecting rod 2 are placed on the two rails 5 respectively, and the connecting rod 2 is connected and fixed to the rail 5 through the lower locking seat 12. The inertial component 6 is installed on the upper turntable 41. The way the inertial component 6 is installed on the upper turntable 41 is the same as the way the inertial component 6 is installed on the detection beam. The inertial component 6 contains an inclinometer 61 and a gyroscope 62. The inertial component 6 is connected to the computer through the original signal cable of the detection system; the angle table 4 is connected to the control box through the serial bus, and the control box is connected to the computer through a network cable or a serial cable, such as Figure 1 and Figure 9At this point, since the track is essentially straight, the rails 5 on both sides are essentially in the same plane, and the inertial assembly 6 is also essentially in a horizontal position, the actual output data value of the ultra-high signal processing channel should be near the zero line, and the actual output data value of the ultra-high signal processing channel is displayed on the computer monitor.

[0058] The track inspection system is designed with a simulation mode. A built-in counter card in the computer generates pulse signals to run the inspection program. Different simulation speeds can be set within the program to meet varying calibration requirements. Because the track inspection system utilizes spatial sampling, the inspection vehicle equipped with the system samples each sensor signal every 0.25 meters. During actual operation, trigger pulses are input to the system's counter card by the axle encoder installed on the vehicle's wheel axle. During calibration, the sampling frequency in the simulation mode is dependent on the set simulation speed parameter. For a simulated speed of 72 km / h, the number of sampling points per second is 72,000 m ÷ 3,600 s ÷ 0.25 m / s = 80. The number of sampling points and the set simulation speed provide a basis for determining calibration time.

[0059] Step 2: calibrate the gain of the inclinometer 61; Step 2 includes the following steps:

[0060] First, start the test program, set the test program to enter the simulation running state, and automatically set the simulation speed to 72km / h (the speed is appropriate to facilitate the user to observe the waveform);

[0061] Step 2.1, run the zeroing function at time Tg0, the upper turntable 41 is at the position of 0 degrees, that is, the scale value 0 of the upper turntable 41 corresponds to the scale value 0 of the lower base 42, so that the output data value of the signal processing channel of the gyroscope 62 is 0 mm. At this time, the output data value of the ultra-high signal processing channel only contains the output data value of the signal processing channel of the inclinometer 61, and the output data value of the ultra-high signal processing channel should be 0 mm. Determine the actual output data value of the ultra-high signal processing channel. When the actual output data value of the ultra-high signal processing channel is greater than or equal to the range of the target ultra-high value corresponding to the angle of 0 degrees (such as 0±0.1mm), adjust the rotation of the upper turntable 41 so that the actual output data value of the ultra-high signal processing channel is less than the range of the target ultra-high value corresponding to the angle of 0 degrees;

[0062] For example, the upper turntable 41 is fine-tuned clockwise or counterclockwise (when the range of the target superelevation value corresponding to the 0-degree angle is less than 0-0.1mm, the upper turntable 41 is rotated clockwise to raise the left side of the upper turntable 41; when it is greater than 0+0.1mm, the upper turntable 41 is rotated counterclockwise to lower the left side of the upper turntable 41, so that the actual output data value of the superelevation signal processing channel is near zero, and the gain coefficient of the signal processing channel of the inclinometer 61 at this time is recorded (an empirical value, generally a positive integer, used for fine-tuning on this basis).

[0063] Step 2.2: Rotate the upper turntable 41 by a first angle so that the output data value of the signal processing channel of the gyroscope 62 remains at 0 mm, determine the actual output data value of the superelevation signal processing channel, and when the actual output data value of the superelevation signal processing channel is greater than or equal to the range of the target superelevation value corresponding to the first angle, adjust the gain coefficient of the signal processing channel of the inclinometer 61 so that the actual output data value of the superelevation signal processing channel is less than the range of the target superelevation value corresponding to the first angle;

[0064] For example, at time Tg1, a serial port command is sent to rotate the upper turntable 41 clockwise by 5.69° (the first degree). After approximately 10 seconds (800 points), a determination is made as to whether the actual output data value of the ultra-high signal processing channel is within 150±0.5 mm. If not, the gain coefficient of the signal processing channel of the inclinometer 61 is fine-tuned, and the actual output data value of the ultra-high signal processing channel after the gain coefficient change is determined to ensure that the actual output data value of the ultra-high signal processing channel is within 150±0.5 mm. The calibration phase of the inclinometer 61 is now complete.

