A track gauge and height automatic detection system based on laser ranging and a method of using the system

Abstract

The present invention belongs to the technical field of laser ranging, and is specifically a system for automatically detecting track gauge and height guide based on laser ranging and a method for using the system. The system includes a main control module, a data detection part, a moving part, and a transmission display part; the main control module controls the moving part to travel on the rail, controls the data detection part to open and close and receive data, and is partially connected to the transmission display module by signal; the data detection part is installed on the moving part, and the data detection part includes a laser displacement sensor LL horizontally placed on the left side of the moving part, a laser displacement sensor LR horizontally placed on the right side of the moving part, a laser displacement sensor VL vertically placed on the left side of the moving part, and a laser displacement sensor VR vertically placed on the right side of the moving part. The present invention can realize automatic detection of track gauge and height guide, reduce labor costs, and has a measurement correction model that can reduce measurement errors and improve adjustment efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of laser ranging, and in particular to a system for automatically detecting track gauge and height of a track based on laser ranging and a method for using the system. Background Art

[0002] Due to the unique characteristics of lasers, such as high collimation and high coherence, laser ranging technologies, such as interferometry, pulse flight event method, phase modulation method, and multi-wavelength interferometry, have received widespread attention. Laser ranging technology is widely used in many fields such as social life and industrial automation production. Distance information is considered to be one of the most important measurement indicators. Therefore, research on the ability of laser ranging systems to obtain accurate and reliable distance data has positive significance. And with the continuous advancement of digital manufacturing technology and its gradual development towards intelligence, it provides a good solution for solving the problems of large-scale space and high-precision automatic detection and measurement devices in engineering, which have both efficient measurement capabilities, good environmental adaptability, and on-site traceability.

[0003] In view of the fact that the current track adjustment in the track laying process is overly dependent on manual measurement of track gauge and height, resulting in large measurement accuracy and measurement errors, and low efficiency of manual measurement and adjustment, an automatic detection system for track gauge and height based on laser ranging is invented. The system can not only detect track gauge and height with high accuracy, but also correct the data through the proposed data correction model to obtain the actual value; the measured data will be transmitted to the cloud platform and mobile platform for visual display and storage; the error between the detected width and the target width is judged to generate a track adjustment signal. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a system for automatically detecting track gauge and height based on laser ranging and a method for using the system.

[0005] The present invention adopts the following technical scheme: a track gauge and guide height automatic detection system based on laser ranging, including a main control module, a data detection part, a motion part and a transmission display part; the main control module controls the motion part to travel on the track, controls the data detection part to open and close and receive data, and is partially connected to the transmission display module by signal; the data detection part is installed on the motion part, and the data detection part includes a laser displacement sensor LL horizontally placed on the left side of the motion part, a laser displacement sensor LR horizontally placed on the right side of the motion part, a laser displacement sensor VL vertically placed on the left side of the motion part, and a laser displacement sensor VR vertically placed on the right side of the motion part. When the main control module controls the data detection part to be turned on, the data detection part detects the track width distance and guide height, and transmits the data back to the main control module. When the main control module controls the data detection part to be turned off, the data detection part does not detect the data and does not transmit the data back to the main control module.

[0006] Furthermore, the main control module includes a single chip microcomputer and a power supply integrated module, and the laser displacement sensor LL, the laser displacement sensor VL, the laser displacement sensor LR and the laser displacement sensor VR are connected to the single chip microcomputer and the power supply integrated module through a control line.

[0007] Furthermore, the moving part includes a support frame, and four groups of wheels that can run along the rails are arranged at the bottom of the support frame. The wheels are driven by motors. The single-chip microcomputer and power supply integrated module controls the wheels by controlling the motor drive and supplies power to the motor through the power line; the front and rear ends of the left side of the support frame are respectively provided with a laser displacement sensor LL and a laser displacement sensor VL; the front and rear ends of the right side of the support frame are respectively provided with a laser displacement sensor LR and a laser displacement sensor VR.

