A magnetic levitation contact rail parameter measurement system and method

Abstract

The application discloses a kind of magnetic suspension contact rail parameter measurement system and method, belong to contact rail detection field, including measuring instrument and management platform, measuring instrument includes walking mechanism and each detection module, data transmission module and control module being set on walking mechanism, management platform includes data processing module, display module and instruction module, by walking mechanism on F rail travel, each detection module carries out data acquisition to magnetic levitation track, contact rail, F rail gauge and travel mileage, and the data collected are carried out data processing by data processing module to obtain each item magnetic levitation track data including contact rail parameter, finally by display module in management platform Real-time display is realized to the real-time monitoring of magnetic levitation track along line, while staff sends instruction signal to control module by instruction module, realizes the real-time adjustment of measuring instrument, improves detection efficiency, and it is convenient for subsequent staff to carry out maintenance work.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of contact rail detection, and particularly relates to a magnetic suspension contact rail parameter measurement system and method. BACKGROUND

[0002] At present, the parameter detection of the medium and low speed magnetic suspension contact rail still relies on the traditional manual measurement, a special measuring scale is used, and a level ruler and a right angle ruler are used to complete the measurement of the contact rail angle and the pull-out value, so that the measurement efficiency is low, there is a serious measurement error, and the construction and debugging progress of the contact rail and the engineering quality are affected.

[0003] In the prior art, in the field of magnetic suspension rail, there is no formed automatic detection technology. At present, the parameter measurement of the magnetic suspension contact rail in China is measured by using a manual measuring scale, the measurement efficiency is low, the speed is slow, and the construction efficiency of the contact rail is affected. Since the magnetic suspension line has not formed a certain scale in China, there is no design standard or specification for similar measuring scales, and the measuring devices are designed by each construction unit, the control of the construction precision is rough, and the automatic detection instrument and the intelligent detection are still in the blank.

[0004] Therefore, in order to cope with the rapid development of the magnetic suspension rail process, at present, a magnetic suspension rail detection system capable of automatic and intelligent detection is needed to fill the blank in the related field. SUMMARY

[0005] In view of one or more of the above defects or improvement needs of the prior art, the application provides a magnetic suspension contact rail parameter measurement system and method, wherein a plurality of detection modules are integrated on a walking mechanism, the walking mechanism travels on the F rail, data of the magnetic suspension rail, the contact rail, the F rail gauge and the travel mileage are collected, the collected data are processed by a data processing module, and finally the data are displayed in real time by a display module in a management platform, so that the real-time monitoring of the magnetic suspension rail along the line is realized.

[0006] To achieve the above purpose, the application provides a magnetic suspension contact rail parameter measurement system, which comprises at least one measuring instrument and a management platform.

[0007] The measuring instrument comprises a walking mechanism for traveling on the F rail surfaces on both sides of the magnetic suspension rail, a telescopic mechanism, a contact rail detection module and a data transmission module. The telescopic mechanism is provided with two telescopic mechanisms respectively arranged on the lateral sides of the walking mechanism, one end of each telescopic mechanism is movably connected with the walking mechanism, so that the telescopic mechanism can reciprocate in the lateral direction, and when the F rail gauge changes, the telescopic mechanism is always attached to the outer side surface of the F rail.

[0008] The telescopic mechanism is provided with a gauge measurement module corresponding to the telescopic mechanism, which is used for acquiring the F rail gauge change amount.

[0009] The contact rail detection module is arranged on the telescopic mechanism and is used for detecting the contact rails on both sides of the maglev rail.

[0010] The contact rail detection module and the track gauge measurement module are respectively electrically connected with the data transmission module, so that the relevant information collected by the measuring instrument is uploaded to the management platform through the data transmission module.

[0011] The management platform comprises a data processing module and a display module, the data processing module is electrically connected with the display module, the data processing module is in communication connection with the data transmission module, the detection information uploaded is processed by the data processing module, and the processed detection data is sent to the display module, so that the working personnel can obtain the relevant detection conditions in real time.

[0012] As a further improvement of the application, the management platform further comprises an instruction module, which can be in communication connection with a plurality of measuring instruments to synchronously control the measuring instruments.

[0013] As a further improvement of the application, the measuring instruments are in communication connection, so that each measuring instrument can obtain the position information of other measuring instruments on the maglev line in real time and perform corresponding avoidance and / or linkage operation.

[0014] As a further improvement of the application, a traction assembly is arranged on the measuring instrument to realize the connection of two adjacent measuring instruments, so that one of the measuring instruments can drive the other measuring instrument to travel.

[0015] As a further improvement of the application, the track gauge measurement module comprises a laser range finder and / or a displacement sensor, and the displacement of the telescopic mechanism is measured to obtain the track gauge change of the F rail,

[0016] And / or

[0017] The contact rail detection module comprises a line structure laser sensor and a camera assembly, which are respectively used for collecting point cloud data and image information of the contact rail.

