Track inspection method for electric passenger car

Abstract

The invention discloses an electric passenger car track detection method, which comprises the following steps of: starting initialization after a track detection host is electrified, entering a waiting state after completion, reading a tag ID, judging the tag ID, starting detection if the tag ID is started, and continuing to detect the tag ID if the tag ID is not started. The track detection host obtains the transverse / vertical acceleration of a vehicle through the triaxial accelerometer, obtains a line radio frequency tag signal through the radio frequency tag reader, and obtains and calculates track information through the inertial navigation device. And the synchronous controller outputs mileage information to the rail detection host after acquiring a signal of the speed sensor, and triggers the laser triangulation assembly to acquire steel rail profile data. The rail inspection host obtains the transverse / vertical acceleration, the track, the mileage and the steel rail profile information of the vehicle, and solves the geometric parameter data of the rail. The technical problems that an existing rail detection operation mode is low in operation efficiency, real-time online detection cannot be achieved, and detection line data cannot truly reflect line dynamic parameters in the running state of the electric passenger car can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of railway engineering machinery, and in particular to a track inspection method for electric passenger cars applied to urban rail transit. Background Art

[0002] At present, urban rail transit in China is developing rapidly. According to statistics, by 2023, the operating mileage of urban rail transit in China will be nearly 10,000 km. In order to promptly detect abnormal line status and ensure operational safety, the engineering maintenance center usually conducts regular visual inspections, instrument inspections, and static trolley inspections of the line status, and uses a special dynamic comprehensive inspection vehicle to conduct regular dynamic inspections of the line. The dynamic comprehensive inspection vehicle uses a specially designed rail engineering vehicle as a carrier, equipped with various line inspection and detection devices, to conduct comprehensive dynamic inspections of the line during the "window" period, and with the assistance of software, the inspection results are manually analyzed and confirmed.

[0003] Although the dynamic comprehensive inspection vehicle is more efficient than traditional manual inspection and manual inspection, it also has the following shortcomings:

[0004] 1) This operation mode is heavily dependent on the "window", which takes up precious "window" period resources, and the operation frequency is low, and real-time online detection is impossible;

[0005] 2) The line data detected in this way is not sufficient to truly reflect the line dynamic parameters under the running state of electric passenger cars;

[0006] 3) A large number of personnel are required to operate the detection process, and professional personnel are also required to perform a large amount of data analysis afterwards. This is inefficient and requires high skills of personnel, which does not meet the requirements of simple operation and reducing staff and increasing efficiency.

[0007] In the prior art, the following documents are mainly related to this application:

[0008] Document 1 is a Chinese invention application filed by Hunan Xingzhi Navigation Technology Co., Ltd. on January 4, 2023, and published on June 2, 2023, with publication number CN116198558A. The application discloses a comprehensive detection device mounted on an electric passenger car for urban rail detection. The master clock provides timing for the communication interface component, the signal synchronization component and the positioning processing component, unifies the time of each component, and the positioning processing component integrates and processes the ID card signal with a timestamp of the communication interface component, the train control signal with a timestamp and the pulse signal with a timestamp of the signal synchronization component to obtain mileage information and train speed with time, integrates multiple functions of urban rail detection, and realizes mileage information with a unified timestamp; and the communication interface component, signal synchronization component, positioning processing component, master clock and integrated main control component are all integrated in a 3U chassis, reducing the space occupied by the equipment.

[0009] Document 2 is a Chinese invention application filed by Hunan Xingzhi Navigation Technology Co., Ltd. on August 9, 2020, and published on November 6, 2020, with publication number CN111895996A. The application discloses a high-speed track detection system and method, including: an inertial navigation system, an odometer, multiple sets of laser camera assemblies and a mounting base. Among them, the inertial navigation system is connected to the odometer and the laser camera assembly through an electrical interface. The odometer is arranged on the wheel of the inspection vehicle loaded with the high-speed track detection system. An inertial navigation system and multiple sets of laser camera assemblies are fixed on the mounting base. This application can improve the detection accuracy and reliability.