[0008] Furthermore, the transmission display module includes a transmission circuit, Ethernet and a cloud platform mobile terminal. The transmission circuit connects the main control module and the Ethernet, and a signal connection is established between the Ethernet and the cloud platform mobile terminal.

[0009] A method for using a track gauge and height automatic detection system based on laser ranging comprises the following steps:

[0010] S100: The main control module controls the moving part to travel on the rail to a position to be detected;

[0011] S200: Control the laser displacement sensor LL, the laser displacement sensor LR, the laser displacement sensor VL and the laser displacement sensor VR to turn on;

[0012] S300: The laser displacement sensors VL and VR measure the height of the left and right rails respectively, and the laser displacement sensors LL and LR measure the distances to the right rail and the left rail respectively, and obtain four measurement data vl, vr, ll and lr, and transmit them to the main control module;

[0013] S400: The main control module calculates the difference between vl, vr and the designed superelevation v0 to obtain the left elevation deviation vl0 and the right elevation deviation vr0;

[0014] S500: Establish the left side measurement numerical correction model MODEL_L and the right side numerical correction model MODEL_R according to vl0, vr0, ll, lr, the track track and the inner depression curve of the track; and calculate the actual widths L_width and R_width of the left and right side measurement track data, and take the middle value of the two data as the final actual value M_width;

[0015] S600: when M_width is within the safety threshold range, no track adjustment signal is generated; when M_width is not within the safety threshold range, a track adjustment signal is generated and the staff is waiting to adjust the track;

[0016] S700: After the staff completes the track adjustment, repeat S200 to S600 until M_width is within the safety threshold range;

[0017] S800: Transmitting data vl0, vr0, M_width and information on the on / off status of the track adjustment device to a transmission display module. The transmission display module parses the transmission data and displays it in real time in a visual manner.

[0018] The specific process of step S500 is:

[0019] S501: Taking the most concave point of the inner curve of the track as the origin, establish the vertical direction as the x-axis and the horizontal direction as the y-axis, and set the inner curve of the track as: .

[0020] S502: Assume that the two track height deviations are ,but .

[0021] S503: The value of L_width in MODEL_L is: .

[0022] S504: The value of R_width in MODEL_R is: .

[0023] S505: Calculate the actual value M_width, .

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) The track gauge and guide height can be automatically detected during the inspection process, reducing labor costs;

[0026] (2) The automatic measurement system based on laser ranging has high measurement accuracy and is equipped with a measurement correction model to reduce measurement errors;

[0027] (3) The automatic measurement system based on laser ranging has the function of generating track adjustment signals and automatically re-detecting after adjustment, which improves the adjustment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a connection diagram of the track gauge and height automatic detection system based on laser ranging;

[0029] Figure 2 This is the structure diagram of the track and guide height automatic detection system based on laser ranging;

[0030] Figure 3 This is a schematic diagram of the application scenario of the track gauge and height automatic detection system based on laser ranging;

[0031] Figure 4 This is the flow chart of the track gauge and height automatic detection system based on laser ranging;

[0032] Figure 5 It is the circuit diagram of the track gauge and height automatic detection system based on laser ranging;

[0033] Figure 6 This is a visualization diagram of the cloud platform structure of the track gauge and height automatic detection system based on laser ranging;

[0034] Figure 7 This is a visual structure diagram of the mobile terminal of the track gauge and height automatic detection system based on laser ranging;

[0035] In the figure, 1-wheel, 2-laser displacement sensor LL, 3-laser displacement sensor VL, 4-motor, 5-support frame, 6-laser displacement sensor LR, 7-laser displacement sensor VR, 8-control circuit, 9-single chip microcomputer and power supply integrated module, 10-power line, 11-gasket, 12-rail, 13-sleeper, 14-elastic bar, 15-screw. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present invention more obvious, embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] like Figure 1In the connection relationship diagram of the automatic detection system of track gauge and height based on laser ranging shown in the figure, the automatic detection system includes a single-chip main control part, a motion part, a data detection part and a transmission display part; the single-chip main control part is composed of a single-chip minimum system; the motion part is composed of a motor drive, a motor, and wheels; the data detection part is composed of multiple laser displacement sensors and tracks; the transmission display part is composed of a data transmission circuit, a cloud platform, and a mobile terminal. The single-chip main control part is used to control the motion part to travel on the track, control the opening and closing of the data detection device and receive data, the main control part outputs a track adjustment signal, and the main control module is connected to the transmission display module signal.

