A device and method for autonomously sensing rail three-dimensional deformation in the entire field

Abstract

The present invention provides a device and method for autonomously sensing the three-dimensional deformation of a rail in the entire field. The device includes a sensing link with the same length as the rail to be monitored and a plurality of U-shaped supports. The sensing link includes a spring steel rod and a plurality of strain sensor groups arranged on the spring steel rod at intervals along the length direction. The plurality of U-shaped supports are arranged on the spring steel rod at intervals, and the spring steel rod is connected and fixed to the waist of the rail via the U-shaped supports. When the rail is deformed due to external factors, the sensing units deform in coordination, and the strain sensors are used to capture the surface strain changes of the spring steel rod. Combined with the sensing method, autonomous sensing of the three-dimensional deformation of the rail in the entire field is achieved. The device and method for autonomously sensing the three-dimensional deformation of the rail in the entire field proposed by the present invention have the advantages of good real-time performance, little influence by environmental factors, and no need for a benchmark reference point.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail deformation measurement, and in particular to a device and method for autonomously sensing the full-field three-dimensional deformation of a rail. Background Art

[0002] Currently, rail track deformation measurement technologies can be categorized into discrete point measurement and continuous deformation field measurement. Discrete point measurement technologies, such as levels, theodolites, and surveying robots, can measure deformation at key rail points. However, the measurement results are significantly affected by human factors, resulting in low measurement efficiency and difficulty in achieving continuous deformation measurement. Continuous deformation field measurement technologies include linear array CCD photogrammetry, 3D laser scanning, and computer vision measurement. These technologies measure the overall deformation state of the rail, but the results are significantly affected by environmental factors. Measuring large-scale rail deformation requires a large number of optical devices, resulting in high measurement costs. Summary of the Invention

[0003] In response to the defects and shortcomings in the above-mentioned prior art, the present invention provides a device and method for full-field autonomous perception of three-dimensional deformation of rails. A sensing link with strain sensors on the surface is installed on the waist of the rail using a U-shaped support. When the rail is deformed due to external factors, the sensing link deforms cooperatively, and full-field autonomous perception of the three-dimensional deformation of the rail is achieved by reconstructing the morphological changes of the sensing link.

[0004] The technical solution adopted by the present invention to solve its technical problems is:

[0005] A full-field autonomous sensing device for three-dimensional rail deformation comprises a sensing link having the same length as the rail to be monitored and a plurality of U-shaped supports; the sensing link comprises a spring steel rod and a plurality of strain sensor groups arranged on the spring steel rod at intervals along the length; the plurality of U-shaped supports are arranged on the spring steel rod at intervals, and the spring steel rod is connected and fixed to the rail waist via the U-shaped supports.

[0006] Furthermore, the outer surface of the spring steel rod is provided with an axially extending circular arc groove every 90° along the circumferential direction, and each strain sensor group includes four strain sensors installed in each circular arc groove in sequence and at intervals along the circumferential direction.

[0007] Furthermore, the U-shaped support includes a C-shaped clamping member assembled with a spring steel rod and strong magnets provided at both ends of the clamping member for connecting with the waist of the rail.

[0008] A method for autonomously sensing rail three-dimensional deformation in the entire field, using the above-mentioned sensing device, includes the following steps:

[0009] Step 1. Establish a spatial rectangular coordinate system xyz: establish the x-axis along the length of the sensing link, establish the y-axis along the line connecting the centers of the strain sensors on the upper and lower surfaces at the same measuring point of the sensing link, and establish the z-axis according to the right-hand rule. The origin of the coordinate system is located at the center of the cross section at the left end of the sensing link.