[0010] However, the existing track inspection operation mode has low efficiency and cannot perform real-time online inspection. The inspection line data is not sufficient to truly reflect the dynamic parameters of the line under the operation state of the electric passenger car, and it is impossible to achieve automated and intelligent operation and optimal calculation of track geometric parameters. Summary of the invention

[0011] In view of this, the purpose of this application is to provide an electric passenger car track inspection method to solve the technical problems of low operating efficiency of existing track inspection operations, inability to conduct real-time online inspections, and insufficient detection line data to truly reflect the dynamic parameters of the line under the operating state of the electric passenger car.

[0012] In order to achieve the above-mentioned invention purpose, the present application specifically provides a technical implementation scheme of a rail inspection method for electric passenger cars, which imports the line label ledger in advance, and automatically triggers the start and end of rail inspection data collection by setting the start / end label ID. The method includes the following steps:

[0013] After the track inspection host is powered on, it automatically starts initialization, and after completion, it enters the waiting state. After reading the tag ID, it judges the tag ID. If it is the start tag ID, it starts detection. If not, it continues to detect the tag ID. If it is the end detection tag ID, it ends the detection and then continues to wait to read the start detection tag ID of the next section of the line. The detection process includes the following steps:

[0014] The track inspection host obtains the lateral / vertical acceleration of the vehicle through the accelerometer, obtains the line RFID tag signal through the RFID tag reader, and obtains and calculates the track information through the inertial navigation device. After obtaining the speed sensor signal, the synchronous controller outputs the mileage information to the track inspection host and triggers the laser triangulation component to obtain the rail profile data. The track inspection host obtains the lateral / vertical acceleration, track, mileage and rail profile information of the vehicle, and calculates the track geometry parameter data including gauge, superelevation, track direction, height and curvature.

[0015] Furthermore, the electric passenger car track inspection device also includes a temperature sensor connected to the track inspection host. The detection process includes:

[0016] The track inspection host obtains the real-time temperature of the track inspection beam through a temperature sensor and performs temperature compensation on the track inspection beam.

[0017] Furthermore, the inertial navigation device has a built-in accelerometer, a three-axis gyroscope and a navigation computer for dead reckoning, and the dead reckoning process further includes the following steps:

[0018] Input the rough position r0 to initialize the north search of the electric passenger car track inspection device. During the initialization process, the inertial navigation device outputs the carrier angular velocity measured by the gyroscope Specific force f measured by the accelerometer b Perform static initial alignment to obtain high-precision initial attitude information. During the measurement process, the carrier angular velocity measured by the inertial navigation device Perform attitude calculation to obtain the attitude Φ and attitude matrix of the carrier relative to the navigation system at any time And compared with the speed V measured by the speed sensor b The three-dimensional coordinates r are obtained by combining the dead reckoning DR , with the rough position input r0 and the three-dimensional coordinate r DR The three-dimensional coordinate difference δr is calculated as input, and then the three-dimensional coordinate correction is obtained through Kalman filtering. Installation deviation between speed sensor and vehicle body Speed ​​sensor scale factor error δ and filter state estimate Covariance matrix The filter state estimator and the covariance matrix The three-dimensional coordinate solution obtained after RTS smoothing is input and then compared with the dead reckoning result r DR and 3D coordinate correction Added After the combination, the three-dimensional coordinate value of the odometer in the navigation system at any time is obtained

[0019] Furthermore, the synchronous controller collects the second pulses generated by the inertial navigation device, divides the frequency according to the collection frequency, triggers the signal to the laser triangulation component, starts the profile measurement, and records the serial number stamp. The synchronous controller collects the pulse signal of the speed sensor, calculates the accumulated mileage, and forwards the pulse signal to the inertial navigation device. The mileage is calculated according to the following formula:

[0020] D=D0+2×π×R×n / N

[0021] Where D is the current accumulated mileage, D0 is the starting mileage, π is the pi, R is the wheel diameter of the vehicle, n is the current pulse count, and N is the number of pulses of the single-lap speed sensor.

[0022] Furthermore, the track inspection host performs temperature compensation on the track inspection beam according to the following formula:

[0023] Δg=L×(k1-k2)×(t-T0)

[0024] Among them, Δg is the change in track gauge, L is the length of the track inspection beam, k1 is the thermal expansion coefficient of the track inspection beam, k2 is the thermal expansion coefficient of the sleeper, t is the current temperature, and T0 is the calibration temperature.

