Dynamic inspection method for magnetic levitation U-shaped track

Abstract

The application discloses a kind of magnetic suspension U-shaped track dynamic inspection methods, comprising: using the right upper image sensor and the left upper image sensor of the bottom of inspection car to carry out image acquisition to the track vertex and the gauge point of support rail, the coordinate data of track vertex and gauge point in sensor coordinate system is obtained by solving the image collected;Using the right lower image sensor and the left lower image sensor of the bottom of inspection car to carry out image acquisition to ground module, the coordinate data of center point and four corner points in sensor coordinate system is obtained by solving the image collected;The mileage, position and attitude of inspection car are determined using inertial reference device, and the coordinate data in standard coordinate system is obtained by coordinate conversion according to the determined mileage, position and attitude;According to the coordinate data of track vertex and gauge point in standard coordinate system and the coordinate data of center point and four corner points in standard coordinate system, the related detection parameters of support rail and the related detection parameters of ground module are calculated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic levitation track inspection, and particularly to a dynamic inspection method for a magnetic levitation U-shaped track. BACKGROUND

[0002] The super-high-speed low-vacuum tube vehicle is divided into an acceleration stage, a suspension stage and a braking stage during operation. In the acceleration stage, the vehicle slides on the support rail through support wheels and relies on the ground module to generate a propelling force. In the suspension stage, the vehicle mainly relies on the ground module to generate a propelling force and a suspension force. In this case, due to the influence of factors such as ground settlement, support rail pouring error, ground module installation error and temperature change, unevenness of the support rail and the ground module will be caused, which affects the operation stability and safety of the vehicle.

[0003] Therefore, it is necessary to detect the related conditions of the magnetic levitation track to ensure the operation safety of the vehicle, but there is no method for detecting the magnetic levitation track in the prior art. SUMMARY

[0004] The present application provides a dynamic inspection method for a magnetic levitation U-shaped track, which can solve the technical problems in the prior art.

[0005] The present application provides a dynamic inspection method for a magnetic levitation U-shaped track, which comprises the following steps:

[0006] The right upper image sensor and the left upper image sensor at the bottom of the inspection vehicle are used to collect images of the rail top points and the rail gauge points, and the collected images are calculated to obtain coordinate data of the rail top points and the rail gauge points in the sensor coordinate system;

[0007] The right lower image sensor and the left lower image sensor at the bottom of the inspection vehicle are used to collect images of the ground module, and the collected images are calculated to obtain coordinate data of the center point and the four corner points in the sensor coordinate system;

[0008] The inertial reference device is used to determine the mileage, position and attitude of the inspection vehicle, and the coordinate data of the rail top points and the rail gauge points in the sensor coordinate system and the coordinate data of the center point and the four corner points in the sensor coordinate system are converted according to the determined mileage, position and attitude to obtain coordinate data of the rail top points and the rail gauge points in the standard coordinate system and coordinate data of the center point and the four corner points in the standard coordinate system;

[0009] The support rail related detection parameters and the ground module related detection parameters are calculated according to the coordinate data of the rail top points and the rail gauge points in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system.

[0010] Preferably, the coordinate data of the rail top point and the rail gauge point in the sensor coordinate system and the coordinate data of the center point and the four corner points in the sensor coordinate system are coordinate-converted according to the determined mileage, position and attitude to obtain the coordinate data of the rail top point and the rail gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system, including:

[0011] The coordinate data of the rail top point and the rail gauge point in the sensor coordinate system and the coordinate data of the center point and the four corner points in the sensor coordinate system are converted into the coordinate data of the rail top point and the rail gauge point in the vehicle coordinate system and the coordinate data of the center point and the four corner points in the vehicle coordinate system according to the determined mileage, position and attitude, wherein the origin position of the vehicle coordinate system is the detection beam center position, the X direction is the transverse direction of the inspection vehicle, the Y direction is the advancing direction of the inspection vehicle, and the Z direction is upward.