[0010] Step 2. Arrange N+1 U-shaped supports along the length of the sensing link. The position of each U-shaped support is x i , i∈[1, N+1], the distance between two adjacent U-shaped supports is d i =x i+1 -x i ;

[0011] Step 3. Arrange a strain sensor group between two adjacent U-shaped supports. The arrangement position of the strain sensor group is expressed as:

[0012]

[0013] Among them, s i For x i and x i+1 The layout position of the strain sensor group between the two U-shaped supports, and d0 = 0;

[0014] Step 4. Based on the measured strain values ​​of each strain sensor group, the measured values ​​of the bending curvature of the sensing link along the y-axis and z-axis are obtained:

[0015]

[0016]

[0017] Among them, c y (s i ) and c z (s i ) is the layout position s of the strain sensor group i The measured value of the curvature of the sensing link along the y-axis and z-axis; ε j (s i ) is the layout position s of the strain sensor group i The measured strain value of strain sensor number j at position j; j represents the layout position of the strain sensor along the circumferential direction of the sensing link. The strain sensor located on the upper surface of the sensing link is numbered 1, and the remaining strain sensors are numbered 2, 3, and 4 along the rotation direction from the x-axis to the y-axis; R is the diameter of the spring steel rod;

[0018] Step 5. Based on the measured values ​​of the curvature of the sensing link along the y-axis and z-axis, establish the solution vector F:

[0019] F=[c y (s1)c z(s1)c y (s2)c z (s2)…c y (s N )c z (s N )] T ;

[0020] Step 6. Use node displacement and interpolation function to solve s i Theoretical values ​​of the curvature of the sensing link along the y-axis and z-axis are:

[0021] k y (s i )=C y (ξ i )u i

[0022] k z (s i )=C z (ξ i )u i

[0023] Among them, k y (s i ) and k z (s i ) is the layout position s of the strain sensor group i The theoretical value of the curvature of the sensing link along the y-axis and z-axis directions; C y (ξ i ) and C z (ξ i ) is the interpolation function C1(ξ i )、C2(ξ i )、C3(ξ i ) and C4(ξ i ) vector; u i is the unit node displacement vector; ξ i is the dimensionless node coordinate;

[0024] Step 7. Using the theoretical and measured values ​​of the curvature of the sensing link along the y-axis and z-axis, establish the deformation solution objective function:

[0025]

[0026] Among them, Φ(U) is the deformation solution objective function; λ is the penalty coefficient; U is the overall node displacement vector; C is the vector C y (ξ i ) and C z (ξ i ) is a matrix composed of .

[0027] Furthermore, vector C in step 6 y (ξ i ) and C z (ξ i ) is expressed as:

[0028] C y (ξ i )=[C1(ξ i ) C2(ξ i ) 0 0 C3(ξ i ) C4(ξ i ) 0 0]

[0029] =[12ξ i -6 (6ξ i -4)d i 0 0 6-12ξ i (6ξ i -2)d i 0 0]

[0030] C z (ξ1)=[0 0 C1(ξ1) C2(ξ1) 0 0 C3(ξ1) C4(ξ1)]

[0031] =[0 0 12ξ i -6 (6ξ i -4)d i 0 0 6-12ξ i (6ξ i -2)d i ].

[0032] Furthermore, the unit node displacement vector u in step 6 i Expressed as:

[0033] u i =[v i v′ i w i w′ i v i+1 v′ i+1 w i+1 w′ i+1 ] T

[0034] Among them, v i and w i Arrange the position x for the U-shaped support i The deformation along the y-axis and z-axis, v′ i and w′ i v i and w i Find the first derivative with respect to x.

[0035] Furthermore, the matrix C in step 7 is expressed as:

[0036]

[0037] Furthermore, the overall node displacement vector U in step 7 is expressed as:

[0038] U=[v1 v′1 w1 w′1 … v N+1 v′ N+1 w N+1 w′ N+1 ] T .

[0039] Furthermore, the dimensionless node coordinate ξ i With coordinate x i The relationship is:

[0040]

[0041] The present invention adopts the above technical solution, and can achieve the following beneficial effects:

[0042] This application relates to a device and method for autonomous, full-field sensing of three-dimensional rail deformation. Its key innovation lies in the use of U-shaped supports to mount a sensing link equipped with strain sensors on the rail waist. By reconstructing the morphological changes of the sensing link, autonomous, full-field sensing of the rail's three-dimensional deformation is achieved. This device enables remote, real-time monitoring of three-dimensional rail deformation, with a monitoring frequency that can be determined based on actual needs, up to 1kHz. Furthermore, the device accurately reconstructs the three-dimensional deformation at each point along the rail's length, with a spatial resolution of up to 1m and submillimeter measurement accuracy.