[0018] As a further improvement of the application, the measuring instrument further comprises a maglev rail detection module, the maglev rail detection module comprises a forward-looking camera and a downward-looking camera, and is used for detecting the maglev rail, the state of the maglev rail and the object on the maglev rail to obtain the road condition information of the maglev line.

[0019] As a further improvement of the application, the measuring instrument further comprises a mileage recognition module, the mileage recognition module comprises a combination of one or more of a mileage encoder, a front camera or a positioning terminal, and is used for obtaining the travel mileage and the corresponding position information of the measuring instrument.

[0020] and / or

[0021] The measuring instrument also includes a control module, which is electrically connected to the traveling mechanism and each detection module. By providing a synchronization information reference to each detection module, the control module ensures that the data of each detection module at the same position remain consistent.

[0022] This invention also discloses a method for measuring the parameters of a magnetic levitation contact rail, implemented based on the aforementioned magnetic levitation contact rail parameter measurement system, characterized by comprising the following steps:

[0023] S1. Place the measuring instrument on the F rails on both sides of the maglev track, and switch the measuring instrument to the unfolded state;

[0024] S2. The staff installs the power supply and starts the measuring instrument. The measuring instrument begins to travel along the maglev and performs testing.

[0025] S3. During the inspection along the line, each detection module on the measuring instrument uploads the collected detection data to the data processing module in the management platform through the data transmission module. The data processing module processes the detection data and sends the processed data information to the display module.

[0026] S4. The display module visualizes the above information, enabling staff to monitor the on-site inspection in real time.

[0027] S5. After the measuring instrument completes its inspection work, disconnect the power supply and retrieve the measuring instrument.

[0028] As a further improvement of the present invention, step S3 includes the following specific steps:

[0029] S31. Perform coordinate transformation on the point cloud data collected by the line structure laser sensor;

[0030] S32. Calculate the three-dimensional parameters of the contact rail based on the point cloud data:

[0031] S33. Generate a contact rail model based on the three-dimensional parameters of the contact rail, and fuse it with the image information captured by the camera component to achieve visual observation.

[0032] As a further improvement of the present invention, in step S32, the method for calculating the three-dimensional parameters of the contact rail is as follows:

[0033] S321. First, calculate the mean x0 of the horizontal coordinate of the contact rail surface using the collected point cloud data.

[0034] S322. The mean ordinate y0 of the top surface of the contact rail is calculated using point cloud data.

[0035] S323, convolution filtering operation is performed on x0 and y0 to obtain x0* and y0*, and fixed calibration values are added to x0* and y0* respectively, so that the pull-out value and the height value of the contact rail are obtained;

[0036] S324, the contact rail surface data is fitted, and the inclination angle of the contact rail surface is calculated.

[0037] The above improved technical features can be combined with each other as long as they do not conflict with each other.

[0038] Overall, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects:

[0039] (1) The magnetic suspension contact rail parameter measurement system and method, by integrating various detection modules on the running mechanism, including a contact rail detection module, a track gauge measurement module, a mileage identification module and a magnetic floating track detection module, multiple information such as contact rail, F rail track gauge, driving mileage (specific section) and magnetic floating track are obtained, and the above information is sent to the data processing module in the management platform, and after data processing, the results are displayed to the staff through the display module, realizing the real-time monitoring of the staff on the measurement instrument detection work, realizing the intelligentization and automation of the magnetic floating line detection;

[0040] (2) The magnetic suspension contact rail parameter measurement system and method, the management platform establishes communication connection with multiple measurement instruments through the instruction module to synchronously control each measurement instrument, and each measurement instrument can be operated under the control of the instruction module, so as to realize the detection work of multiple measurement instruments on the same magnetic floating line, greatly improving the detection efficiency of the measurement system;

[0041] (3) The magnetic suspension contact rail parameter measurement system and method, by adding a traction assembly between each measurement instrument, the traction assembly is a first traction piece and a second traction piece arranged between two measurement instruments, and the connection / disconnection of the two traction pieces realizes the connection or disconnection between the two measurement instruments, so as to realize the linkage of the measurement instruments on the same magnetic floating line, so that when a measurement instrument fails, it can be towed to the specified area by other measurement instruments;

[0042] (4) The magnetic suspension contact rail parameter measurement system and method, the control module synchronously controls various detection modules inside the measurement instrument, and provides a synchronous information reference for various detection modules, so that the data information collected by the measurement instrument is consistent in space and time;

[0043] (5) The magnetic suspension contact rail parameter measurement system and method of the present application, through the data processing module, processes the received data information, integrates the data information collected by each detection module, obtains the three-dimensional parameters of the contact rail, and fuses the obtained three-dimensional parameters with the image information collected by the camera assembly, thereby realizing visual inspection. BRIEF DESCRIPTION OF DRAWINGS

[0044] Fig. 1 is a system structure schematic diagram of the magnetic suspension contact rail parameter measurement system in the embodiment of the present application;

[0045] Fig. 2 is an overall structure expansion schematic diagram of the magnetic suspension contact rail parameter measurement instrument in the embodiment of the present application;

[0046] Fig. 3 is an overall structure storage schematic diagram of the magnetic suspension contact rail parameter measurement instrument in the embodiment of the present application.