[0012] The coordinate data of the rail top point and the rail gauge point in the vehicle coordinate system and the coordinate data of the center point and the four corner points in the vehicle coordinate system are converted into the coordinate data of the rail top point and the rail gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system.

[0013] Preferably, the method further comprises:

[0014] According to the support rail related detection data, it is judged whether the support rail is abnormal.

[0015] According to the ground module related detection data, it is judged whether the ground module is abnormal.

[0016] Preferably, the support rail related detection parameters include support rail gauge, support rail height, support rail alignment, support rail levelness, support rail super-elevation and / or support rail triangular pit, and the ground module related detection parameters include same-side ground module misalignment, same-side ground module height, same-side ground module triangular pit, opposite-side ground module spacing, opposite-side ground module levelness super-elevation and / or same-side ground module alignment.

[0017] Preferably, the support rail gauge is calculated according to the Y-axis coordinates of the rail gauge points on both sides of the support rail in the standard coordinate system.

[0018] Preferably, the support rail levelness and the support rail super-elevation are calculated according to the Z-axis coordinates of the rail top points on both sides of the support rail in the standard coordinate system.

[0019] Preferably, the support rail triangular pit is calculated according to the support rail super-elevations of two support rail sections with a first predetermined length.

[0020] Preferably, the same-side ground module stagger is calculated according to the Z-axis coordinate of the center point of the adjacent ground module in the standard coordinate system and a first standard value, the same-side ground module height is calculated according to the Y-axis coordinate of the center point of the adjacent ground module in the standard coordinate system and a second standard value, and the same-side ground module triangular pit is calculated according to the Y-axis coordinate of the four corner points of each ground module in the standard coordinate system and the corresponding standard value.

[0021] Preferably, the opposite-side ground module distance is calculated according to the Y-axis coordinate of the center point of the ground module on both sides of the support rail in the standard coordinate system, and the opposite-side ground module horizontal super-elevation is calculated according to the Z-axis coordinate of the center point of the ground module on both sides of the support rail in the standard coordinate system.

[0022] Preferably, the same-side ground module track direction is calculated according to the coordinates of the center points of the plurality of ground modules on the support rail of the predetermined second length in the standard coordinate system.

[0023] By the above technical solution, the non-contact measurement method of the image sensor can be used to measure the geometric parameters of the support rail and the ground module of the magnetic levitation U-shaped track, and then it can be judged whether an abnormality occurs according to the measurement result, and the equipment with the abnormality can be accurately positioned, thereby providing reliable protection for the safe operation of the aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0024] The included drawings provide further understanding of the embodiments of the present application, form part of the specification, serve to illustrate the embodiments of the present application, and together with the text description, explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 A vehicle coordinate system diagram according to an embodiment of the present application is shown;

[0026] Figure 2 A flowchart of a magnetic levitation U-shaped track dynamic inspection method according to an embodiment of the present application is shown;

[0027] Figure 3 A diagram of the gauge point and the rail top point according to an embodiment of the present application is shown;

[0028] Figure 4 A diagram of the corner point and the center point of the ground module according to an embodiment of the present application is shown;

[0029] Figure 5 A diagram of the constant parameter and the variable parameter according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​described in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorized specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as being merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0033] like Figure 1 As shown, during the inspection process, the vehicle coordinate system described in this invention is a right-handed coordinate system. The Z-axis is upward, with the center of the detection beam at zero; the Y-axis is the vehicle's forward direction; and the X-axis is the lateral direction of the vehicle, with the right side of the vehicle's forward direction considered positive.

[0034] The following describes the terms involved in the present invention:

[0035] Rail apex of the support rail: The highest point of the intersection of the rail section and the top surface is called the rail apex.

[0036] Rail gauge point: the intersection of rail section and rail side, and the inside of the support rail, with a downward distance (e.g. 50mm) as the rail gauge point.