[0043] Compared with traditional railway monitoring devices, the device and method for autonomous full-field sensing of three-dimensional rail deformation proposed in this application have multiple advantages. First, the device does not require a benchmark reference point. It only needs to be simply connected to the rail through a strong magnet. It is easy to operate and can achieve non-destructive measurement of the three-dimensional deformation of the rail under different working conditions. Secondly, the device has good real-time performance and can quickly reflect the deformation status of the railway, helping railway management departments to promptly discover and resolve railway safety hazards. Finally, the device is less affected by environmental factors and can adapt to various severe weather and environmental conditions, ensuring the accuracy and reliability of monitoring data.

[0044] In summary, the device and method for full-field autonomous perception of three-dimensional rail deformation proposed in this application have broad application prospects, can effectively improve the safety and stability of railway operation, and are of great significance to the safe operation of railways. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1This is a schematic diagram of the structure of the full-field autonomous sensing device for three-dimensional rail deformation in this application;

[0046] Figure 2 A cross-sectional diagram of the sensing link for this application;

[0047] Figure 3 This is a structural diagram of the U-shaped support for this application.

[0048] In the figure: 101 - sensing link, 102 - U-shaped support, 103 - rail waist, 201 - spring steel rod, 202 - strain sensor, 301 - clamping member, 302 - strong magnet. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0051] Example 1

[0052] This embodiment relates to a full-field autonomous sensing device for three-dimensional rail deformation, such as Figure 1-Figure 3 As shown, it includes a sensing link 101 and a plurality of U-shaped supports 102. The U-shaped supports 102 are sequentially arranged on the spring steel rod 201 at intervals and connected and fixed on the rail waist 103.

[0053] The sensing link 101 is the same length as the rail to be monitored and comprises a spring steel bar 201 with circular grooves formed on its outer surface at 90° intervals along the circumferential direction. Two N strain sensor groups are arranged on the spring steel bar 201 at intervals along its length. The spring steel bar 201 is evenly divided into N sections along its length, with each strain sensor group located at the midpoint of each section. Each strain sensor group includes four strain sensors 202, which are glued into the circular grooves on the outer surface of the spring steel bar 201 at intervals along the circumferential direction.

[0054] The U-shaped support 102 includes a clamping member 301 and strong magnets 302 provided at both ends of the clamping member 301. The inner diameter of the elbow of the U-shaped support 102 is the same as the outer diameter of the spring steel rod 201. N+1 U-shaped supports 102 are fixed at the node positions of each interval by welding.

[0055] During installation, the spring steel rod 201 is first evenly divided into N parts according to the length of the rail to be measured, and the clamping components 301 are welded at the node positions of the N+1 intervals. Secondly, a strain sensor 202 is installed at the midpoint of each interval every 90° along the circumferential direction. Finally, a strong magnet 302 is used to fix the sensing link 101 welded with the clamping components 301 to the rail waist 103.

[0056] In addition, if Figure 1 and Figure 2 As shown, the spring steel rod 201 has a diameter of 3 mm and a radius of the arc groove is 0.5 mm. Preferably, the strain sensor 202 can be a fiber Bragg grating strain sensor;

[0057] like Figure 1 and Figure 3 As shown, the inner diameter of the elbow of the clamping member 301 is 3.05 mm, the cross-sectional size of the end portion is 10 mm×10 mm, and the cross-sectional size of the super magnet 302 is 10 mm×10 mm.

[0058] Example 2

[0059] A method for autonomously sensing rail three-dimensional deformation in the entire field, comprising the following steps:

[0060] Step 1: Design and install the full-field autonomous sensing device for three-dimensional rail deformation described in Example 1 based on the length of the rail to be monitored;

[0061] Step 2: Establish a spatial rectangular coordinate system xyz. Establish the x-axis along the length of the sensing link 101, establish the y-axis along the line connecting the centers of the upper and lower surface strain sensors 202 at the same measuring point of the sensing link 101, and establish the z-axis according to the right-hand rule. The origin of the coordinate system is located at the center of the left cross-section of the sensing link 101.