[0065] Step 3: calibrate the gain and phase of the gyroscope 62;

[0066] After the gain calibration of the inclinometer 61 is completed, the program issues an instruction to control the upper turntable 41 to return to the "zero position", that is, the upper turntable 41 returns to the position of 0 degrees, thereby performing the balance calibration of the gyroscope 62 (that is, calibrating the gain and phase of the gyroscope 62).

[0067] The principle of balancing calibration of the gyro 62 is to control the rotation of the upper turntable 41 of the angular positioning platform 4 to make the inertial assembly 6 perform a set of "lifting", "holding" and "falling back" actions at a specified angle and speed, simulating the movement of the inspection vehicle on the curve. By adjusting the gain and phase of the gyro 62, the superelevation curve data synthesized by the signal of the gyro 62 and the signal of the inclinometer 61 (which has been calibrated) meets the system requirements.

[0068] Step 3 contains the following steps:

[0069] Step 3.1: The upper turntable 41 is at the 0-degree angle position. After a first period of time, the upper turntable 41 rotates forward by a second degree (corresponding to the aforementioned "lift"), and then the upper turntable 41 remains there for a second period of time (corresponding to the aforementioned "hold"). The upper turntable 41 then rotates backward by the second degree and remains there for a third period of time (corresponding to the aforementioned "fall back"). The computer display then outputs a "graph of the relationship between time and output data of the ultra-high signal processing channel";

[0070] For example, the detection system (which can be understood as a computer) sets the simulation speed parameter speed to 16 km / h (at time Tb0) and waits for approximately 10 seconds (180 sampling points). The computer sends a command to the control box via the serial port (at time Tb1), causing the upper turntable 41 to rotate, the left side of the inertial component 6 to rise, the upper turntable 41 to stop (from time Tb2 to time Tb3), and the upper turntable 41 to fall back (from time Tb3 to time Tb4), and the left side of the inertial component 6 to fall back, in three steps. The corresponding times and actions are:

[0071] From Tb0 to Tb1 (time period t1): 10 seconds of rest (first time period);

[0072] From Tb1 to Tb2 (time period t2): the lifting angle is 1 degree (the second angle), and the speed is 0.5 degrees / second. From Tb2 to Tb3 (time period t3): the machine remains stationary (the second time period), for 2 seconds.

[0073] From Tb3 to Tb4 (time period t4): it falls back to zero position, with an angle of 1 degree (the second degree angle) and a speed of 0.5 degrees / second;

[0074] From Tb4 to Tb5 (time period t5): stand still for 10s (third time period), as Figure 11 shown.

[0075] Then, the computer outputs the relationship diagram between time and the output data of the ultra-high signal processing channel, and the relationship diagram between time and the output data of the ultra-high signal processing channel is displayed on the computer display, for example, in the form of a waveform.

[0076] Step 3.2: Determine the slope of the line segment corresponding to the second time period in the relationship diagram between the time and the output data of the ultra-high signal processing channel. When the slope of the line segment corresponding to the second time period is equal to 0 (i.e., the absolute value of the slope is as close to 0 as possible), proceed to the next step. When the slope of the line segment corresponding to the second time period is greater than 0, the main reason is that the gain of the gyro channel is insufficient. Increase the gain coefficient of the signal processing channel of the gyro 62, such as Figure 12As shown, step 3.1 is performed again, and steps 3.1 and 3.2 are repeated multiple times until the slope of the line segment corresponding to the second time period is equal to 0; when the slope of the line segment corresponding to the second time period is less than 0, the main reason is that the gain of the gyro channel is too large, and the gain coefficient of the signal processing channel of the gyro 62 is reduced, as shown in FIG. Figure 13 As shown, step 3.1 is performed again, and steps 3.1 and 3.2 are repeated multiple times until the slope of the line segment corresponding to the second time period is equal to 0 (that is, the absolute value of the slope is as close to 0 as possible); thereby completing the gain calibration of the signal processing channel of the gyroscope 62, as shown in FIG. Figure 14 shown.