[0037] Rail gauge: the distance between two rail gauge points in the same rail section of the support rail.

[0038] Rail cant: the difference between the projection of the two rail top points on the horizontal plane in the same rail section of the support rail, which is called the rail cant.

[0039] Rail level: the difference between the projection of the two rail top points on the horizontal plane in the same rail section of the support rail, minus a predetermined value, which is called the rail level.

[0040] Rail high-low: the deviation of the rail top point on one side of the support rail from the average position of the rail top point perpendicular to the rail direction, which is called the rail high-low, reflecting the longitudinal irregularity of the rail top point along the track mileage direction.

[0041] Rail alignment: the deviation of the rail gauge point on one side of the support rail from the average position of the rail gauge point perpendicular to the rail direction, which is called the rail alignment, reflecting the transverse irregularity of the rail gauge point along the track mileage direction.

[0042] Rail triangle pit: the difference between the two rail cant values in two rail sections of the support rail with a certain baseline length, which is called the rail triangle pit, reflecting the irregularity of the rail top.

[0043] Rail curvature: the central angle corresponding to a certain chord length of a curved rail, which is called the rail curvature.

[0044] Same-side ground module high-low: the difference in X-axis coordinates between the center points of two adjacent ground modules, which is called the same-side ground module high-low.

[0045] Same-side ground module alignment: the difference between the maximum and minimum values of the X-axis values of all ground module center points in the same length on the same side, which is called the same-side ground module alignment.

[0046] Ground module stagger: the length of the vertical line from the highest point of the ground module to the upper edge of the adjacent module, which is called the ground module stagger.

[0047] Opposite-side ground module spacing: the difference in X-axis coordinates between the corresponding ground modules on the opposite sides, which is called the opposite-side ground module spacing.

[0048] Opposite-side ground module horizontal cant: the difference in Z-axis coordinates between the center points of the corresponding ground modules on the opposite sides, which is called the opposite-side ground module horizontal cant.

[0049] For example, Figure 2As shown, the embodiment of the present application provides a kind of magnetic suspension U-shaped track dynamic inspection method, wherein the method includes:

[0050] S100, the right upper image sensor and the left upper image sensor of the bottom of the inspection vehicle are used to image acquisition on the rail top point and the gauge point of support rail, and the coordinate data of the rail top point and the gauge point in the sensor coordinate system is obtained by solving the collected image;

[0051] Wherein, rail top point includes left rail top point and right rail top point, and gauge point includes left gauge point and right gauge point, for example, Figure 3 As shown, in the process of traveling of the inspection vehicle, the right upper image sensor and the left upper image sensor arranged at the bottom thereof scan the track section and obtain the image of the feature points (rail top point and gauge point) of the support rail.For example, the left upper image sensor and the right upper image sensor can be laser camera sensor, the left upper image sensor corresponds to left support, and the right upper image sensor corresponds to right support rail;the laser camera sensor adopts face laser beam based on the principle of triangulation, the laser beam is irradiated onto the surface of the object to be measured, forming a light strip with a certain length and width, the gauge point and the rail top point are inside the light strip, and the coordinate data of the gauge point and the rail top point in the sensor coordinate system (i.e., taking the sensor itself as the coordinate origin) can be obtained by solving the collected image, as shown in Figure 3 .

[0052] S102, the right lower image sensor and the left lower image sensor of the bottom of the inspection vehicle are used to image acquisition on the ground module, and the coordinate data of the center point and the four corner points in the sensor coordinate system is obtained by solving the collected image;