[0038] like Figure 2 The structure diagram of the track gauge and guide height automatic detection system based on laser ranging shown in the figure includes a wheel 1, a laser displacement sensor LL2 placed horizontally on the left side of the motion control part, a laser displacement sensor VL3 placed vertically on the left side of the motion control part, a motor 4, a support frame 5, a laser displacement sensor LR6 placed horizontally on the right side of the motion control part, a laser displacement sensor VR7 placed vertically on the right side of the motion control part, a control circuit 8, a single-chip microcomputer and power supply integrated module 9 and a power circuit 10. Among them, the laser displacement sensor LL2, the laser displacement sensor VL3, the laser displacement sensor LR6, and the laser displacement sensor VR7 constitute a data detection part. When the main control module controls the data detection part to be turned on, the data detection part detects the track gauge and guide height, and transmits the data back to the main control module. When the main control module controls the data detection part to be turned off, the data detection part does not detect the data and does not transmit the data back to the main control module. The wheel 1, the motor 4, and the support frame 5 constitute the motion part. The main control controller module generates a control signal to control the motion part, that is, to control the start and stop of the motor and the control direction of the motor speed.

[0039] like Figure 3 In the schematic diagram of the application scenario of the track gauge and height automatic detection system device based on laser ranging shown, the moving part is composed of four wheels, four motors, a support frame, and four laser ranging sensors. Four groups of wheels 1 that can move along the rails 12 are arranged at the bottom of the support frame 5. The wheels 1 are driven by the motor 4. The single-chip microcomputer and power supply integrated module 9 supplies power to the motor 4 through the power line 10. The front and rear ends of the left side of the support frame 5 are respectively provided with a laser displacement sensor LL2 and a laser displacement sensor VL3; the front and rear ends of the right side of the support frame 5 are respectively provided with a laser displacement sensor LR6 and a laser displacement sensor VR7.

[0040] like Figure 4 In the flowchart of the automatic detection system of track gauge and height based on laser ranging shown in the figure, the specific process includes the following steps:

[0041] Step 1: The STM32F103C8T6 single-chip control circuit controls the motion device to travel on the track at a certain speed and stop after traveling for a period of time;

[0042] Step 2: The STM32F103C8T6 single-chip microcomputer control circuit controls the laser displacement sensor LL placed horizontally on the left, the laser displacement sensor LR placed horizontally on the right, the laser displacement sensor VL placed vertically on the left, and the laser displacement sensor VR placed vertically on the right to turn on;

[0043] Step 3: The laser displacement sensors VL and VR measure the height of the left and right rails respectively, and the laser displacement sensors LL and LR measure the distance from the right rail to the left rail respectively, and four measurement data vl, vr, ll, lr are obtained and transmitted to the minimum system circuit of the STM32F103C8T6 microcontroller;

[0044] Step 4: Calculate the difference between vl, vr and the designed superelevation v0 to obtain the left elevation deviation vl0 and the right elevation deviation vr0;

[0045] Step 5: According to the elevation deviation values ​​vl0, vr0, ll, lr, the track track and the inner depression curve of the track, establish the left measurement numerical correction model MODEL_L and the right numerical correction model MODEL_R; and calculate the actual widths L_width and R_width of the left and right side measurement track data, and take the middle value of the two data as the final actual value M_width;

[0046] Step 6: When M_width is within the safety threshold range, the STM32F103C8T6 microcontroller control circuit does not generate a track adjustment signal; when M_width is not within the safety threshold range, the STM32F103C8T6 microcontroller control circuit generates a track adjustment signal and waits for the staff to make track adjustments.