[0077] For example, the line segment corresponding to the second time period is line segment cd, and the slope of line segment cd is k = (dy - cy) / (dx - cx), where dy is the superelevation value at point d, cy is the superelevation value at point c, dx is the sampling point number at point d, and cx is the sampling point number at point c. Points a, b, c, d, e, and f correspond one-to-one to time Tb0, Tb1, Tb2, Tb3, Tb4, and Tb5.

[0078] Step 3.3, determine the slope of the line segment corresponding to the second time period and the third time period in the relationship diagram between the time and the output data of the ultra-high signal processing channel. When the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0, the calibration is completed (i.e., the phase calibration of the signal processing channel of the gyroscope 62); when the slope of the line segment corresponding to the second time period or the third time period is not equal to 0, adjust the phase coefficient of the signal processing channel of the gyroscope 62, and then only perform step 3.1 without performing step 3.2. Repeat steps 3.1 and 3.3 multiple times until the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0 (i.e., the absolute value of the slope is as close to 0 as possible), thereby completing the phase calibration of the signal processing channel of the gyroscope 62.

[0079] For example, if the slopes of line segments cd and ef are both close to 0, the phase coefficient of the signal processing channel of the gyro 62 is finely adjusted to minimize the absolute value of the slopes of line segments cd and ef. This completes the phase calibration of the signal processing channel of the gyro 62. Figure 14 shown.

[0080] The above description is merely a specific embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, substitutions of equivalent components, or equivalent changes and modifications made within the scope of patent protection, should still fall within the scope of this patent. Furthermore, the technical features of this invention may be freely combined with one another, with other technical solutions, and with other technical solutions.

Claims

1. An automatic calibration device for an ultra-high channel of a track detection system, in a spatial rectangular coordinate system with X, Y, and Z axes as coordinate axes, characterized in that: The automatic calibration device for the super-high channel of the track detection system comprises a connecting rod (2), an angular platform connecting seat (3) and an angular platform (4) connected in sequence, wherein the connecting rod (2) extends along the X-axis direction, the angular platform (4) comprises an upper turntable (41) and a lower base (42) arranged above and below, the lower base (42) being connected to the angular platform connecting seat (3), the upper surface of the upper turntable (41) being parallel to the plane where the X-axis and the Y-axis are located, and the upper turntable (41) being able to rotate around a first straight line, wherein the first straight line is parallel to the Y-axis; Both ends of the connecting rod (2) are provided with a rail connecting assembly (1), and the rail connecting assembly (1) comprises an upper pipe clamp (11) and a lower locking seat (12) arranged above and below. The upper pipe clamp (11) can clamp and fix the connecting rod (2), and the lower locking seat (12) can be connected and fixed to the rail (5), and the rail (5) extends along the Y-axis direction. The upper pipe clamp (11) is connected with an upper quick-release screw (13), and the lower locking seat (12) contains an upper locking block (14) and an inner locking block (15). The upper locking block (14) and the inner locking block (15) can form a bayonet, and the bayonet can be matched and engaged with the rail head (51) of the rail (5); The upper portion of the inner locking block (15) is connected to the upper locking block (14) by bolts. When the bayonet is matched with the rail head (51) of the rail (5), the upper locking block (14) is located above the rail head (51) and the inner locking block (15) is located inside the rail head (51). The corner platform connecting seat (3) comprises a base plate (31) and a lower pipe clamp (32) arranged above and below, wherein the lower pipe clamp (32) is connected with a lower quick-release screw (33), and the lower pipe clamp (32) clamps and fixes the connecting rod (2), and the upper surface of the base plate (31) is parallel to the plane where the X-axis and the Y-axis are located; The automatic calibration device for the super-elevation channel of the track detection system further comprises a computer and a control box connected in sequence, the angle table (4) is an electrically controlled angle table, the angle table (4) is connected to the control box, and the computer can control the rotation angle of the upper turntable (41).