[0053] Wherein, in the process of traveling of the inspection vehicle, the right lower image sensor and the left lower image sensor arranged at the bottom thereof comprehensively scan the ground module and obtain the image of the feature points (corner points) of the ground module.For example, the left lower image sensor and the right lower image sensor can adopt stereo intersection visual assembly, the left lower image sensor corresponds to left side wall, and the right lower image sensor corresponds to right side wall;the stereo intersection visual assembly is composed of binocular high-speed linear array camera system, laser illumination system, trigger control system, etc., in the process of running, the images of the ground module on the left and right sides of the track are continuously collected, and after splicing processing, the "long axis image scroll" of the ground module in the whole line mileage range is obtained.The system detection software processes the "long axis image scroll" and identifies the corner point position of the ground module, and the coordinates of the corner points in the sensor coordinate system are calculated by using binocular vision system calibration, so as to calculate the coordinates of the center point in the sensor coordinate system (for example, by calculating the mean value of the coordinate values of the four corner points, the center point is obtained), as shown inFigure 4 as shown.

[0054] In S104, the mileage, position and attitude of the inspection vehicle are determined by using an inertial reference device (POS), and the coordinate data of the rail top point and the gauge point in the sensor coordinate system and the coordinate data of the center point and the four corner points in the sensor coordinate system are coordinate-converted according to the determined mileage, position and attitude, to obtain the coordinate data of the rail top point and the gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system.

[0055] In S106, the support rail related detection parameters and the ground module related detection parameters are calculated according to the coordinate data of the rail top point and the gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system.

[0056] By the above technical solution, the non-contact measurement method of the image sensor can be used to measure the geometric parameters of the support rail and the ground module of the magnetic levitation U-shaped track, and then the measurement result can be used to determine whether an abnormality occurs and to accurately locate the abnormal equipment, thereby providing reliable protection for the safe operation of the aircraft.

[0057] According to an embodiment of the present application, the coordinate data of the rail top point and the gauge point in the sensor coordinate system and the coordinate data of the center point and the four corner points in the sensor coordinate system are coordinate-converted according to the determined mileage, position and attitude, to obtain the coordinate data of the rail top point and the gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system, including:

[0058] The coordinate data of the rail top point and the gauge point in the sensor coordinate system and the coordinate data of the center point and the four corner points in the sensor coordinate system are converted into the coordinate data of the rail top point and the gauge point in the vehicle coordinate system and the coordinate data of the center point and the four corner points in the vehicle coordinate system according to the determined mileage, position and attitude, wherein the origin position of the vehicle coordinate system is the center position of the detection beam, the X direction is the transverse direction of the inspection vehicle, the Y direction is the advancing direction of the inspection vehicle, and the Z direction is upward.

[0059] The coordinate data of the rail top point and the gauge point in the vehicle coordinate system and the coordinate data of the center point and the four corner points in the vehicle coordinate system are converted into the coordinate data of the rail top point and the gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system.

[0060] Thus, the mapping of the original coordinate data (i.e. coordinate data in the sensor coordinate system) to the vehicle coordinate system and then to the standard coordinate system can be completed, and then the calculation of the relevant detection parameters can be completed according to the coordinate data of the feature points in the standard coordinate system. Through the coordinate transformation of the vehicle body mileage, position and attitude determined by the inertial reference device, the deviation of the vehicle coordinate system of the inspection vehicle relative to the standard coordinate system caused by the deviation of the vehicle body position and the vehicle body attitude during the working process of the inspection vehicle can be eliminated.

[0061] The coordinate transformation is described below taking the upper left image sensor as an example.

[0062] Wherein, if the feature point coordinates collected by the upper left image sensor are (X lh ,Y lh ,Z lh ), the ideal coordinates with the center of the inspection vehicle chassis as the origin are (X lh ′,Y lh ′,Z lh ′)=(X lh ,Y lh -d Hl ×cosθ Hl -H l ,Z lh -d Hl ×sinθ Hl .

[0063] Since the inspection vehicle body has a position deviation in the X, Y and Z coordinate axes, further analysis is performed. The X-axis deviation is caused by the mileage, and thus the deviation is D x .