[0047] Step 7: After the staff completes the track adjustment, repeat steps 2 to 6 until M_width is within the safety threshold range, and control the motion device in the automatic detection system to continue traveling on the track;

[0048] Step 8: The transmission circuit transmits the data vl0, vr0, M_width, and the on / off status information of the track adjustment device to the cloud platform and the mobile terminal. The cloud platform and the mobile terminal parse the transmitted data and display it in real time in a visual manner.

[0049] The specific process of solving the final actual value M_width in step 5 of the specific process steps and establishing MODEL_L and MODEL_R is as follows:

[0050] S501: Taking the most concave point of the inner curve of the track as the origin, establish the vertical direction as the x-axis and the horizontal direction as the y-axis, and set the inner curve of the track as: .

[0051] S502: Assume that the two track height deviations are ,but .

[0052] S503: The value of L_width in MODEL_L is: .

[0053] S504: The value of R_width in MODEL_R is: .

[0054] S505: Calculate the actual value M_width, .

[0055] like Figure 5 In the circuit diagram of the track gauge and height automatic detection system based on laser ranging shown in the figure, the minimum system circuit with the STM32F103C8T6 microcontroller as the main controller is composed of the STM32F103C8T6 microcontroller U1, power supply VCC, resistor R8, resistor R9, resistor R10, capacitor C2 to capacitor C7, crystal oscillator Y1, crystal oscillator Y2, and ground GND. The RS485 transmission circuit is composed of the RS485 microcontroller U2, power supply VCC, resistor R1 to resistor R7, NPN transistor Q1, capacitor C1, and ground GND. The motor and motor drive circuit are composed of L298N microcontrollers U3 and U4, power supply VCC, diodes D1 to diode D16, motors B1 to motor B4, and ground GND. The laser detection device is composed of TOF10120 microcontrollers U5, U6, U7 and U8, power supply VCC, and ground GND. Interface J_1 is a reserved port connected to the RS485 to WIFI device; J_2 is a reserved port connected to the track adjustment signal indicator.

[0056] The PA2 pin of STM32F103C8T6 microcontroller U1 is connected to the RXD pin of TOF10120 microcontroller U5 and U6; the PA3 pin of STM32F103C8T6 microcontroller U1 is connected to the TXD pin of TOF10120 microcontroller U5 and U6, the PA4 pin of STM32F103C8T6 microcontroller U1 is connected to the ENA pin of L298N microcontroller U3, and the The PA5 pin is connected to the ENB pin of the L298N microcontroller U3, the PA6 pin of the STM32F103C8T6 microcontroller U1 is connected to the ENA pin of the L298N microcontroller U4, the PA7 pin of the STM32F103C8T6 microcontroller U1 is connected to the ENB pin of the L298N microcontroller U4, and the PA9 pin of the STM32F103C8T6 microcontroller U1 is connected to the RXD pins of the TOF10120 microcontrollers U7 and U8;The PA10 pin of the STM32F103C8T6 microcontroller U1 is connected to the TXD pin of the TOF10120 microcontroller U7 and U8, the PA11 pin of the STM32F103C8T6 microcontroller U1 is connected to the 1 pin of the interface J_2 device, the PA12 pin of the STM32F103C8T6 microcontroller U1 is connected to the 2 pin of the interface J_2 device, the PB0 pin of the STM32F103C8T6 microcontroller U1 is connected to the IN1 pin of the L298N microcontroller U3, and the PB1 pin of the STM32F103C8T6 microcontroller U1 is connected to the L298N microcontroller U 3, the PB2 pin of the STM32F103C8T6 microcontroller U1 is connected to the IN3 pin of the L298N microcontroller U3, the PB3 pin of the STM32F103C8T6 microcontroller U1 is connected to the IN4 pin of the L298N microcontroller U3, the PB4 pin of the STM32F103C8T6 microcontroller U1 is connected to the IN1 pin of the L298N microcontroller U4, the PB5 pin of the STM32F103C8T6 microcontroller U1 is connected to the IN2 pin of the L298N microcontroller U4, and the PB6 pin of the STM32F103C8T6 microcontroller U1 is connected to the The IN3 pin of L298N microcontroller U4 and the PB7 pin of STM32F103C8T6 microcontroller U1 are connected to the IN4 pin of L298N microcontroller U4, the PB10 pin of STM32F103C8T6 microcontroller U1 is connected to one end of resistor R3, the PB11 pin of STM32F103C8T6 microcontroller U1 is connected to the R0 pin of RS485 microcontroller U2, the OSCIN / PD0 pin of STM32F103C8T6 microcontroller U1 is connected to the 1 side of crystal oscillator Y2, and the OSCOUT / PD1 pin of STM32F103C8T6 microcontroller U1 is connected to the 1 side of crystal oscillator Y2. The pin is connected to the 2nd side of the crystal oscillator Y2, the BOOT0 pin of the STM32F103C8T6 microcontroller U1 is connected to the resistor R10, the NRST pin of the STM32F103C8T6 microcontroller U1 is connected to one end of the resistor R8, the VBAT pin of the STM32F103C8T6 microcontroller U1 is connected to one end of the capacitor C3, the PC14-OSC32_IN pin of the STM32F103C8T6 microcontroller U1 is connected to the 1st side of the crystal oscillator Y1, and the PC15-OSC32_OUT pin of the STM32F103C8T6 microcontroller U1 is connected to the 2nd side of the crystal oscillator Y1. ;