[0025] Furthermore, the track inspection host calculates the track direction according to the following formula:

[0026]

[0027] Among them, let the track ABC, draw a perpendicular line to AC through the midpoint B, and the coordinates of point A are (x A ,y A ,z A ), the coordinates of point B are (x B ,y B ,z B ), the coordinates of point C are (x C ,y C ,z C ), the coordinates of point D are (x D ,y D ,z D ), a deviation to the left is positive, and a deviation to the right is negative.

[0028] Furthermore, the track inspection host calculates the height according to the following formula, where the height is positive when it is upward and negative when it is downward:

[0029]

[0030] Furthermore, the laser triangulation component comprises:

[0031] The left inner laser triangulation component detects the left inner rail profile data and provides the track gauge point coordinates as vehicle body posture compensation;

[0032] Compensation laser triangulation component detects the front or rear rail profile data and provides the track gauge point coordinates as vehicle body posture compensation;

[0033] The right inner laser triangulation component detects the right inner rail profile data and provides the track gauge point coordinates as vehicle body posture compensation.

[0034] The track inspection host realizes the coordinate conversion between the left inner laser triangulation component, the compensation laser triangulation component and the right inner laser triangulation component and the inertial navigation device to realize the coordinates of the left and right rail gauge points (x1, y1, z1) and

[0035] (x2, y2, z2) and (x3, y3, z3) are output, and the orbit coordinates are fitted by the least squares method to obtain the orbit radius, and the curvature detection parameters are obtained after taking the inverse.

[0036] Furthermore, the track inspection host calculates the track gauge according to the following formula:

[0037]

[0038] in:

[0039]

[0040] Furthermore, the left inner laser triangulation component, the compensation laser triangulation component and the right inner laser triangulation component are respectively recorded as LPM1, LPM2 and LPM3. Assuming that the coordinates of LPM2 and LPM3 measured twice are (x21, y21, z21), (x31, y31, z31) and (x22, y22, z22), (x32, y32, z32), the track inspection host calculates the angle according to the following formula:

[0041]

[0042] Among them, the coordinate vectors of LPM2 and LPM3 are measured for the first time:

[0043] (X1 Y1 Z1)=(x21 y21 z21)-(x31 y31 z31)

[0044] The second measurement of the coordinate vectors of LPM2 and LPM3:

[0045] (X2 Y2 Z2)=(x22 y22 z22)-(x32 y32 z32)

[0046] The correction angle is calculated as follows:

[0047] ΔΦ s =a×ΔΦ+b*θ

[0048] Among them, ΔΦ s is the corrected angle change, ΔΦ is the attitude change measured by the inertial navigation unit, a and b are confidence coefficients, and the sum of a and b is 1.

[0049] Furthermore, the track inspection host calculates the superelevation according to the following formula:

[0050] h=sin(Φ R )+z1-z2

[0051] Among them, Φ Ris the roll angle output by the inertial navigation unit, z1 and z2 are the coordinate z values ​​of the gauge point measured by the left inner laser triangulation assembly and the right inner laser triangulation assembly respectively, the left superelevation is positive and the right superelevation is negative.

[0052] Furthermore, the vehicle-mounted network is used to realize data sending and bottom-level command uploading between the track inspection host and the ground data center, and the ground data center receives and displays the inspection results and equipment status, and at the same time serves as a human-machine interface to operate the data management platform.

[0053] By implementing the technical solution of the electric passenger car track inspection method provided by the present application, the following beneficial effects are achieved:

[0054] (1) The electric passenger car track inspection method of the present application adopts the combined navigation technology combined with multi-degree-of-freedom compensation and synchronization functions to realize the automatic and intelligent detection of the track inspection system, which can effectively alleviate the tight maintenance skylight situation, help reduce labor costs, improve the quality of line maintenance, and have high economic and social benefits;

[0055] (2) The electric passenger car track inspection method of the present application adopts a combined navigation algorithm based on an inertial navigation device, a speed sensor, and a laser triangulation component, which greatly improves the accuracy of rail coordinate measurement and optimizes the detection effect in low-speed sections; at the same time, the inertial navigation device posture compensation algorithm based on three sets of laser triangulation components realizes the full posture compensation correction of the inertial navigation device;

[0056] (3) The electric passenger car track inspection method of the present application uses a speed sensor to measure mileage and speed, and uses frequency division multiplexing synchronous triggering to synchronize and trigger various systems. It uses a system self-start detection based on radio frequency tags to achieve system automation.