[0064] The Y-axis deviation is caused by the continuous lateral acceleration, and thus the deviation can be obtained by integrating the acceleration sensor in the inertial reference package, and thus the deviation is ∫∫a3ydt.

[0065] The Z-axis deviation is caused by the continuous longitudinal acceleration, and thus the deviation can be obtained by integrating the left and right acceleration sensors in the inertial reference package, and thus the deviation is ∫∫a3zdt. g is the acceleration of gravity.

[0066] During the inspection process of the inspection vehicle, yaw, pitch and roll may occur due to uneven roads or foreign objects, vibrations, etc., which will affect the position of the sensor. The degree of angular deviation of the X, Y and Z axes is as follows:

[0067] (1) X-axis

[0068] Yaw: (d Hl ×cosθ Hl +H l )×sin(∫∫Wz dt),

[0069] Pitch: -d Hl x sin θ Hl x (1 - cos(∫∫W y dt)),

[0070] Roll: 0.

[0071] (2) Y-axis

[0072] Yaw: | (d Hl x cos θ Hl + H l ) x (1 - cos(∫∫W z dt)) |,

[0073] Pitch: 0,

[0074] Roll (only the first term is considered because the inspection vehicle will tilt due to the large range of roll angle):

[0075]

[0076] (3) Z-axis

[0077] Yaw: 0,

[0078] Pitch: |d Hl x sin θ Hl x (1 - cos(∫∫W y dt)) |,

[0079] Roll: -(d Hl x cos θ Hl + H l ) x sin(∫∫W x dt).

[0080] The real coordinates of the upper left image sensor (left side wall linear laser sensor) are:

[0081]

[0082] Similarly, the other position sensors are mapped to the coordinates relative to the standard coordinate system, as follows:

[0083] 1) Right lower sensor

[0084]

[0085] 2) Left lower sensor

[0086]

[0087] 3) right upper sensor

[0088]

[0089] 4) left upper sensor

[0090]

[0091] The above parameters are shown in the schematic diagram as Figure 5 The meanings are shown in Table 1 below.

[0092] Table 1: Summary of constant parameters and variable parameters

[0093]

[0094]

[0095]

[0096] According to an embodiment of the present application, the method further comprises:

[0097] determining whether the support rail is abnormal according to the support rail related detection data;

[0098] determining whether the ground module is abnormal according to the ground module related detection data.

[0099] Thus, it can be determined whether the support rail and / or the ground module is abnormal according to the detection data.

[0100] According to an embodiment of the present application, the support rail related detection parameters include support rail gauge, support rail height, support rail alignment, support rail level, support rail super-elevation and / or support rail triangular pit, and the ground module related detection parameters include same side ground module misalignment, same side ground module height, same side ground module triangular pit, opposite side ground module spacing, opposite side ground module level super-elevation and / or same side ground module alignment.

[0101] According to an embodiment of the present application, the support rail gauge is calculated according to the Y-axis coordinates of the gauge points on both sides of the support rail in the standard coordinate system.

[0102] For example, the support rail gauge is |Y l -Y r |, Y l is the Y-axis coordinate of the left gauge point, and Y r is the Y-axis coordinate of the right gauge point.

[0103] According to an embodiment of the present application, the support rail level and the support rail super-elevation are calculated according to the Z-axis coordinates of the rail top points on both sides of the support rail in the standard coordinate system.

[0104] For example, the difference between the Z-axis values of the two side rail top points is |z l -z r | is the support rail superelevation, and the support rail level is obtained according to the support rail superelevation.

[0105] According to an embodiment of the present application, the support rail triangular pit is calculated according to the support rail superelevations of two support rail sections at a first predetermined length.

[0106] For example, the triangular pit can be calculated by measuring the superelevation values of the front and rear base length positions in the track direction, and calculating the algebraic difference of the two values.