[0057] One end of capacitor C3 is connected to power supply VCC, and the other end is connected to ground GND; one end of resistor R8 is connected to power supply VCC, and the other end is connected to capacitor C2, and the other end of capacitor C2 is connected to ground GND; one end of crystal oscillator Y1 is connected to capacitor C4, and the other end is connected to capacitor C5, and the other ends of capacitor C5 and capacitor C6 are connected to ground GND; one end of crystal oscillator Y2 is connected to resistor R9 and capacitor C6, and the other end is connected to resistor R9 and capacitor C7; the other ends of capacitor C6 and capacitor C7 are connected to ground GND; one end of resistor R1 is connected to power supply VCC and resistor R2, and the other end is connected to the / RE pin of RS485 microcontroller U2 and one end of NPN transistor Q1; the other end of resistor R2 is connected to power supply VCC and resistor R2, and the other end is connected to the / RE pin of RS485 microcontroller U2 and one end of NPN transistor Q1; the other end of resistor R2 is connected to power supply VCC and resistor R2. Resistor R3, the other end of resistor R3 is connected to one end of NPN transistor Q1, and the other end of NPN transistor Q1 is connected to ground GND; one end of resistor R4 is connected to power supply VCC, and the other end is connected to RO pin of RS485 single-chip computer U2; one end of capacitor C1 is connected to power supply VCC, and the other end is connected to VCC pin of RS485 single-chip computer U2; one end of resistor R5 is connected to B pin of RS485 single-chip computer U2, one end of resistor R6 and pin 1 of interface J_1, and the other end is connected to ground GND; the other end of resistor R6 is connected to A pin of single-chip computer RS485 single-chip computer U2, one end of resistor R7 and pin 2 of interface J_1, and the other end of resistor R7 is connected to power supply VCC.

[0058] The GND pin, ISENA pin and ISENB pin of the L298N single-chip computer U3 are connected to the ground GND, and the VSS pin and VS pin of the L298N single-chip computer U3 are connected to the power supply VCC; one end of the diode D1 is connected to the power supply VCC, and the other end is connected to the OUT1 pin of the L298N single-chip computer U3, one end of the motor B1 and one end of the diode D5; one end of the diode D2 is connected to the power supply VCC, and the other end is connected to the OUT2 pin of the L298N single-chip computer U3, the other end of the motor B1 and one end of the diode D6; one end of the diode D3 is connected to the power supply VCC, and the other end is connected to the OUT3 pin of the L298N single-chip computer U3, one end of the motor B2 and one end of the diode D7; one end of the diode D4 is connected to the power supply VCC, and the other end is connected to the OUT1 pin of the L298N single-chip computer U3, the other end of the motor B2 and one end of the diode D8; the other ends of the diodes D5, D6, D7 and D8 are connected to the ground GND.