[0057] (4) The electric passenger car track inspection method of the present application adopts synchronous triggering based on speed sensor signals to achieve synchronous measurement of various devices in the track inspection system, and realizes temperature compensation of the track inspection system through full-range temperature compensation, while also realizing optimized calculation of track geometric parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0059] Figure 1 This is a flowchart of a specific embodiment of the electric passenger car track inspection method of the present application;

[0060] Figure 2It is a structural composition principle block diagram of a specific embodiment of the electric passenger car track inspection system based on the present application method;

[0061] Figure 3 It is a schematic diagram of the installation structure of each sensor device on the track inspection beam in a specific embodiment of the electric passenger car track inspection system based on the present application method;

[0062] Figure 4 It is a system structure block diagram of a specific embodiment of the electric passenger car track inspection device based on the method of the present application;

[0063] Figure 5 It is a block diagram of the combined navigation calculation principle of the track inspection host in a specific embodiment of the electric passenger car track inspection device on which the method of the present application is based;

[0064] Figure 6 It is a block diagram of the frequency division multiplexing synchronous triggering principle based on the speed sensor signal in a specific embodiment of the electric passenger car track inspection device based on the method of the present application;

[0065] Figure 7 It is a schematic diagram of the principle of track height calculation in a specific embodiment of the electric passenger car track inspection device based on the method of the present application;

[0066] Figure 8 It is a schematic diagram of the principle of track gauge calculation in a specific embodiment of the electric passenger car track inspection device based on the method of the present application;

[0067] Fig. 9 It is a schematic diagram of the principle of angle correction calculation in a specific embodiment of the electric passenger car track inspection device on which the method of the present application is based;

[0068] In the figure: 1-track inspection host, 2-accelerometer, 3-RFID reader, 4-temperature sensor, 5-inertial navigation unit, 6-laser triangulation component, 7-synchronous controller, 8-speed sensor, 9-track inspection beam, 10-electric passenger car track inspection device, 11-initial alignment unit, 12-attitude solution unit, 13-track estimation unit, 14-filtering unit, 15-smoothing unit, 16-sleeper, 17-on-board network, 18-ground data center, 19-rail, 61-left inner laser triangulation component, 62-compensation laser triangulation component, 63-right inner laser triangulation component. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0070] As attached Figure 1 To Attachment Fig. 9 As shown, a specific embodiment of the electric passenger car track inspection method of the present application is given, and the present application is further explained below in conjunction with the drawings and specific embodiments.

[0071] The specific embodiment of the present invention application provides a technical solution for an on-board track inspection method based on an electric passenger car platform, which realizes automatic real-time detection of track geometric parameters during the operation of the electric passenger car. At the same time, the detection data can be transmitted to the ground data center in real time through the vehicle-to-ground transmission system. The detection parameters include track gauge, superelevation, track direction, height, curvature, lateral / vertical acceleration, mileage, etc.

[0072] Example 1

[0073] As attached Figure 1 As shown, an embodiment of the electric passenger car track inspection method of the present application specifically includes the following steps:

[0074] Import the line label ledger in advance, and automatically trigger the start and end of track inspection data collection by setting the start / end label ID. The method includes the following steps:

[0075] After the track inspection host is powered on, it automatically starts initialization and enters the waiting state. After reading the tag ID, it judges the tag ID. If it is the start tag ID, it starts detection. If not, it continues to detect the tag ID. If it is the end detection tag ID, it ends the detection and continues to wait to read the start detection tag ID of the next line.

[0076] The detection process further includes the following steps:

[0077] The track inspection host 1 obtains the lateral / vertical acceleration of the vehicle through the (three-axis) accelerometer 2. The lateral / vertical acceleration can be obtained after the sensor signal output by the accelerometer 2 is low-pass filtered. The line RFID tag signal is obtained through the RFID tag reader 3, the track information is obtained and calculated through the inertial navigation device 5, the real-time temperature of the track inspection beam 9 is obtained through the temperature sensor 4, and the track inspection beam 9 is temperature compensated. After obtaining the speed sensor signal, the synchronous controller 2 outputs the mileage information to the track inspection host 1, and triggers the laser triangulation component 6 to obtain the rail profile data. The track inspection host 1 obtains the lateral / vertical acceleration, track, mileage and rail profile information of the vehicle, and solves the track geometry parameter data including gauge, superelevation, track direction, height and curvature.