[0047] In all the drawings, the same reference signs represent the same technical features, specifically: 1, measurement instrument main body; 2, telescopic mechanism; 3, measurement support; 4, contact rail detection module. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0050] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" or "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0051] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0053] Embodiment:

[0054] Please refer to Figs. 1-3 The magnetic suspension contact rail parameter measurement system in the preferred embodiment of the present application comprises a measuring instrument and a management platform. The measuring instrument collects relevant information of the magnetic levitation track and sends the relevant information to the management platform. The management platform processes the relevant data through a data processing module and visually displays the data, so that the staff can send instructions to the measuring instrument according to the real-time situation to realize real-time detection of the magnetic suspension track.

[0055] Specifically, the measuring instrument comprises a walking mechanism 1 to travel on the F rail surface on both sides of the magnetic levitation track, and a telescopic mechanism 2 is arranged on both sides of the walking mechanism 1, one end of the telescopic mechanism 2 is movably connected with the walking mechanism 1, and the other end is tightly attached to the outer side of the F rail when the telescopic mechanism 2 is in the expanded state. A track gauge measurement module is further arranged corresponding to the telescopic mechanism 2, which is used to measure the track gauge change of the F rail during the travel of the walking mechanism 1.

[0056] Further, the telescopic mechanism 2 comprises a telescopic member and a wing plate, one end of the telescopic member is movably connected with the running mechanism 1 and can reciprocate in the transverse direction relative to the running mechanism 1, the other end of the telescopic member is connected with the wing plate, the wing plate is arranged in the vertical direction, so that the wing plate is opposite to the outer side surface of the F rail, and a guide wheel is further arranged on the wing plate and always closely contacts the outer side surface of the F rail under the driving of the telescopic member.

[0057] During the operation of the measuring instrument, the middle part of the running mechanism 1 is always aligned with the center line of the maglev track, so that the relative positions of the running mechanism 1 and the maglev track in the transverse and vertical directions are kept constant, and the telescopic mechanisms 2 on both sides of the running mechanism 1 are telescoped according to the change of the track gauge of the F rail, and the telescopic change amount of the telescopic mechanism 2 is the track gauge change amount of the F rail, and the telescopic change amount is obtained through the track gauge measuring module, so as to realize the measurement of the track gauge of the F rail. Further, when the measuring instrument is placed on the F rail surface, the current F rail track gauge length can be determined through the telescopic extension amount of the telescopic mechanism 2 and the structure of the measuring instrument itself, and the F rail track gauge information on the entire maglev track can be obtained based on the length.

[0058] In one embodiment, the track gauge measuring module is a displacement sensor arranged corresponding to the telescopic member to obtain the displacement change amount of the telescopic member during the running of the running mechanism 1, so as to obtain the change value of the track gauge of the F rail.

[0059] In another embodiment, the track gauge measuring module comprises a laser range finder arranged on the running mechanism 1, and the measuring surface of the laser range finder is the inner side surface of the end of the telescopic mechanism 2 away from the running mechanism 1. Similarly, the running mechanism 1 is always aligned with the center line of the maglev track and runs in the longitudinal direction, and when the track gauge of the F rail changes, the telescopic mechanism 2 is driven by the telescopic member to move away from or close to the running mechanism 1, so that the laser ranging unit can obtain the relative distance change between the telescopic mechanism 2 and the running mechanism 1, thereby obtaining the track gauge change amount.

[0060] Further, a mileage recognition module is arranged on the running mechanism 1 to obtain the mileage information of the running mechanism 1 during the running, i.e. the corresponding section and direction of the maglev track. Further preferably, the mileage recognition module comprises one or a combination of a mileage encoder, a front camera or a positioning terminal, wherein the mileage encoder is arranged corresponding to the running wheel in the running mechanism 1, the running mileage of the running mechanism 1 is determined by obtaining the rotation period of the running wheel, the front camera judges the running mileage through image information such as the number of passed maglev tracks and markers along the maglev track during the running of the running mechanism 1, and the positioning module is a Beidou navigation positioning module, so that the staff can obtain the real-time position and corresponding mileage information of the running mechanism 1 on the management platform.

[0061] Further, the measuring instrument is also provided with contact rail detection modules 4, which are arranged on both sides of the walking mechanism 1, and are used for detecting the contact rail. The contact rail detection modules 4 are rotatably connected to the measuring support 3 and the telescopic mechanism 2, so that the contact rail detection modules 4 can be folded and stored. Further preferably, a locking assembly is arranged between the measuring support 3 and the telescopic mechanism 2, so that the measuring support 3 is locked to the telescopic mechanism 2 in the unfolded and stored states, and the relative position between the measuring support 3 and the telescopic mechanism 2 is kept unchanged in the working state or the stored state of the measuring instrument.