[0059] The GND pin, ISENA pin and ISENB pin of the L298N microcontroller U4 are connected to the ground GND, and the VSS pin and VS pin of the L298N microcontroller U4 are connected to the power supply VCC; one end of the diode D9 is connected to the power supply VCC, and the other end is connected to the OUT1 pin of the L298N microcontroller U4, one end of the motor B3 and one end of the diode D13; one end of the diode D10 is connected to the power supply VCC, and the other end is connected to the OUT2 pin of the L298N microcontroller U4 , the other end of motor B3 and one end of diode D14; one end of diode D11 is connected to power supply VCC, and the other end is connected to OUT3 pin of L298N microcontroller U4, one end of motor B4 and one end of diode D15; one end of diode D12 is connected to power supply VCC, and the other end is connected to OUT1 pin of L298N microcontroller U4, the other end of motor B4 and one end of diode D16; the other ends of diodes D13, D14, D15 and D16 are connected to ground GND. The VDD pins of TOF10120 microcontrollers U5, U6, U7 and U8 are connected to power supply VCC, and the GND pins of TOF10120 microcontrollers U5, U6, U7 and U8 are connected to ground GND.

[0060] In the track gauge and height automatic detection system based on laser ranging, the STM32F103C8T6 single-chip microcomputer minimum system is used to control the start and stop of the motion device, control the opening and closing of the laser ranging device, and generate the track adjustment signal; the STM32F103C8T6 single-chip microcomputer minimum system reads the data of TOF10120 single-chip microcomputers U5, U6, U7, and U8 in the laser sensor circuit, and corrects the data through the correction models MODEL_L and MODEL_R. After obtaining the final data, the RS485 transmission circuit transmits the data to the interface J_1, and the interface J_1 is connected to the RS485 to WIFI module. The measured data is transmitted to the cloud platform and the mobile platform through the transmission circuit to be stored and displayed in a visual way. When the track measurement width is not within the safe range, the STM32F103C8T6 single-chip microcomputer minimum system will generate a track adjustment signal and transmit it to the interface J_2.

[0061] like Figure 6In the visualization structure diagram of the cloud platform of the automatic detection system of track gauge and height guide based on laser ranging shown in the figure, the cloud platform display includes a three-day weather forecast part, a real-time track data display part, a geographical location display part of the automatic detection system device, a track adjustment device status display part, a track height deviation value display part at different positions, and a track width measurement data display part at different positions; the three-day weather forecast part is used to remind the staff of the weather; multiple track distance measuring devices are named Track I, Track II, Track III, Track IV, Track V, and Track VI respectively, and more track devices can be added and displayed on the cloud platform later, and the real-time track data display part It includes displaying the real-time measurement data of each track, the longitude and latitude range of the track device, the left side guide height deviation of the track, and the right side guide height deviation of the track; the geographical display part of the track adjustment device displays the specific locations of multiple automatic detection system devices on the map; the track adjustment device status display part will display the on and off status of the equipment; the track guide height deviation value display part at different positions will display the historical data of the left and right side guide height deviation values ​​of the six tracks together with the current data; the track width measurement data at different positions will display the historical data of the six track width measurement values ​​together with the current data; the cloud platform displays the data in a visual way to facilitate remote detection and track adjustment.

[0062] like Figure 7 In the mobile terminal visualization structure diagram of the automatic track gauge and height detection system based on laser ranging shown, the mobile terminal displays real-time track data, the on / off status of the track adjustment equipment, the track width and the track height deviation value; the mobile terminal is used at the construction site, and workers in different work areas can log in to the track laying track width and height detection system to view the data of the corresponding track; the real-time track data includes the track name, real-time data of the track width, longitude and latitude of the track, the left side height deviation of the track, and the right side height deviation of the track; the historical data and current data of the track width and track height deviation will be presented in the form of a line graph, which is convenient for on-site construction personnel to check in real time in a visual way whether the track width and height are up to standard, and adjust the track; and for the track gauge and height that do not meet the standard, the adjusted track gauge and height are re-measured to observe whether they meet the standard again. If not, the track adjustment and measurement are performed again until the track gauge and height meet the standard.