[0078] The electric train track inspection device 10 also includes a temperature sensor 4 connected to the track inspection host 1. The detection process further includes:

[0079] The track inspection host 1 obtains the real-time temperature of the track inspection beam 9 through the temperature sensor 4 and performs temperature compensation on the track inspection beam 9 .

[0080] The inertial navigation unit 5 has a built-in accelerometer, a three-axis gyroscope and a navigation computer for dead reckoning. Figure 5 As shown, the dead reckoning process further includes the following steps:

[0081] Input the rough position r0, and initialize the north search of the electric passenger car track inspection device 10. During the initialization process, the inertial navigation device 5 outputs the carrier angular velocity measured by the gyroscope. Specific force f measured by accelerometer 2 b Perform static initial alignment to obtain high-precision initial attitude information. During the measurement process, the carrier angular velocity measured by the inertial navigation device 5 Perform attitude calculation to obtain the attitude Φ and attitude matrix of the carrier relative to the navigation system at any time and the speed V measured by the speed sensor 8 b The three-dimensional coordinates r are obtained by combining the dead reckoning DR , with the rough position input r0 and the three-dimensional coordinate r DR The three-dimensional coordinate difference δr is calculated as input, and then the three-dimensional coordinate correction is obtained through Kalman filtering. Installation deviation between speed sensor 8 and vehicle body Speed ​​sensor scale factor error δ and filter state estimate Covariance matrix The filter state estimator and the covariance matrix The three-dimensional coordinate solution obtained after RTS smoothing is input and then compared with the dead reckoning result r DR and 3D coordinate correction Added After the combination, the three-dimensional coordinate value of the odometer in the navigation system at any time is obtained

[0082] As attached Figure 6 As shown, the synchronous controller 7 collects the second pulses generated by the inertial navigation device 5, divides the frequency according to the collection frequency, triggers the signal to the laser triangulation component 6, starts the profile measurement, and records the serial number stamp. The synchronous controller 7 collects the pulse signal of the speed sensor 8, calculates the accumulated mileage, and forwards the pulse signal to the inertial navigation device 5. The mileage is further calculated according to the following formula:

[0083] D=D0+2×π×R×n / N

[0084] Where D is the current accumulated mileage, D0 is the starting mileage, π is the pi, R is the wheel diameter of the vehicle, n is the current pulse count, and N is the number of pulses of the single-lap speed sensor.

[0085] The track inspection beam 9 adopts full range temperature compensation. The temperature change of the beam body causes the beam body to have thermal expansion and contraction, which affects the relative position relationship between the three laser triangulation components 6 (i.e., the left inner laser triangulation component 61, the compensation laser triangulation component 62, and the right inner laser triangulation component 63), and between the laser triangulation component 6 and the inertial navigation device 5. According to the characteristics of the beam body, which mainly affects the measurement of the track gauge, the track inspection host 1 further performs temperature compensation on the track inspection beam 9 according to the following formula:

[0086] Δg=L×(k1-k2)×(t-T0)

[0087] Among them, Δg is the track gauge change, L is the length of the track inspection beam 9, k1 is the thermal expansion coefficient of the track inspection beam 9, k2 is the thermal expansion coefficient of the sleeper 16, t is the current temperature, T0 is the calibration temperature, which is generally 25°C.

[0088] As attached Figure 7 As shown, the track inspection host 1 further calculates the track direction according to the following formula:

[0089]

[0090] Among them, let the track ABC, draw a perpendicular line to AC through the midpoint B, and the coordinates of point A are (x A ,y A ,z A ), the coordinates of point B are (x B ,y B ,z B ), the coordinates of point C are (x C ,y C ,z C ), the coordinates of point D are (x D ,y D,z D ), a deviation to the left is positive, and a deviation to the right is negative.

[0091] The track inspection host 1 further calculates the height according to the following formula, where the height is positive when it is upward and negative when it is downward:

[0092]

[0093] The laser triangulation assembly 6 further comprises:

[0094] The left inner laser triangulation component 61 detects the left inner rail profile data and provides the track gauge point coordinates as the vehicle body posture compensation;

[0095] The compensation laser triangulation component 62 detects the front or rear rail profile data and provides the track gauge point coordinates as the vehicle body posture compensation;

[0096] The right inner laser triangulation component 63 detects the right inner rail profile data and provides the track gauge point coordinates as vehicle body posture compensation.

