A device and method for measuring the unevenness of a permanent magnet track

Abstract

The present invention provides a device and method for measuring the unevenness of a permanent magnetic track, which relates to the technical field of permanent magnetic track detection, including a superconducting levitator; a Hall detection device is arranged on the superconducting levitator, one end of the Hall detection device extends toward the permanent magnetic track to form a positioning end, and a plurality of Hall sensors are arranged uniformly at the same interval along the width direction of the permanent magnetic track on the positioning end, and the plurality of Hall sensors are located on the same horizontal plane as the bottom of the superconductor in the superconducting levitator; an acceleration detection device is arranged on the superconducting levitator, the acceleration detection device is arranged along the length direction of the permanent magnetic track, one end of the acceleration detection device extends toward the permanent magnetic track to form a measuring end, and the height of the measuring end of the acceleration detection device is consistent with the height of the center of mass of the superconducting levitator. The present invention solves the problem that the measurement data of the prior art cannot meet the high-precision requirements, resulting in the inability to judge the health of the permanent magnetic track.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet track detection, and in particular to a device and method for measuring the unevenness of a permanent magnet track. Background Art

[0002] In the field of permanent magnetic track detection technology, a vehicle frame and detection equipment are usually provided, wherein the detection equipment is mostly fixed on the vehicle frame and moves along the permanent magnetic track with the vehicle frame for detection. However, the current design is limited by the installation position and angle of the detection equipment, and has certain limitations, and cannot fully cover all detection positions, resulting in the difficulty of measuring data to meet high-precision requirements and the inability to make accurate judgments on the health status of the permanent magnetic track. Therefore, there is an urgent need for a measurement device and method for the unevenness of a permanent magnetic track, which solves the problem that the existing technology cannot fully cover all detection positions, resulting in the difficulty of measuring data to meet high-precision requirements and the inability to make accurate judgments on the health status of the permanent magnetic track. Summary of the invention

[0003] The purpose of the present invention is to provide a device and method for measuring the unevenness of a permanent magnetic track to improve the above-mentioned problem. In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0004] In a first aspect, the present application provides a device for measuring the unevenness of a permanent magnet track, comprising:

[0005] A superconducting levitator; the Hall detection device is arranged on the superconducting levitator, one end of the Hall detection device extends toward the permanent magnet track to form a positioning end, a plurality of Hall sensors are arranged uniformly at the same interval along the width direction of the permanent magnet track on the positioning end, and the plurality of Hall sensors are located on the same horizontal plane as the bottom of the superconductor in the superconducting levitator; the acceleration detection device is arranged on the superconducting levitator, the acceleration detection device is arranged along the length direction of the permanent magnet track, one end of the acceleration detection device extends toward the permanent magnet track to form a measuring end, and the height of the measuring end of the acceleration detection device is consistent with the height of the center of mass of the superconducting levitator.

[0006] In a second aspect, the present application also provides a method for measuring the unevenness of a permanent magnet track, comprising: collecting time domain signals of a superconducting levitator during operation based on a Hall detection device, an acceleration detection device, and a photoelectric sensor, wherein the time domain signals include photoelectric signals, acceleration time domain signals, and magnetic field time domain signals;

[0007] Processing the photoelectric signal based on a preset peak-finding method to obtain time-course information of peaks and troughs;

[0008] Fitting the time history information of the wave crests and wave troughs to obtain the real-time speed of the superconducting levitator 1;

[0009] Converting the acceleration time domain signal and the magnetic field time domain signal according to the real-time speed of the superconducting levitator to obtain a space domain signal;

[0010] The spatial domain signal and the preset magnetic position signal are constructed according to a preset Fourier integration method to obtain an equivalent geometric irregularity signal;

[0011] Density fitting is performed on the equivalent geometric irregularity signal according to a preset Fourier transform method to obtain the permanent magnet track equivalent geometric irregularity fitting parameters.

[0012] In a third aspect, the present application also provides a permanent magnet track unevenness measuring device, comprising:

[0013] Memory for storing computer programs;

[0014] A processor is used to implement the steps of the method for measuring the irregularity of the permanent magnet track when executing the computer program.

[0015] In a fourth aspect, the present application further provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned measurement method based on permanent magnet track unevenness are implemented.