2. The automatic calibration device for the superelevation channel of the track detection system according to claim 1, characterized in that: The automatic calibration device for the superelevation channel of the track detection system comprises two mutually parallel connecting rods (2), wherein the connecting rods (2) contain a plurality of connecting rod sections (21), the plurality of connecting rod sections (21) are arranged along the X-axis direction, and two adjacent connecting rod sections (21) are connected via an external threaded cylinder (22).

3. A method for automatic calibration of the superelevation channel of a track detection system, characterized in that: The automatic calibration method of the superelevation channel of the track detection system adopts the automatic calibration device of the superelevation channel of the track detection system according to claim 1; The automatic calibration method of the superelevation channel of the track detection system comprises the following steps: Step 1: On-site equipment installation; The two ends of the connecting rod (2) are respectively placed on two steel rails (5), and the inertial component (6) is installed on the upper turntable (41). The inertial component (6) includes an inclinometer (61) and a gyroscope (62), and the inertial component (6) is connected to the computer; Step 2, calibrating the gain of the inclinometer (61); Step 3: calibrate the gain and phase of the gyroscope (62).

4. The automatic calibration method for the superelevation channel of the track detection system according to claim 3 is characterized in that: Step 2 contains the following steps: Step 2.1, the upper turntable (41) is located at a position of 0 degrees, and the actual output data value of the ultra-high signal processing channel is determined. When the actual output data value of the ultra-high signal processing channel is greater than or equal to the range of the target ultra-high value corresponding to the 0 degree angle, the rotation angle of the upper turntable (41) is adjusted so that the actual output data value of the ultra-high signal processing channel is less than the range of the target ultra-high value corresponding to the 0 degree angle; Step 2.2, rotating the upper turntable (41) by a first degree so that the output data value of the signal processing channel of the gyroscope (62) remains at 0 mm, determining the actual output data value of the ultra-high signal processing channel; when the actual output data value of the ultra-high signal processing channel is greater than or equal to the range of the target ultra-high value corresponding to the first degree, adjusting the gain coefficient of the signal processing channel of the inclinometer (61) so that the actual output data value of the ultra-high signal processing channel is less than the range of the target ultra-high value corresponding to the first degree.

5. The automatic calibration method for the superelevation channel of the track detection system according to claim 3 is characterized in that: Step 3 contains the following steps: Step 3.1, the upper turntable (41) is located at an angle of 0 degrees. After a first time period, the upper turntable (41) is rotated forward by a second angle, and then the upper turntable (41) is maintained for a second time period. Then, the upper turntable (41) is rotated backward by the second angle, and then the upper turntable (41) is maintained for a third time period. The computer outputs a relationship diagram between time and output data of the ultra-high signal processing channel; Step 3.2, determining the slope of the line segment corresponding to the second time period in the relationship diagram between the time and the output data of the ultra-high signal processing channel, and when the slope of the line segment corresponding to the second time period is equal to 0, proceeding to the next step; when the slope of the line segment corresponding to the second time period is greater than 0, increasing the gain coefficient of the signal processing channel of the gyroscope (62), and proceeding to step 3.1; when the slope of the line segment corresponding to the second time period is less than 0, reducing the gain coefficient of the signal processing channel of the gyroscope (62), and proceeding to step 3.1; Step 3.3, judging the slope of the line segment corresponding to the second time period and the third time period in the relationship diagram between the time and the output data of the ultra-high signal processing channel, when the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0, completing the calibration; when the slope of the line segment corresponding to the second time period or the third time period is not equal to 0, adjusting the phase coefficient of the signal processing channel of the gyroscope (62), and then only performing step 3.1 without performing step 3.2.

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