[0097] The track inspection system uses three laser triangulation components 6 (i.e., the left inner laser triangulation component 61, the compensation laser triangulation component 62, and the right inner laser triangulation component 63, which can be respectively recorded as LPM1, LPM2, and LPM3 for the convenience of calculation), which can fully compensate for the relative movement between the track inspection device and the rail 19. The track inspection host 1 calibrates the coordinate conversion between the left inner laser triangulation component 61, the compensation laser triangulation component 62, and the right inner laser triangulation component 63 and the inertial navigation device 5 to realize the output of the left and right rail gauge point coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), and fits the track coordinates through the least squares method (e.g., 30-meter track coordinates can be selected for fitting), and the track radius is obtained, and the curvature detection parameters are obtained after taking the inverse.

[0098] The track gauge calculation is further obtained by making a perpendicular line from the other two compensation points at LPM1 or LPM2, which can effectively eliminate the error caused by the non-perpendicularity between the track inspection beam 9 and the rail 19, so as to adapt to the installation of the bogie and the bottom of the car body. Figure 8 As shown, the track inspection host 1 further calculates the track gauge according to the following formula:

[0099]

[0100] in:

[0101]

[0102] In addition, the track gauge calculation can be used to correct the angular changes in the roll, heading, and pitch of the inertial navigation device. Assuming that the rail 19 is a straight line within a very short distance, the accuracy of the angular change measured by the laser triangulation component 6 will be better than the measurement accuracy of the inertial navigation device 5, especially under low-speed operation. The effect is obvious, ensuring that the electric passenger car track inspection device 10 can also have high measurement accuracy under low-speed conditions. Assuming that the detection accuracy of the laser triangulation component 6 is 0.2mm and the baseline length is 1m, the angle measurement accuracy can reach 0.01°. The angle measurement accuracy is inversely proportional to the baseline length and directly proportional to the compensation accuracy. When the compensation accuracy is constant, the longer the baseline (ignoring mechanical deformation), the higher the accuracy. As shown in the attached figure Fig. 9 As shown, the left inner laser triangulation component 61, the compensation laser triangulation component 62 and the right inner laser triangulation component 63 are respectively recorded as LPM1, LPM2 and LPM3. The coordinates of LPM2 and LPM3 measured twice are (x21, y21, z21), (x31, y31, z31) and (x22, y22, z22), (x32, y32, z32). The track inspection host 1 further calculates the angle according to the following formula:

[0103]

[0104] Among them, the coordinate vectors of LPM2 and LPM3 are measured for the first time:

[0105] (X1 Y1 Z1)=(x21 y21 z21)-(x31 y31 z31)

[0106] The second measurement of the coordinate vectors of LPM2 and LPM3:

[0107] (X2 Y2 Z2)=(x22 y22 z22)-(x32 y32 z32)

[0108] The correction angle is calculated as follows:

[0109] ΔΦ s =a×ΔΦ+b*θ

[0110] Among them, ΔΦ s is the corrected angle change, ΔΦ is the attitude change measured by the inertial navigation device 5, a and b are confidence coefficients, and the sum of a and b is 1.

[0111] The track inspection host 1 further calculates the superelevation according to the following formula:

[0112] h=sin(Φ R )+z1-z2

[0113] Among them, Φ Ris the roll angle output by the inertial navigation device 5, z1 and z2 are the coordinate z values ​​of the gauge point measured by the left inner laser triangulation component 61 and the right inner laser triangulation component 63 respectively, the left superelevation is positive and the right superelevation is negative.

[0114] The vehicle network 17 is used to send data and upload underlying commands between the track inspection host 1 and the ground data center 18. The ground data center 18 receives and displays the inspection results and equipment status, and serves as a human-machine interface to operate the data management platform.