[0016] The beneficial effects of the present invention are:

[0017] The present invention introduces a Hall detection device and an acceleration detection device, both of which are arranged on a superconducting levitator. The Hall sensor is used to obtain a magnetic field time domain signal, which solves the problem that the prior art has a small coverage range and cannot perform two-dimensional position positioning. The height of the measuring end of the acceleration detection device is consistent with the height of the center of mass of the superconducting levitator. The acceleration detection device is used to obtain an acceleration time domain signal, which solves the problem in the prior art that the rolling and shaking movements of the superconducting levitator affect the acceleration time domain signal. The joint arrangement of the Hall detection device, the acceleration detection device and the superconducting levitator solves the problem that the prior art cannot fully cover all detection orientations, resulting in the difficulty of the measurement data to meet high-precision requirements and the inability to make an accurate judgment on the health status of the permanent magnet track.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the embodiments of the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of a front view of a device for measuring the unevenness of a permanent magnetic track according to an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of a three-dimensional diagram of a device for measuring the unevenness of a permanent magnetic track according to an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of a right side view of a device for measuring the unevenness of a permanent magnetic track according to an embodiment of the present invention;

[0023] Figure 4 It is a schematic flow chart of a method for measuring the unevenness of a permanent magnet track described in an embodiment of the present invention;

[0024] Figure 5 The photoelectric sensor measurement signal described in the embodiment of the present invention and the peak and valley values ​​identified by the peak-finding algorithm;

[0025] Figure 6 A schematic structural diagram of a permanent magnet track unevenness measurement device according to an embodiment of the present invention.

[0026] Markings in the figure: 1. Superconducting levitator; 2. Permanent magnet track; 3. Hall detection device; 4. Acceleration detection device; 5. Photoelectric sensor; 6. Data acquisition card; 41. First acceleration sensor; 42. Second acceleration sensor; 800. Measurement equipment for uneven permanent magnet track; 801. Processor; 802. Memory; 803. Multimedia component; 804. I / O interface; 805. Communication component. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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 part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. 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.

[0028] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0029] Embodiment 1:

[0030] like Figure 1 and Figure 2 As shown, this embodiment provides a device for measuring the unevenness of a permanent magnet track, the device comprising a superconducting levitator 1; the Hall detection device 3 is arranged on the superconducting levitator 1, one end of the Hall detection device 3 extends toward the permanent magnet track 2 to form a positioning end, a plurality of Hall sensors 31 are arranged uniformly at the same interval along the width direction of the permanent magnet track 2, and the plurality of Hall sensors 31 are located on the same horizontal plane as the bottom of the superconductor in the superconducting levitator 1; the acceleration detection device 4 is arranged on the superconducting levitator 1, the acceleration detection device 4 is arranged along the length direction of the permanent magnet track 2, one end of the acceleration detection device 4 extends toward the permanent magnet track 2 to form a measuring end, and the height of the measuring end of the acceleration detection device 4 is consistent with the height of the center of mass of the superconducting levitator 1.

[0031] The specific process of the device is as follows: an optical target is laid on the permanent magnet track 2, the superconducting levitator 1 is arranged on the permanent magnet track 2 through a pad, nitrogen liquid is injected into the superconducting levitator 1, and the pad is withdrawn after the superconductor inside the superconducting levitator 1 is completely cooled to a superconducting state, so that the superconducting levitator 1 is in a free suspension state, the superconducting levitator 1 adjusts the suspension height through the pads of different corresponding thicknesses, and the Hall detection device 3 and the acceleration detection device 4 measure the specific parameters of the permanent magnet track 2 through the different suspension heights of the superconducting levitator 1.

[0032] The Hall detection device 3 is used to obtain the magnetic field time domain signal. The Hall detection device 3 performs two-dimensional position positioning on the permanent magnetic track 2 and accurately measures the position information change corresponding to the actual magnetic field change. The setting of the acceleration detection device 4 solves the problem of the influence of the rolling and shaking motion of the superconducting levitator on the acceleration time domain signal in the prior art.

[0033] like Figure 3 As shown, the multiple acceleration detection devices 4 include a first acceleration sensor 41 and a second acceleration sensor 42. The first acceleration sensor 41 and the second acceleration sensor 42 are both arranged on the side of the superconducting levitator 1 through a clamp. The first acceleration sensor 41 is arranged opposite to the second acceleration sensor 42 along the width direction of the permanent magnet track 2.

[0034] In this structure, the first acceleration sensor 41 and the second acceleration sensor 42 are used to obtain acceleration time domain signals; preferably, the first acceleration sensor 41 and the second acceleration sensor 42 are both three-axis acceleration sensors.