[0062] Further, the measuring support 3 and the contact rail detection module 4 are connected through a movable assembly, which includes a telescopic part. The telescopic part allows the contact rail detection module 4 to be adjusted in the length direction of the measuring support 3 through the telescopic part, so that the contact rail detection module 4 can be finely adjusted in the length direction. Further preferably, the movable assembly also includes a rotating part, which is arranged between the telescopic part and the contact rail detection module 4, so that the contact rail detection module 4 can also be finely adjusted in angle relative to the measuring support 3.

[0063] In a preferred embodiment of the present application, the telescopic part includes a sliding groove arranged on the end of the measuring support 3, and a sliding block connected to the sliding groove. The sliding groove extends in the length direction of the measuring support 3, and the inner sides of the two side edges of the measuring support 3 are in contact with the contact rail detection module 4. The contact rail detection module 4 is connected to the sliding block, so that the contact rail detection module 4 can be finely adjusted in a certain length. Further preferably, the sliding block and the contact rail detection module 4 are rotatably connected through a rotating part. The rotating part includes the sliding block and a rotating shaft. The sliding block and the contact rail detection module 4 are provided with through holes corresponding to each other, and the rotating shaft passes through the two through holes, so that the sliding block and the contact rail detection module 4 are rotatably connected. In this way, the contact rail detection module 4 can be finely adjusted in a certain angle.

[0064] Further, a driving mechanism is arranged corresponding to the movable assembly. The driving mechanism drives the telescopic part and the rotating part to finely adjust the length and / or angle of the contact rail detection module 4 in real time during the detection of the contact rail, so as to obtain the real-time information of the contact rail in all directions. Further preferably, when the measuring instrument detects the contact rail along the line, the point cloud data of the contact rail needs to be obtained. In order to make the collected data consistent, the movable assembly is kept in the locked state during the collection of the point cloud data, so that the relative position between the contact rail detection module 4 and the measuring support 3 is kept unchanged.

[0065] Further, the contact rail detection module 4 includes a line structure laser sensor, which collects the point cloud data of the contact rail, so as to obtain the three-dimensional data of the contact rail on both sides of the magnetic levitation track. Further preferably, the contact rail detection module 4 also includes a camera assembly, which is used for taking pictures of the contact rail, so as to obtain the image information of the contact rail.

[0066] In addition, the contact rail detection module 4 is rotationally and / or slidingly connected with the measuring support 3, so that the contact rail detection module 4 can be angularly fine-adjusted and / or displacement-adjusted relative to the measuring support 3 to perform multi-directional scanning and / or imaging of the contact rail.

[0067] Further, the measuring instrument further comprises a magnetic levitation rail detection module, which comprises a front-view camera or a downward-view camera arranged on the running mechanism 1 and used to collect relevant conditions of the magnetic levitation rail, such as the fastener state of the magnetic levitation rail, foreign matter intrusion condition, and separation condition.

[0068] In an embodiment of the present application, the running mechanism comprises a vehicle body, running wheel frames located at two sides of the vehicle body, and running wheels arranged in the running wheel frames, and the running wheel frames are connected with the vehicle body through offset assemblies, wherein the running wheels are spaced apart in the longitudinal direction, the offset assemblies are spaced apart in the longitudinal direction, two through holes are spaced apart in the longitudinal direction on the side wall surface adjacent to the running wheel frame of the vehicle body, and the through holes are used for the connection rod to pass through, one end of the connection rod is fixedly connected with the running wheel frame, the other end of the connection rod is sleeved with a bearing, the bearing is interference-fitted with the connection rod, and a guide rail is correspondingly arranged on the inner wall surface of the vehicle body and is matched with the bearing.

[0069] Further, the bearing is a deep groove ball bearing, and correspondingly, the guide rail is a V-shaped guide rail, the convex part of the V-shaped guide rail is matched with the concave part of the deep groove ball bearing, and when the V-shaped guide rail is installed together with the inner side wall surface of the vehicle body, the deep groove ball bearing is clamped, so that the deep groove ball bearing is limited in the transverse direction and has a certain connection strength, and the connection between the running wheel frame and the vehicle body is achieved.

[0070] In addition, the corresponding guide rail and bearing are further provided with a displacement information acquisition module, the relative position change between the guide rail and the bearing is obtained, so that the slope change of the F rail surface passed through by the running mechanism 1 is identified, and the mileage information collected by the mileage identification module is combined, so that the specific road section where the slope change occurs is determined, and the related information is sent to the display module in the management platform for visual display.