[0115] Example 2

[0116] As attached Figure 2 To Attachment Figure 4 As shown, an embodiment of the electric passenger car track inspection device based on the method described in Example 1 of the present application specifically includes:

[0117] Track inspection host 1, obtains sensor signals and performs signal processing and analysis;

[0118] An accelerometer 2 connected to the track inspection host 1, the track inspection host 1 obtains the lateral / vertical acceleration of the vehicle through the accelerometer 2; wherein the accelerometer 2 further adopts a three-axis accelerometer, and the lateral / vertical acceleration can be obtained after the sensor signal output by the accelerometer 2 is low-pass filtered;

[0119] The RFID tag reader 3 is connected to the track inspection host 1, and the track inspection host 1 obtains the line RFID tag signal through the RFID tag reader 3;

[0120] An inertial navigation device 5 connected to the track inspection host 1, through which the track inspection host 1 obtains and calculates the track information;

[0121] A laser triangulation component 6 connected to the rail inspection host 1, the rail inspection host 1 detects rail profile data through the laser triangulation component 6;

[0122] The synchronous controller 7 is connected to the track inspection host 1, and the speed sensor 8 is connected to the synchronous controller 7. The laser triangulation component 6 is also connected to the synchronous controller 7. After obtaining the signal of the speed sensor 8, the synchronous controller 7 outputs the mileage information to the track inspection host 1, and triggers the laser triangulation component 6 to obtain the rail profile data.

[0123] The electric passenger car serves as the installation platform for the track inspection device and provides a DC110V on-board power supply for the synchronous controller 7. The track inspection beam 9 serves as the installation carrier for 9 to 14 devices under the car. The track inspection host 1 collects system sensor signals, processes and analyzes data, and stores and sends out inspection results.

[0124] The inertial navigation unit 5 has a built-in accelerometer, a three-axis gyroscope and a navigation computer for track calculation.

[0125] The RFID reader 3 is used to collect the RFID tag signals of the line to achieve mileage synchronization, and is also used to realize automatic control of the data collection of the track inspection host.

[0126] The synchronous controller 7 provides power for the RFID reader 3, the temperature sensor 4, the inertial navigation device 5 and the laser triangulation component 6, collects speed sensor signals, calculates mileage, and collects rail profile data by triggering the laser triangulation component 6 through frequency division multiplexing.

[0127] The electric passenger car track inspection device 10 further includes a temperature sensor 4 connected to the track inspection host 1 . The track inspection host 1 obtains the real-time temperature of the track inspection beam 9 through the temperature sensor 4 and performs temperature compensation on the track inspection beam 9 .

[0128] As attached Figure 5 As shown, the track inspection host 1 further includes an initial alignment unit 11, an attitude solution unit 12, a track calculation unit 13, a filtering unit 14 and a smoothing processing unit 15. The position and attitude measurement of the electric passenger car track inspection device 10 is mainly realized by the inertial navigation unit 5 (i.e., IMU, the abbreviation of inertial measurement unit). The vehicle body is used as a carrier, and the "North East Sky (NED)" geographic coordinate system is selected as the navigation system to establish a strapdown navigation system. The track inspection host 1 system loads the initial alignment line information, and the rough position r0 is input into the initial alignment unit 11 to initialize the device for north search. During the initialization process, the inertial navigation unit 5 outputs the carrier angular velocity measured by the gyroscope Specific force f measured by accelerometer 2 b The initial alignment unit 11 performs static initial alignment to obtain high-precision initial attitude information. During the measurement process, the attitude solution unit 12 uses the carrier angular velocity measured by the inertial navigation device 5 Perform attitude calculation to obtain the attitude Φ and attitude matrix of the carrier relative to the navigation system (NED) at any time and the speed V measured by the speed sensor 8 b The three-dimensional coordinates r are obtained by performing dead reckoning on the track through the dead reckoning unit 13. DR , with the rough position input r0 and the three-dimensional coordinate r DR The three-dimensional coordinate difference δr is calculated as input, and then the three-dimensional coordinate correction value is obtained by Kalman filtering through the filtering unit 14. Installation deviation between speed sensor 8 and vehicle body Speed ​​sensor scale factor error δ and filter state estimate Covariance matrix The filter state estimator and the covariance matrix The input is the three-dimensional coordinate solution obtained after RTS smoothing filtering by the smoothing processing unit 15, and then compared with the track calculation result r DR and 3D coordinate correction Added After the combination, the three-dimensional coordinate value of the odometer in the navigation system at any time is obtained

[0129] As attached Figure 6 As shown, the synchronous controller 7 collects the second pulses generated by the inertial navigation device 5, divides the frequency according to the collection frequency, triggers the signal to the laser triangulation component 6, starts the profile measurement, and records the serial number stamp. The synchronous controller 7 collects the pulse signal of the speed sensor 8, calculates the accumulated mileage, and forwards the pulse signal to the inertial navigation device 5. The mileage is further calculated according to the following formula:

[0130] D=D0+2×π×R×n / N

[0131] Where D is the current accumulated mileage, D0 is the starting mileage, π is the pi, R is the wheel diameter of the vehicle, n is the current pulse count, and N is the number of pulses of the single-lap speed sensor.