[0035] In order to clarify the specific structure of the superconducting levitator 1, the superconducting levitator 1 is provided with a photoelectric sensor 5. The photoelectric sensor 5 is arranged on the side of the superconducting levitator 1 away from the multiple Hall detection devices 3 through a clamp. The photoelectric sensor 5 is arranged opposite to the multiple Hall detection devices 3 along the length direction of the permanent magnet track 2.

[0036] The photoelectric sensor 5 is used to obtain a photoelectric signal. The photoelectric sensor 5 measures the speed and positions the superconducting levitator 1 and the permanent magnet track 2 using an optical target method. Preferably, the photoelectric sensor 5 is a diffuse reflection photoelectric sensor.

[0037] In this structure, a data acquisition card 6 is provided on the top of the superconducting levitator 1, and the data acquisition card 6 is electrically connected to the first acceleration sensor 41, the second acceleration sensor 42, the plurality of Hall detection devices 3 and the photoelectric sensor 5. The data acquisition card 6 is used to synchronize the photoelectric signal, the acceleration time domain signal and the magnetic field time domain signal.

[0038] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0039] Embodiment 2:

[0040] This embodiment provides a method for measuring the unevenness of a permanent magnet track.

[0041] See also Figure 4 , the figure shows that the method includes steps S1 to S6, including:

[0042] S1: collecting time domain signals of the superconducting levitator 1 during operation based on the Hall detection device 3, the acceleration detection device 4 and the photoelectric sensor 5, wherein the time domain signals include photoelectric signals, acceleration time domain signals and magnetic field time domain signals;

[0043] S2: Processing the photoelectric signal based on a preset peak finding method to obtain time course information of peaks and troughs;

[0044] In order to clarify the specific method of obtaining the time information of the peaks and troughs, step S2 includes S21 to S23, which are specifically:

[0045] S21: performing low-pass filtering and noise reduction processing on the photoelectric signal to obtain a noise-reduced photoelectric signal;

[0046] S22: performing peak-finding processing on the photoelectric signal after noise reduction based on a preset multi-window spectrum peak recognition algorithm to obtain multiple highest peaks and multiple lowest peaks;

[0047] In this step, see Figure 5 , to check multiple of the highest peaks and multiple of the lowest peaks.

[0048] S23: Construct according to the multiple highest peaks and the multiple lowest peaks to obtain the time course information of each peak and trough.

[0049] S3: fitting the time history information of the wave crests and wave troughs to obtain the real-time speed of the superconducting levitator 1;

[0050] In order to clarify the specific method of obtaining the real-time speed of the superconducting levitator 1, step S3 includes S31 to S34, which are:

[0051] S31: setting a plurality of ground optical targets on the permanent magnet track 2, measuring the spacing between the plurality of ground optical targets, and obtaining the spacing values ​​of the ground optical targets;

[0052] The spacing value of the ground optical target is Preferably, the .

[0053] S32: extracting the time information of each of the peaks and troughs to obtain the running distance corresponding to the peak point;

[0054] In this step, the running distance corresponding to the peak point .

[0055] S33: performing fitting processing according to the spacing value of the ground optical target and the running distance corresponding to the peak point to obtain a polynomial fitting function;

[0056] In this step, the polynomial fitting function is:

[0057] (1);

[0058] In the above formula (1), Indicates the distance, , and are fitting parameters, Indicates time.

[0059] S34: Deriving the polynomial fitting function to obtain the real-time speed of the superconducting levitator 1 .

[0060] In this step, the real-time speed of the superconducting levitator 1 is:

[0061] (2);

[0062] In the above formula (2), Indicates speed, , and are fitting parameters, Indicates time.

[0063] S4: converting the acceleration time domain signal and the magnetic field time domain signal according to the real-time speed of the superconducting levitator 1 to obtain a space domain signal;

[0064] S5: constructing the spatial domain signal and the preset magnetic position signal according to a preset Fourier integration method to obtain an equivalent geometric irregularity signal;

[0065] In this step, the magnetic position signal is position information obtained by detecting changes in the magnetic field; the preset magnetic position signal is a magnetic position signal with preset different directions.

[0066] In order to clarify the specific method of obtaining the equivalent geometric irregularity signal, step S5 includes S51 to S55, which are specifically:

[0067] S51: Detecting the superconducting levitator 1 based on the first acceleration sensor 41 and the second acceleration sensor 42 to obtain a first vector signal and a second vector signal;

[0068] In this step, the first vector signal is , the second vector signal is .