[0062] Step 3: Evenly arrange N+1 U-shaped supports 102 along the length of the sensing link 101. The position of each U-shaped support 102 is x i , i∈[1, N+1], the distance between two adjacent U-shaped supports 102 is d i =x i+1 -x i ;

[0063] Step 4: Arrange a strain sensor group between two adjacent U-shaped supports 102. The arrangement position of the strain sensor group can be expressed as:

[0064]

[0065] Among them, s i For x i and x i+1The arrangement position of the strain sensor group between the two U-shaped supports 102, and d0 = 0;

[0066] Step 5: Based on the measured strain values ​​of each strain sensor group, the measured values ​​of the bending curvature of the sensing link 101 along the y-axis and the z-axis are obtained as follows:

[0067]

[0068]

[0069] Among them, c y (s i ) and c z (s i ) is the layout position s of the strain sensor group i The curvature of the link 101 along the y-axis and the z-axis is sensed at ε; j (s i ) is the layout position s of the strain sensor group i The measured strain value of the strain sensor 202 at position j; j represents the layout position of the strain sensor 202 along the circumferential direction of the sensing link 101. The strain sensor 202 located on the upper surface of the sensing link 101 is numbered 1, and the remaining strain sensors 202 are numbered 2, 3, and 4 along the rotation direction from the x-axis to the y-axis; R is the diameter of the spring steel rod 201;

[0070] Step 6: Based on the measured values ​​of the curvature of the sensing link 101 along the y-axis and the z-axis, establish a solution vector F:

[0071] F=[c y (s1) c z (s1) c y (s2) c z (s2) … c y (s N ) c z (s N )] T

[0072] T represents the transpose of a vector;

[0073] Step 7: Use node displacement and interpolation function to solve s i The theoretical values ​​of the curvature of the sensing link along the y-axis and z-axis are:

[0074] k y (s i )=C y (ξ i )u i

[0075] k z (si )=C z (ξ i )u i

[0076] Among them, k y (s i ) and k z (s i ) is the layout position s of the strain sensor group i The theoretical value of the bending curvature of the sensing link 101 along the y-axis and z-axis directions; the unit node displacement vector u i =[v i v′ i w i w′ i v i+1 v′ i+1 w i+1 w′ i+1 ] T , v i and w i Arrange position x for U-shaped support 102 i The deformation along the y-axis and z-axis, v′ i and w′ i v i and w i First derivative with respect to x; dimensionless nodal coordinates C y (ξ i ) and C z (ξ i ) is the interpolation function C1(ξ i )、C2(ξ i )、C3(ξ i ) and C4(ξ i )

[0077]

[0078]

[0079] Step 8: Using the theoretical and measured values ​​of the curvature of the sensing link 101 along the y-axis and z-axis, establish a deformation solution objective function:

[0080]

[0081] Among them, Φ(U) is the deformation solution objective function; λ is the penalty coefficient; U is the overall node displacement vector; C is the vector C y (ξ i ) and C z (ξ i )composition;

[0082]

[0083] U=[v1v′1w1w′1…v N+1 v′ N+1 w N+1 w′ N+1 ] T .

[0084] When external factors cause rail deformation, the sensing chain coordinates the deformation, using strain sensors to capture surface strain changes on spring steel bars. Combined with sensing methods, this system achieves full-field autonomous sensing of three-dimensional rail deformation. The proposed device and method for full-field autonomous sensing of three-dimensional rail deformation offer advantages such as high real-time performance, minimal environmental impact, and the absence of a reference point.

[0085] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A full-field autonomous sensing device for three-dimensional rail deformation, characterized by: The invention comprises a sensing link (101) having the same length as the rail to be monitored and a plurality of U-shaped supports (102); the sensing link (101) comprises a spring steel bar (201) and a plurality of strain sensor groups arranged on the spring steel bar (201) at intervals in the length direction; the plurality of U-shaped supports (102) are arranged on the spring steel bar (201) at intervals in sequence, and the spring steel bar (201) is connected and fixed to the rail waist (103) through the U-shaped supports (102); The outer surface of the spring steel rod (201) is provided with an axially extending circular arc groove at intervals of 90 degrees along the circumferential direction, and each strain sensor group comprises four strain sensors (202) installed in each circular arc groove in sequence and at intervals along the circumferential direction; The U-shaped support (102) comprises a C-shaped clamping member (301) assembled with a spring steel rod (201) and strong magnets (302) arranged at both ends of the clamping member (301) for connecting with the rail waist (103).