[0071] Further, the walking mechanism 1 is further provided with a control module, which is electrically connected with the driving unit and various detection modules on the walking mechanism 1, so that the control module can change the walking speed and direction of the walking mechanism 1, adjust the measurement angle of various devices and focus according to the instruction signal. Meanwhile, the control module can also perform cruise operation through the preset speed and mileage, realizing the automatic operation of the measuring instrument. Further preferably, the control module further comprises a synchronous controller, which provides a synchronous information reference for various detection modules, and various detection devices work coordinately under the action of the synchronous controller, so that the data at the same position remains consistent, ensuring that the data correspond to each other in the data processing process. Preferably, the control module comprises an embedded industrial computer.

[0072] Further, the walking mechanism 1 is provided with a data transmission module for transmitting the data information collected by the measuring instrument to the management platform and receiving the instruction signal sent by the management platform. Further preferably, the walking mechanism 1 is further provided with a first storage module for storing data information to facilitate corresponding verification work in the later stage.

[0073] Further, the walking mechanism 1 is further provided with a detachable power supply, which is detached and stored separately when the measuring instrument is in the storage state. Further preferably, the walking mechanism 1 is further provided with a handle to facilitate the staff to push and drive when the power supply of the measuring instrument fails.

[0074] The management platform comprises a data processing module which processes the received data. The data processing process comprises data filtering, parameter calculation, profile matching and image fusion. The data filtering is to remove noise from the point cloud data collected by the contact rail detection module 4; the parameter calculation is to calculate the three-dimensional data of the contact rail from the denoised point cloud data, and combine the three-dimensional data with the mileage, the F rail gauge variation and the size parameters of various structures in the measuring instrument to obtain the three-dimensional parameters of the contact rail; the profile matching is to fit and match the standard data on the standard drawing before the construction of the maglev track with the three-dimensional parameters of the contact rail obtained by actual calculation to correct the calculation error; and the image fusion is to fuse the pictures taken by the camera assembly in the contact rail detection module 4 with the contact rail parameter information or the point cloud data together according to the mileage information, realizing the real-time and visual inspection of the contact rail.

[0075] Further, the management platform further comprises a display module and an instruction module, the display module is used for visual display to the staff, including image information captured by the camera assembly, the front-view camera and the downward camera on the measuring instrument, contact rail data information processed by the data processing module and output detection record table. Moreover, the staff judges according to real-time detection data information, sends a control instruction signal to the measuring instrument through the instruction module, changes the motion and / or detection state of the measuring instrument, and can perform targeted detection on a specific area. Further preferably, the instruction module can be a fixed device arranged on the remote management platform or a handheld terminal of the staff, so as to realize timely control of the measuring instrument.

[0076] Further, the management platform further comprises a second storage module for storing technical parameters of the maglev track after being processed by the data processing module. Further preferably, the staff can input a starting rod number to the control module through the instruction module, the control module automatically calculates the rod number and records data according to the up-down numbering rule, stores them into the first storage module, and combines the numbering rule with related data, so that after being processed by the data processing module, the data information and the corresponding numbering rule are stored into the second storage module, thereby improving the accuracy of data collection, facilitating adjustment of the line mileage, and the second storage module also has an export function, so that the staff can selectively export data of a required section, and data retrieval is flexible.

[0077] Further, the data processing module can also judge the state of the maglev track by itself, and directly sends a review signal to the control module on the measuring instrument through the instruction module, so as to repeatedly detect the abnormal area, determine the state of the maglev track of the section, and provide complete support for subsequent maintenance work.

[0078] In the contact rail parameter measuring system of the application, the management platform can be in communication connection with multiple measuring instruments, and sends an instruction signal to the multiple measuring instruments through the instruction module, so as to control each measuring instrument. Meanwhile, the management platform synchronously controls multiple measuring instruments along the maglev track, so that the multiple measuring instruments can perform detection work in a regional and segmented manner, thereby improving the detection efficiency of the maglev track.

[0079] Further, the self-checking module in the measuring instrument comprises a temperature control sensor and an optical fiber sensor arranged in the measuring instrument, which are used for collecting running state information of the measuring instrument and internal structure state of the measuring instrument, and sending related information to the management platform. The management platform displays the state information of each measuring instrument to the staff in real time through the display module, and combines with the mileage recognition module, so that when the measuring instrument fails, the staff can timely judge the accident type and the accident location. Further preferably, the management platform can also control the measuring instruments to perform linkage operation, so as to bring back the failed measuring instrument.

[0080] In a preferred embodiment, the movable measuring instrument and the accident measuring instrument can be matched and connected through the traction assembly, the movable measuring instrument is matched and connected with the accident measuring instrument under the control of the staff, and the accident measuring instrument is towed to the recovery area, so as to realize the interactive linkage between the measuring instruments. Further, the traction assembly includes a first traction member and a second traction member, which are respectively arranged on the movable measuring instrument and the accident measuring instrument, and the corresponding connection between the movable measuring instrument and the accident measuring instrument is realized through the matching connection of the two traction members. It should be noted that the movable measuring instrument and the accident measuring instrument are based on the working state of the two measuring instruments, rather than two different measuring instruments.