[0069] S52: constructing based on the first vector signal and the second vector signal to obtain a center of mass acceleration signal expression;

[0070] In this step, the center of mass acceleration signal expression is:

[0071] (3);

[0072] In the above formula (3), represents the center of mass acceleration signal, represents the first vector signal, represents the second vector signal.

[0073] S53: Detecting the superconducting levitator 1 through the Hall sensor 31 to obtain a magnetic field signal value;

[0074] In this step, the magnetic field signal value is .

[0075] S54: constructing according to the magnetic field signal value and the preset magnetic position signals in different directions to obtain an absolute displacement signal;

[0076] In order to clarify the specific method of obtaining the absolute displacement signal, step S54 includes S541 to S543, which are:

[0077] S541: constructing a magnetic field variance expression according to the magnetic field signal value and a preset theoretical magnetic field value;

[0078] In this step, the magnetic field variance expression is:

[0079] (4);

[0080] In the above formula (4): represents the magnetic field signal value, represents the theoretical magnetic field value, Indicates the magnetic position signal.

[0081] S542: extracting the magnetic field variance expression based on a preset constraint threshold to obtain magnetic position signals in different directions;

[0082] In this step, the preset magnetic position signals in different directions include a transverse magnetic position and a vertical magnetic position; preferably, the transverse magnetic position is , the vertical magnetic position is .

[0083] S543: constructing the center of mass acceleration signal expression and the magnetic position signals in different directions based on a preset Fourier integration method to obtain an absolute displacement signal.

[0084] S55: constructing magnetic position signals in preset different directions based on the absolute displacement signal and the spatial domain signal to obtain an equivalent geometric irregularity signal.

[0085] In order to clarify the specific method of obtaining the equivalent geometric irregularity signal, step S55 includes S551 to S553, which are specifically:

[0086] S551: constructing the transverse magnetic position according to the absolute displacement signal and the spatial domain signal to obtain a transverse irregularity signal expression;

[0087] In this step, the lateral unevenness signal expression is:

[0088] (5);

[0089] In the above formula (5), Indicates lateral unevenness signal. Indicates the target value of the horizontal position, Represents the transverse magnetic position.

[0090] S552: constructing the vertical magnetic position according to the absolute displacement signal and the spatial domain signal to obtain a vertical irregularity signal expression;

[0091] In this step, the vertical irregularity signal expression is:

[0092] (6);

[0093] In the above formula (6), Indicates vertical irregularity signal. represents the target value of the vertical position, Indicates the vertical magnetic position.

[0094] S553: ​​Constructing according to the lateral irregularity signal expression and the vertical irregularity signal expression to obtain an equivalent geometric irregularity signal.

[0095] S6: Density fitting is performed on the equivalent geometric irregularity signal according to a preset Fourier transform method to obtain equivalent geometric irregularity fitting parameters of the permanent magnet track 2.

[0096] In order to clarify the specific method of obtaining the equivalent geometric irregularity fitting parameters of the permanent magnet track 2, step S6 includes S61 to S64, which are specifically:

[0097] S61: Performing Fourier transform on the lateral irregularity signal expression to obtain a lateral equivalent geometric irregularity power spectrum density;

[0098] S62: Performing Fourier transform on the vertical irregularity signal expression to obtain vertical equivalent geometric irregularity power spectrum density;

[0099] S63: converting the lateral equivalent geometric irregularity power spectrum density and the vertical equivalent geometric irregularity power spectrum density based on a preset polynomial algorithm to obtain an equivalent geometric irregularity power spectrum density fitting function in spatial domain;

[0100] In this step, the equivalent geometric irregularity spatial domain power spectrum density fitting function is:

[0101] (7);

[0102] In the above formula (7), represents the power spectral density of the uneven spatial domain, represents the spatial frequency, , and are fitting parameters.

[0103] S64: Fitting the equivalent geometric irregularity spatial domain power spectrum density fitting function according to a preset orthogonal distance regression method to obtain equivalent geometric irregularity fitting parameters of the permanent magnet track 2.

[0104] As shown in Table 1, in this step, the equivalent geometric irregularity fitting parameters of the vertical permanent magnet track 2 are: , , ;

[0105] The equivalent geometric irregularity fitting parameters of the transverse permanent magnet track 2 are: , , .

[0106] Table 1 Permanent magnet track equivalent geometric irregularity fitting parameters

[0107]

[0108] Embodiment 3:

[0109] Corresponding to the above method embodiment, this embodiment also provides a permanent magnet track unevenness measuring device, and the permanent magnet track unevenness measuring device described below and the permanent magnet track unevenness measuring method described above can refer to each other.