2. The rail three-dimensional deformation full-field autonomous sensing device according to claim 1, characterized in that: The method for autonomously sensing the full-field three-dimensional deformation of rails includes the following steps: Step 1. Establish a spatial rectangular coordinate system xyz: establish an x-axis along the length direction of the sensing link (101), establish a y-axis along the center line connecting the upper and lower surface strain sensors (202) at the same measuring point of the sensing link (101), and establish a z-axis according to the right-hand rule. The origin of the coordinate system is located at the center of the left end section of the sensing link (101); Step 2. Arrange N+1 U-shaped supports (102) along the length of the sensing link (101), and the position of each U-shaped support (102) is x i , i∈[1, N+1], the distance between two adjacent U-shaped supports (102) is d i =x i+1 -x i ; Step 3. Arrange a strain sensor group between two adjacent U-shaped supports (102). The arrangement position of the strain sensor group is represented as follows: Among them, s i For x i and x i+1 The arrangement position of the strain sensor group between the two U-shaped supports (102), and d0=0; Step 4. Based on the measured strain values ​​of each strain sensor group, the measured values ​​of the bending curvature of the sensing link (101) along the y-axis and the z-axis are obtained: Among them, c y (s i ) and c z (s i ) is the layout position s of the strain sensor group i The measured values ​​of the curvature of the sensing link (101) along the y-axis and the z-axis; ε j (s i ) is the layout position s of the strain sensor group i The measured strain value of the strain sensor (202) numbered j at position 1; j represents the layout position of the strain sensor (202) along the circumferential direction of the sensing link (101); the strain sensor (202) located on the upper surface of the sensing link (101) is numbered 1, and the remaining strain sensors (202) are numbered 2, 3, and 4 along the rotation direction from the x-axis to the y-axis; R is the diameter of the spring steel rod (201); Step 5. According to the measured values ​​of the curvature of the sensing link (101) along the y-axis and the z-axis, establish the solution vector F: F=[c y (s1)c z (s1)c y (s2)c z (s2)…c y (s N )c z (s N )] T ; Step 6. Use node displacement and interpolation function to solve s i Theoretical values ​​of the curvature of the sensing link (101) along the y-axis and z-axis are: k y (s i )=C y (ξ i )u i k z (s i )=C z (ξ i )u i Among them, k y (s i ) and k z (s i ) is the layout position s of the strain sensor group i The theoretical value of the curvature of the sensing link (101) along the y-axis and the z-axis; C y (ξ i ) and C z (ξ i ) is the interpolation function C1(ξ i )、C2(ξ i )、C3(ξ i ) and C4(ξ i ) vector; u i is the unit node displacement vector; ξ i is the dimensionless node coordinate; Step 7. Using the theoretical and measured values ​​of the curvature of the sensing link (101) along the y-axis and z-axis, establish the deformation solution objective function: Among them, Φ(U) is the deformation solution objective function; λ is the penalty coefficient; U is the overall node displacement vector; C is the vector C y (ξ i ) and C z (ξ i ) is a matrix composed of .

3. The rail three-dimensional deformation full-field autonomous sensing device according to claim 2, characterized in that: Vector C in step 6 y (ξ i ) and C z (ξ i ) is expressed as:

4. The rail three-dimensional deformation full-field autonomous sensing device according to claim 3, characterized in that: The unit node displacement vector u in step 6 i Expressed as: u i =[v i v′ i w i w′ i v i+1 v′ i+1 w i+1 w′ i+1 ] T Among them, v i and w i Arrange position x for U-shaped support (102) i The deformation along the y-axis and z-axis, v′ i and w′ i v i and w i Find the first derivative with respect to x.

5. The rail three-dimensional deformation full-field autonomous sensing device according to claim 4, characterized in that: The matrix C in step 7 is expressed as:

6. The rail three-dimensional deformation full-field autonomous sensing device according to claim 5, characterized in that: The overall nodal displacement vector U in step 7 is expressed as: U=[v1 v′1 w1 w′1 … v N+1 v′ N+1 w N+1 w′ N+1 ] T 。 7. The device for autonomously sensing rail three-dimensional deformation in all fields according to any one of claims 2 to 6, characterized in that: Dimensionless node coordinate ξ i With coordinate x i The relationship is:

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