[0107] According to an embodiment of the present application, the same side ground module stagger is calculated according to the Z-axis coordinates of the center points of the adjacent ground modules in the standard coordinate system and a first standard value, the same side ground module height is calculated according to the Y-axis coordinates of the center points of the adjacent ground modules in the standard coordinate system and a second standard value, and the same side ground module triangular pit is calculated according to the Y-axis coordinates of the four corner points of each ground module in the standard coordinate system and the corresponding standard value.

[0108] For example, for the detection of the same side ground module stagger, the stagger phenomenon can be detected by judging whether there is a deviation between the Z-axis coordinate value of the center point and the corresponding standard value (X n ,Y n ,Z n ) or not, that is, |Z n -z n |. For the detection of the same side ground module height, the height phenomenon can be detected by judging whether there is a deviation between the Y-axis coordinate value of the center point and the corresponding standard value (X n ,Y n ,Z n ) or not, that is, |Y n -y n |. For the detection of the same side ground module triangular pit, whether the ground module has a triangular pit phenomenon can be judged by judging whether the Y-axis coordinate values of the corner points of each ground module, that is, y1, y2, y3, and y4, exceed the threshold value compared with the corresponding standard value.

[0109] According to an embodiment of the present application, the opposite side ground module distance is calculated according to the Y-axis coordinates of the center points of the ground modules on both sides of the support rail in the standard coordinate system, and the opposite side ground module horizontal superelevation is calculated according to the Z-axis coordinates of the center points of the ground modules on both sides of the support rail in the standard coordinate system.

[0110] For example, for the detection of the opposite side ground module distance and the horizontal superelevation, the Y-axis coordinate values of the center points obtained by scanning the corresponding sensors on the left and right sides are |Y Ln -Y Rn|Z| is the horizontal super-elevation, i.e. |Z Ln -Z Rn |, to detect the distance and the horizontal super-elevation.

[0111] According to an embodiment of the present application, the same-side track alignment of the ground modules is calculated according to the coordinates of the center points of the ground modules on the support rail of the predetermined second length in the standard coordinate system.

[0112] For example, the coordinates of the center points of the track ground modules of a length L are [(X1, Y1, Z1), (X2, Y2, Z2), …, (X n , n , n )]. The same-side track alignment of the length L track is |max(Y1, Y2, …, Y n ) - min(Y1, Y2, …, Y n )|.

[0113] For a long linear track, the long linear track can be divided into multiple sections (for example, K1, K2, K3, …, Kn sections), and the inspection method described in the above embodiments of the present application is used for each section to perform inspection, so that the sampling data and the inspection results of the whole long linear track can be obtained.

[0114] In the description of the present application, it should be understood that the orientation words such as “front, back, up, down, left, right”, “transverse, vertical, perpendicular, horizontal” and “top, bottom” and the like indicate 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 in the absence of contrary statements, these orientation words do not indicate and imply that the devices or elements referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words “inner, outer” refer to the inner and outer relative to the contour of each component.

[0115] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof shall relate to the application as oriented in the drawing. The terms "forward" and "aft" refer to a direction toward the front of the device and a direction toward the rear of the device, respectively. However, it is to be understood that the application can assume various alternative orientations, except where expressly omitted.

[0116] In addition, it should be noted that the use of "first", "second", and the like, terminology throughout the specification is merely used to distinguish one element from another, and does not necessarily imply that these elements are to be literally first and second, or the like. Such terminology may include other ordinal terms, such as "primary" and "secondary", and the like.

[0117] The application has been described herein in relation to particular embodiments, which are in no way to be considered limiting of the application rather the opposite: the application is to be administered broadly to all embodiments falling within the scope of the appended claims. As is evident from the foregoing description, certain aspects of the present application are not only fixed but can be changed or modified without departing from the scope of the present application. Therefore, numerous modifications and changes are intended to be included within the scope of the present application, as expressed in the foregoing description and attached claims, in order to provide a larger application and various embodiments to accommodate a wider number of users. Therefore, the above description should not be interpreted as a limitation on claimed scope.