[0110] Figure 6FIG. 8 is a block diagram of a permanent magnet track irregularity measuring device 800 according to an exemplary embodiment. Figure 6 As shown, the permanent magnetic track unevenness measuring device 800 may include: a processor 801 and a memory 802. The permanent magnetic track unevenness measuring device 800 may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0111] The processor 801 is used to control the overall operation of the permanent magnetic track unevenness measuring device 800 to complete all or part of the steps in the above-mentioned permanent magnetic track unevenness measuring method. The memory 802 is used to store various types of data to support the operation of the permanent magnetic track unevenness measuring device 800, and these data may include, for example, instructions for any application or method used to operate on the permanent magnetic track unevenness measuring device 800, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or sent via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the permanent magnetic track unevenness measuring device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 can include: Wi-Fi module, Bluetooth module, NFC module.

[0112] In an exemplary embodiment, the permanent magnet track unevenness measuring device 800 can be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC), digital signal processors (Digital Signal Processor, referred to as DSP), digital signal processing devices (Digital Signal Processing Device, referred to as DSPD), programmable logic devices (Programmable Logic Device, referred to as PLD), field programmable gate arrays (Field Programmable Gate Array, referred to as FPGA), controllers, microcontrollers, microprocessors or other electronic components to perform the above-mentioned permanent magnet track unevenness measurement method.

[0113] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned permanent magnetic track irregularity measurement method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 802 including program instructions, and the above-mentioned program instructions can be executed by the processor 801 of the permanent magnetic track irregularity measurement device 800 to complete the above-mentioned permanent magnetic track irregularity measurement method.

[0114] Embodiment 4:

[0115] Corresponding to the above method embodiment, a readable storage medium is also provided in this embodiment. The readable storage medium described below and the permanent magnet track unevenness measurement method described above can refer to each other.

[0116] A readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for measuring the unevenness of a permanent magnet track in the above method embodiment.

[0117] The readable storage medium may specifically be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other readable storage medium that can store program codes.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0119] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A device for measuring the irregularity of a permanent magnetic track, characterized in that: include: A superconducting levitator (1), wherein the superconducting levitator (1) is provided with a photoelectric sensor (5); A Hall detection device (3), the Hall detection device (3) being arranged on the superconducting levitator (1), one end of the Hall detection device (3) extending toward the permanent magnet track (2) to form a positioning end, the positioning end being provided with a plurality of Hall sensors (31) uniformly arranged at the same spacing distance along the width direction of the permanent magnet track (2), the plurality of Hall sensors (31) being all located on the same horizontal plane as the bottom of the superconductor in the superconducting levitator (1), the photoelectric sensor (5) being arranged on a side of the superconducting levitator (1) away from the plurality of Hall detection devices (3) by means of a clamp, the photoelectric sensor (5) being arranged opposite to the plurality of Hall detection devices (3) along the length direction of the permanent magnet track (2); An acceleration detection device (4), the acceleration detection device (4) being arranged on the superconducting levitator (1), the acceleration detection device (4) being arranged along the length direction of the permanent magnetic track (2), one end of the acceleration detection device (4) extending toward the permanent magnetic track (2) to form a measuring end, the height of the measuring end of the acceleration detection device (4) being consistent with the height of the center of mass of the superconducting levitator (1).

2. The device for measuring the irregularity of a permanent magnetic track according to claim 1, characterized in that: The plurality of acceleration detection devices (4) include a first acceleration sensor (41) and a second acceleration sensor (42); the first acceleration sensor (41) and the second acceleration sensor (42) are both arranged on the side of the superconducting levitator (1) by means of a clamp; the first acceleration sensor (41) is arranged opposite to the second acceleration sensor (42) along the width direction of the permanent magnet track (2).

3. The device for measuring the irregularity of a permanent magnetic track according to claim 2, characterized in that: A data acquisition card (6) is arranged on the top of the superconducting levitator (1), and the data acquisition card (6) is electrically connected to the first acceleration sensor (41), the second acceleration sensor (42), the plurality of Hall detection devices (3), and the photoelectric sensor (5).