[0081] In a preferred embodiment, the first traction member is a traction hook, and is arranged at one end of the measuring instrument in the longitudinal direction. Correspondingly, the other end of the measuring instrument is provided with a second traction member, which is a traction buckle, so that the movable measuring instrument and the accident measuring instrument are connected through the traction hook passing through the traction buckle. Further, the measuring instrument corresponding to the traction hook and / or the traction buckle is provided with a lifting mechanism, and the traction hook and / or the traction buckle are controlled through the lifting mechanism, so that the two are connected correspondingly, thereby realizing the connection between the two measuring instruments.

[0082] In another preferred embodiment, the first traction member is a telescopic rod structure, and the second traction member is an interface, which can be inserted into the interface through the rod structure, thereby realizing the matching connection between the two measuring instruments. Further preferably, the end of the rod structure inserted into the interface of the accident measuring instrument is provided with a limit member that can be popped out, so that the accident measuring instrument travels under the pushing of the limit member.

[0083] Further, a camera is arranged on the end surface of the measuring instrument in the longitudinal direction corresponding to the first traction member and the second traction member, and the accurate matching of the two traction members is realized through the camera. Further preferably, the camera can directly adopt the front camera in the magnetic levitation track detection module and / or the corresponding correction sensor.

[0084] Further, the measuring instruments can be connected in series through the traction assembly, that is, in the process of starting, the measuring instruments are placed on the magnetic levitation track, and the measuring instruments are connected in series along the longitudinal direction through the traction assembly to form a measuring instrument group, and the magnetic levitation track detection area where each measuring instrument is located is divided in sequence along the series connection order of the measuring instruments, so that the measuring instruments can start together. When the measuring instrument enters the detection area where it is located during the running of the measuring instrument group along the magnetic levitation line, the measuring instrument is separated from the measuring instrument group and detects the area, and the measuring instrument is the last one in the measuring instrument group.

[0085] Further, the measuring instruments are also connected through the data transmission module, and each measuring instrument can automatically obtain the position information and state information of other measuring instruments on the same maglev line, and perform corresponding avoidance and / or linkage operation according to the received data information.

[0086] In a preferred embodiment, the measuring instrument performs the detection work in the preset condition, and can also perform automatic operation, that is, a plurality of measuring instruments perform detection work on the maglev line, at this time, each measuring instrument receives the position information of other measuring instruments, so that when two measuring instruments gradually approach each other, they slow down or avoid each other to avoid collision.

[0087] Further, in actual operation, in addition to the measuring instrument determining that it needs to be dragged away due to self-detection module, more likely is that a measuring instrument suddenly loses connection and signal, at this time, other measuring instruments on the line can advance to the area according to the last positioning signal sent by the instruction module and / or the accident measuring instrument, detect the surrounding environment and the maglev track through the maglev track detection module, determine whether the measuring instrument loses connection due to natural disasters such as rockfall and debris flow on the maglev track, and finally find the measuring instrument, and connect the measuring instrument to the accident measuring instrument through the traction assembly, drive the measuring instrument to the departure area, and realize automatic operation of the measuring system.

[0088] Further, the measuring instrument can also detect the accident measuring instrument through the camera unit on the maglev track detection module, and send the related image information to the management platform, and the staff can determine and make the next operation according to the specific on-site information, and realize intelligent operation of the entire measuring system.

[0089] Further, when the measuring instrument in a certain area of the maglev line senses the occurrence of natural disasters, the data processing module in the management platform directly sends an instruction signal to all measuring instruments through the instruction module after processing and determining the information, and commands them to leave the area, so as to realize automatic operation of the entire measuring system, and thus the property loss is minimized.

[0090] Further, the detection system for detecting the maglev track can be divided into three levels, that is, data layer, algorithm layer and application layer.

[0091] The data layer is used for collecting and transmitting various data of the maglev track, and the objects thereof include a contact rail structure, section information, an F-track gauge, and a maglev track condition, and the contact rail detection module 4, the mileage recognition module, the gauge measurement module, and the maglev track detection module are respectively arranged for collecting the corresponding maglev track data and transmitting the relevant information to the algorithm layer through the data transmission module, and the modules are integrated on the running mechanism 1 to realize the detection along the maglev track.

[0092] The algorithm layer includes a data processing module in the management platform, which obtains various parameters of the maglev track by performing data processing including data filtering, profile matching, parameter calculation, and image fusion on the data collected by the data layer, and sends the data to the display module, and the data processing module can also directly compare the relevant data and send corresponding signals to the instruction module according to the results, so that the instruction module automatically sends instruction signals to realize the automatic operation of the measuring instrument.

[0093] The application layer includes a display module and an instruction module, the display module visually displays various parameters and models of the maglev track obtained by the data processing module, including the output of the detection record table, the image display of the contact rail and the maglev track, and the output of the monitoring video, so that the staff can monitor the on-site situation in real time and make corresponding adjustments, and further, the staff sends instruction signals to the measuring instrument through the instruction module to control the measuring instrument to perform inspection adjustment and secondary scanning on a specific area.