Claims

1. A track gauge and height automatic detection system based on laser ranging, characterized by: It includes a main control module, a data detection part, a motion part and a transmission display part; Main control module, the main control module controls the moving part to travel on the rail, the main control module controls the data detection part to open and close and receive data, and the main control module is connected to the transmission display module part; The data detection part is installed on the moving part, and the data detection part includes a laser displacement sensor LL placed horizontally on the left side of the moving part, a laser displacement sensor LR placed horizontally on the right side of the moving part, a laser displacement sensor VL placed vertically on the left side of the moving part, and a laser displacement sensor VR placed vertically on the right side of the moving part; The method of use includes the following steps: S100: The main control module controls the motion control part to travel on the rail to a position to be detected; S200: Control the laser displacement sensor LL, the laser displacement sensor LR, the laser displacement sensor VL and the laser displacement sensor VR to turn on; S300: The laser displacement sensors VL and VR measure the height of the left and right rails respectively, and the laser displacement sensors LL and LR measure the distances to the right rail and the left rail respectively, and obtain four measurement data vl, vr, ll and lr, and transmit them to the main control module; S400: The main control module calculates the difference between vl, vr and the designed superelevation v0 to obtain the left elevation deviation vl0 and the right elevation deviation vr0; S500: Establish the left side measurement numerical correction model MODEL_L and the right side numerical correction model MODEL_R according to vl0, vr0, ll, lr, the track track and the inner depression curve of the track; and calculate the actual widths L_width and R_width of the left and right side measurement track data, and take the middle value of the two data as the final actual value M_width; S600: when M_width is within the safety threshold range, no track adjustment signal is generated; when M_width is not within the safety threshold range, a track adjustment signal is generated and the staff is waiting to adjust the track; S700: After the staff completes the track adjustment, repeat S200 to S600 until M_width is within the safety threshold range; S800: The data vl0, vr0, M_width and the on / off status signal of the track adjustment device are transmitted to the transmission display module. The transmission display module analyzes the transmission data and displays it in real time in a visual manner.

2. The automatic detection system for track gauge and height based on laser ranging according to claim 1 is characterized in that: The main control module comprises a single-chip microcomputer and power supply integrated module (9), and the laser displacement sensor LL (2), the laser displacement sensor VL (3), the laser displacement sensor LR (6) and the laser displacement sensor VR (7) are connected to the single-chip microcomputer and power supply integrated module (9) via a control line (8).

3. The track gauge and height automatic detection system based on laser ranging according to claim 1 is characterized in that: The moving part comprises a support frame (5), four groups of wheels (1) capable of moving along a rail (12) are arranged at the bottom of the support frame (5), the wheels (1) are driven by a motor (4), a single-chip microcomputer and power supply integrated module (9) controls the motor (4) to drive the wheels (1), and supplies power to the motor (4) through a power line; a laser displacement sensor LL (2) and a laser displacement sensor VL (3) are arranged at the front and rear ends of the left side of the support frame (5), respectively; a laser displacement sensor LR (6) and a laser displacement sensor VR (7) are arranged at the front and rear ends of the left side of the support frame (5), respectively.

4. The automatic detection system for track gauge and height based on laser ranging according to claim 1 is characterized in that: The transmission display module includes a transmission circuit, Ethernet and a cloud platform mobile terminal. The transmission circuit connects the main control module and the Ethernet, and a signal connection is established between the Ethernet and the cloud platform mobile terminal.

5. The automatic detection system for track gauge and height based on laser ranging according to claim 1 is characterized in that: The specific process of S500 is: S501: Taking the most concave point of the inner curve of the track as the origin, establish the vertical direction as the x-axis and the horizontal direction as the y-axis, and set the inner curve of the track as: ; S502: Assume that the two track height deviations are ,but ; S503: The value of L_width in MODEL_L is: ; S504: The value of R_width in MODEL_R is: ; S505: Calculate the actual value M_width, .

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