4. A method for measuring the irregularity of a permanent magnet track, characterized in that: include: Based on the Hall detection device (3), the acceleration detection device (4) and the photoelectric sensor (5), a time domain signal of the superconducting levitator (1) during operation is collected, wherein the time domain signal includes a photoelectric signal, an acceleration time domain signal and a magnetic field time domain signal; Processing the photoelectric signal based on a preset peak-finding method to obtain time-course information of peaks and troughs; Fitting the time history information of the wave crests and troughs to obtain the real-time speed of the superconducting levitator (1); Converting the acceleration time domain signal and the magnetic field time domain signal according to the real-time speed of the superconducting levitator (1) to obtain a space domain signal; The spatial domain signal and the preset magnetic position signal are constructed according to a preset Fourier integration method to obtain an equivalent geometric irregularity signal; Density fitting is performed on the equivalent geometric irregularity signal according to a preset Fourier transform method to obtain equivalent geometric irregularity fitting parameters of the permanent magnet track (2).

5. The method for measuring the irregularity of a permanent magnet track according to claim 4, characterized in that: The photoelectric signal is processed based on a preset peak finding method to obtain time course information of peaks and troughs, including: Performing low-pass filtering and noise reduction processing on the photoelectric signal to obtain a noise-reduced photoelectric signal; Performing peak-finding processing on the de-noised photoelectric signal based on a preset multi-window spectrum peak recognition algorithm to obtain multiple highest peaks and multiple lowest peaks; The time course information of each peak and trough is obtained by constructing the plurality of highest peaks and the plurality of lowest peaks.

6. The method for measuring the irregularity of a permanent magnet track according to claim 5, characterized in that: Fitting the time history information of the wave crests and troughs to obtain the real-time speed of the superconducting levitator (1) includes: A plurality of ground optical targets are arranged on the permanent magnetic track (2), and the spacing between the plurality of ground optical targets is measured to obtain the spacing value of the ground optical targets; Extracting the time information of each of the peaks and troughs to obtain the running distance corresponding to the peak point; Perform fitting processing according to the spacing value of the ground optical target and the running distance corresponding to the peak point to obtain a polynomial fitting function; The polynomial fitting function is differentiated to obtain the real-time speed of the superconducting levitator (1).

7. The method for measuring the irregularity of a permanent magnet track according to claim 4, characterized in that: The preset magnetic position signal is a magnetic position signal in preset different directions. The spatial domain signal and the preset magnetic position signal are constructed according to a preset Fourier integration method to obtain an equivalent geometric irregularity signal, including: Detecting the superconducting levitator (1) based on a first acceleration sensor (41) and a second acceleration sensor (42) to obtain a first vector signal and a second vector signal; Constructing based on the first vector signal and the second vector signal to obtain a center of mass acceleration signal expression; The superconducting levitator (1) is detected by a Hall sensor (31) to obtain a magnetic field signal value; Constructing according to the magnetic field signal value and the magnetic position signals in different preset directions to obtain an absolute displacement signal; Based on the absolute displacement signal and the spatial domain signal, magnetic position signals in preset different directions are constructed to obtain an equivalent geometric irregularity signal.

8. The method for measuring the irregularity of a permanent magnet track according to claim 7, characterized in that: The preset magnetic position signals in different directions include a lateral magnetic position and a vertical magnetic position. The preset magnetic position signals in different directions are constructed based on the absolute displacement signal and the spatial domain signal to obtain an equivalent geometric irregularity signal, including: The transverse magnetic position is constructed according to the absolute displacement signal and the spatial domain signal to obtain a transverse irregularity signal expression; The vertical magnetic position is constructed according to the absolute displacement signal and the spatial domain signal to obtain a vertical irregularity signal expression; An equivalent geometrical irregularity signal is obtained by constructing the expression of the lateral irregularity signal and the expression of the vertical irregularity signal.

9. The method for measuring the irregularity of a permanent magnet track according to claim 8, characterized in that: Density fitting is performed on the equivalent geometric irregularity signal according to a preset Fourier transform method to obtain equivalent geometric irregularity fitting parameters of the permanent magnet track (2), including: Performing Fourier transformation on the lateral irregularity signal expression to obtain the lateral equivalent geometric irregularity power spectrum density; Performing Fourier transformation on the vertical irregularity signal expression to obtain vertical equivalent geometric irregularity power spectrum density; The lateral equivalent geometric irregularity power spectrum density and the vertical equivalent geometric irregularity power spectrum density are converted based on a preset polynomial algorithm to obtain an equivalent geometric irregularity power spectrum density fitting function in a spatial domain; The equivalent geometric irregularity spatial domain power spectrum density fitting function is fitted according to a preset orthogonal distance regression method to obtain the equivalent geometric irregularity fitting parameters of the permanent magnet track (2).

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