[0094] Further, the application also discloses a measuring method based on the measuring system to perform inspection on the maglev track and obtain relevant data of the maglev track, which includes the following steps.

[0095] S1, place the measuring instrument on the F-track on both sides of the maglev track, expand the telescopic mechanism 2 so that the guide wheels on the telescopic mechanism 2 are in close contact with the outer side of the F-track, lower the measuring support 3 so that the contact rail detection module 4 faces the contact rail, and lock and connect the measuring support 3 and the telescopic mechanism 2;

[0096] S2, install a power supply, pre-set a cruising speed and a mileage value, start the measuring instrument, and the measuring instrument starts to run on the F-track along the longitudinal direction of the maglev track and detects the relevant structural objects;

[0097] S3, each detection module on the measuring instrument uploads the collected detection data to the data processing module in the management platform through the data transmission module, the data processing module performs data processing including data filtering, profile matching, parameter calculation, and image fusion, obtains three-dimensional parameters, models, and other maglev track information of the contact rail, and sends the information to the display module;

[0098] Further, the parameter calculation about the contact rail includes the following process:

[0099] S31, coordinate conversion is performed on the point cloud data collected by the line structure laser sensor;

[0100] S32, the three-dimensional parameters of the contact rail are calculated according to the point cloud data, and the specific steps are as follows:

[0101] S321, the horizontal coordinate mean x0 of the contact rail surface is calculated through the collected point cloud data;

[0102] S322, the vertical coordinate mean y0 of the top surface of the contact rail is calculated through the point cloud data;

[0103] S323, convolution filtering operation is performed on x0 and y0 to obtain x0* and y0*, and fixed calibration values are added to x0* and y0* respectively, so that the pull-out value and the cant value of the contact rail are obtained;

[0104] S324, the contact rail surface data is fitted, and the inclination angle of the contact rail surface is calculated;

[0105] S33, according to the three-dimensional parameters of the contact rail, a contact rail model is generated, and is fused with the image information captured by the camera assembly to realize visual observation;

[0106] S4, the display module visually displays the above information to realize real-time monitoring of the on-site inspection by the staff. While reading the real-time information, the staff can also send instruction signals to the control module on the measuring instrument through the instruction module to control the running speed of the measuring instrument, change the running distance, and perform secondary scanning on certain specific sections to determine the problem location and specific problem type, facilitating the staff to perform later maintenance;

[0107] S5, after completing the inspection work, the power supply is removed, and the measuring instrument is recycled.

[0108] In step S31, the original point cloud data is based on the position of the line structure laser sensor itself, and the data processing module needs to convert the coordinates of the point cloud data into the coordinate system based on the maglev track, so as to correspond the contact rail data with the maglev track, and facilitate subsequent identification and determination. Further, the coordinate system takes the maglev track surface as the x0z coordinate plane, wherein the maglev track transverse direction is the x axis, the maglev track longitudinal direction is the z axis, and the y axis is perpendicular to the plane where the x axis and the z axis are located and intersects with the two axes respectively.

[0109] Further, in the actual operation of the measuring instrument, the relative position of the contact rail detection module 4 and the measuring support 3 remains certain, so when the F rail gauge changes, the measuring support 3 moves with the telescopic mechanism 2, and the position of the linear structure laser sensor also changes, and then, in the conversion process, the mileage information and the rail gauge change amount need to be combined, the contact rail point cloud data corresponding to the specific mileage and the rail gauge change amount are determined to compensate for the influence caused by the change of the rail gauge.

[0110] The magnetic suspension contact rail parameter measurement system and method in the application realizes real-time monitoring of the magnetic suspension rail along the line by integrating multiple detection modules on the running mechanism, driving the running mechanism on the F rail, collecting data of the magnetic suspension rail, the contact rail, the F rail gauge and the driving mileage, processing the collected data through the data processing module, and finally displaying the data in real time by the display module in the management platform.