Claims

1. A dynamic inspection method for a magnetic levitation U-shaped track, characterized in that: The method includes: The upper right image sensor and the upper left image sensor at the bottom of the inspection vehicle are used to capture images of the rail vertex and gauge point of the support rail, and the captured images are solved to obtain the coordinate data of the rail vertex and gauge point in the sensor coordinate system; The image sensors at the bottom right and bottom left of the inspection vehicle are used to collect images of the ground module, and the collected images are solved to obtain the coordinate data of the center point and the four corner points in the sensor coordinate system; The inertial reference device is used to determine the mileage, position and posture of the inspection vehicle, and the coordinate data of the rail vertex and gauge point in the sensor coordinate system and the coordinate data of the center point and four corner points in the sensor coordinate system are converted according to the determined mileage, position and posture to obtain the coordinate data of the rail vertex and gauge point in the standard coordinate system and the coordinate data of the center point and four corner points in the standard coordinate system; Calculate the support rail related detection parameters and the ground module related detection parameters based on the coordinate data of the rail vertex and the gauge point in the standard coordinate system and the coordinate data of the center point and the four corner points in the standard coordinate system; Calculate the support rail gauge based on the Y-axis coordinates of the gauge points on both sides of the support rail in the standard coordinate system; Calculate the support rail level and support rail superelevation based on the Z-axis coordinates of the rail vertices on both sides of the support rail in the standard coordinate system; Calculating the support rail triangular pit according to the support rail superelevations corresponding to two support rail sections separated by a first predetermined length; The misalignment of the ground modules on the same side is calculated based on the Z-axis coordinates of the center points of the adjacent ground modules in the standard coordinate system and the first standard value. The height of the ground modules on the same side is calculated based on the Y-axis coordinates of the center points of the adjacent ground modules in the standard coordinate system and the second standard value. The triangular pits of the ground modules on the same side are calculated based on the Y-axis coordinates of the four corner points of each ground module in the standard coordinate system and the corresponding standard values. The spacing between the ground modules on the opposite side is calculated based on the Y-axis coordinates of the center points of the ground modules on both sides of the support rail in the standard coordinate system, and the horizontal superelevation of the ground modules on the opposite side is calculated based on the Z-axis coordinates of the center points of the ground modules on both sides of the support rail in the standard coordinate system; The track directions of the ground modules on the same side are calculated according to the coordinates of the center points of the plurality of ground modules on the support rail of the predetermined second length in the standard coordinate system.

2. The method according to claim 1, characterized in that According to the determined mileage, position and posture, coordinate data of the rail vertex and gauge point in the sensor coordinate system and coordinate data of the center point and four corner points in the sensor coordinate system are converted to obtain coordinate data of the rail vertex and gauge point in the standard coordinate system and coordinate data of the center point and four corner points in the standard coordinate system, including: According to the determined mileage, position, and posture, the coordinate data of the rail vertex and gauge point in the sensor coordinate system, as well as the coordinate data of the center point and four corner points in the sensor coordinate system, are converted into the coordinate data of the rail vertex and gauge point in the vehicle coordinate system, as well as the coordinate data of the center point and four corner points in the vehicle coordinate system, where the origin of the vehicle coordinate system is the center position of the detection beam, the X direction is the lateral direction of the inspection vehicle, the Y direction is the travel direction of the inspection vehicle, and the Z direction is upward; The coordinate data of the rail vertex and gauge point in the vehicle coordinate system and the coordinate data of the center point and four corner points in the vehicle coordinate system are converted into the coordinate data of the rail vertex and gauge point in the standard coordinate system and the coordinate data of the center point and four corner points in the standard coordinate system.

3. The method according to claim 2, characterized in that The method further includes: Determine whether the support rail has any abnormality based on the relevant detection data of the support rail; Determine whether there is any abnormality in the ground module based on the relevant detection data of the ground module.

Images