[0111] Those skilled in the art will readily understand that the above description is only the preferred embodiment of the present application, and is not intended to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A magnetic levitation contact rail parameter measurement system, characterized in that, Includes at least one measuring instrument and a management platform; The measuring instrument includes a traveling mechanism, a telescopic mechanism, a contact rail detection module, and a data transmission module for traveling on the F-rail surface on both sides of the maglev track. The telescopic mechanism consists of two telescopic mechanisms respectively arranged on both sides of the traveling mechanism, one end of which is movably connected to the traveling mechanism, so that the telescopic mechanism can reciprocate in the lateral direction, so that when the F-rail gauge changes, the telescopic mechanism is always in contact with the outer surface of the F-rail. A gauge measurement module is provided corresponding to the telescopic mechanism to obtain the gauge change of the F rail; The contact rail detection module is mounted on the telescopic mechanism and is used to detect the contact rails on both sides of the maglev track. The contact rail detection module includes a line structure laser sensor and a camera assembly, which are used to collect point cloud data and image information of the contact rail, respectively. The measuring instrument also includes a mileage recognition module for obtaining the mileage traveled by the measuring instrument and the corresponding location information; The contact rail detection module and the track gauge measurement module are electrically connected to the data transmission module, so that the relevant information collected by the measuring instrument is uploaded to the management platform through the data transmission module; The management platform includes a data processing module and a display module. The data processing module is electrically connected to the display module and communicatively connected to the data transmission module. It processes the uploaded detection information and sends the processed detection data to the display module, enabling staff to obtain relevant detection information in real time. The data processing includes data filtering, parameter calculation, profile matching, and image fusion. The data filtering involves removing noise from the point cloud data to filter out noise points. The parameter calculation involves calculating the denoised point cloud data to obtain the three-dimensional data of the contact rail, and combining it with the travel mileage, the F-rail gauge change, and the measuring instrument size parameters to obtain the three-dimensional parameters of the contact rail. The profile matching involves fitting and matching the three-dimensional parameters of the contact rail with the standard data of the contact rail to correct calculation errors. The image fusion involves fusing the image information with the three-dimensional parameters of the contact rail or the point cloud data to achieve visual inspection of the contact rail.

2. The magnetic levitation contact rail parameter measurement system according to claim 1, wherein, The management platform also includes an instruction module, which can establish communication connections with multiple measuring instruments to synchronously control each measuring instrument.

3. The magnetic levitation contact rail parameter measurement system according to claim 2, wherein, The communication connection between the various measuring instruments enables each measuring instrument to obtain the position information of other measuring instruments on the maglev line in real time and perform corresponding avoidance and / or linkage operations.

4. The magnetic levitation contact rail parameter measurement system according to claim 3, wherein, The measuring instrument is equipped with a traction component for connecting two adjacent measuring instruments, so that one measuring instrument can drive the other measuring instrument to move.

5. The magnetic levitation contact rail parameter measurement system according to any one of claims 1 to 4, wherein, The track gauge measurement module includes a laser rangefinder and / or a displacement sensor, which obtains the track gauge change of track F by measuring the displacement of the telescopic mechanism.

6. The magnetic levitation contact rail parameter measurement system according to any one of claims 1 to 4, wherein, The measuring instrument also includes a maglev track detection module, which includes a forward-looking camera and a downward-looking camera, used to detect the maglev track, the conditions on the maglev track, and objects on the maglev track, and to obtain the track condition information of the maglev line.

7. The magnetic levitation contact rail parameter measurement system according to any one of claims 1 to 4, wherein, The measuring instrument also includes a mileage recognition module, which includes one or more of a mileage encoder, a front-facing camera, or a positioning terminal, for obtaining the mileage and corresponding location information of the measuring instrument. and / or The measuring instrument also includes a control module, which is electrically connected to the traveling mechanism and each detection module. By providing a synchronization information reference to each detection module, the control module ensures that the data of each detection module remains consistent at the same position.

8. A method for measuring the parameters of a magnetic levitation contact rail, implemented based on the magnetic levitation contact rail parameter measurement system according to any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Place the measuring instrument on the F rails on both sides of the maglev track, and switch the measuring instrument to the unfolded state; S2. The staff installs the power supply and starts the measuring instrument. The measuring instrument begins to travel along the maglev and performs testing. S3. During the inspection along the line, each detection module on the measuring instrument uploads the collected detection data to the data processing module in the management platform through the data transmission module. The data processing module processes the detection data and sends the processed data information to the display module. S4. The display module visualizes the above information, enabling staff to monitor the on-site inspection in real time. S5. After the measuring instrument completes its inspection work, disconnect the power supply and retrieve the measuring instrument.

9. The method for measuring the parameters of a magnetic levitation contact rail according to claim 8, wherein, Step S3 includes the following specific steps: S31. Perform coordinate transformation on the point cloud data collected by the line structure laser sensor; S32. Calculate the three-dimensional parameters of the contact rail based on the point cloud data: S33. Generate a contact rail model based on the three-dimensional parameters of the contact rail, and fuse it with the image information captured by the camera component to achieve visual observation.

10. The method for measuring the parameters of a magnetic levitation contact rail according to claim 9, wherein, In step S32, the three-dimensional parameters of the contact rail are calculated as follows: S321. First, calculate the mean x0 of the horizontal coordinate of the contact rail surface using the collected point cloud data. S322. The mean ordinate y0 of the top surface of the contact rail is calculated using point cloud data. S323. Perform convolution filtering on x0 and y0 to obtain x0* and y0*, and add fixed calibration values ​​to x0* and y0* respectively to obtain the pull-out value and guide height value of the contact rail. S324. Fit the contact rail surface data and calculate the tilt angle of the contact rail surface.

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