[0132] The track inspection beam 9 adopts full range temperature compensation. The temperature change of the beam body causes the beam body to have thermal expansion and contraction, which affects the relative position relationship between the three laser triangulation components 6 (i.e., the left inner laser triangulation component 61, the compensation laser triangulation component 62, and the right inner laser triangulation component 63), and between the laser triangulation component 6 and the inertial navigation device 5. According to the characteristics of the beam body, which mainly affects the measurement of the track gauge, the track inspection host 1 further performs temperature compensation on the track inspection beam 9 according to the following formula:

[0133] Δg=L×(k1-k2)×(t-T0)

[0134] Among them, Δg is the track gauge change, L is the length of the track inspection beam 9, k1 is the thermal expansion coefficient of the track inspection beam 9, k2 is the thermal expansion coefficient of the sleeper 16, t is the current temperature, T0 is the calibration temperature, which is generally 25°C.

[0135] As attached Figure 7 As shown, the track inspection host 1 further calculates the track direction according to the following formula:

[0136]

[0137] Among them, let the track ABC, draw a perpendicular line to AC through the midpoint B, and the coordinates of point A are (x A ,y A ,z A ), the coordinates of point B are (x B ,y B ,z B ), the coordinates of point C are (x C ,y C ,z C ), the coordinates of point D are (xD ,y D ,z D ), a deviation to the left is positive, and a deviation to the right is negative.

[0138] The track inspection host 1 further calculates the height according to the following formula, where the height is positive when it is upward and negative when it is downward:

[0139]

[0140] The laser triangulation assembly 6 further comprises:

[0141] The left inner laser triangulation component 61 detects the left inner rail profile data and provides the track gauge point coordinates as the vehicle body posture compensation;

[0142] The compensation laser triangulation component 62 detects the front or rear rail profile data and provides the track gauge point coordinates as the vehicle body posture compensation;

[0143] The right inner laser triangulation component 63 detects the right inner rail profile data and provides the track gauge point coordinates as vehicle body posture compensation.

[0144] The track inspection system uses three laser triangulation components 6 (i.e., the left inner laser triangulation component 61, the compensation laser triangulation component 62, and the right inner laser triangulation component 63, which can be respectively recorded as LPM1, LPM2, and LPM3 for the convenience of calculation), which can fully compensate for the relative movement between the track inspection device and the rail 19. The track inspection host 1 calibrates the coordinate conversion between the left inner laser triangulation component 61, the compensation laser triangulation component 62, and the right inner laser triangulation component 63 and the inertial navigation device 5 to realize the output of the left and right rail gauge point coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), and fits the track coordinates through the least squares method (e.g., 30-meter track coordinates can be selected for fitting), and the track radius is obtained, and the curvature detection parameters are obtained after taking the inverse.

[0145] The track gauge calculation is further obtained by making a perpendicular line from the other two compensation points at LPM1 or LPM2, which can effectively eliminate the error caused by the non-perpendicularity between the track inspection beam 9 and the rail 19, so as to adapt to the installation of the bogie and the bottom of the car body. Figure 8 As shown, the track inspection host 1 further calculates the track gauge g according to the following formula:

[0146]

[0147] in:

[0148]

[0149] In addition, the track gauge calculation can be used to correct the angular changes in the roll, heading, and pitch of the inertial navigation device. Assuming that the rail 19 is a straight line within a very short distance, the accuracy of the angular change measured by the laser triangulation component 6 will be better than the measurement accuracy of the inertial navigation device 5, especially under low-speed operation. The effect is obvious, ensuring that the electric passenger car track inspection device 10 can also have high measurement accuracy under low-speed conditions. Assuming that the detection accuracy of the laser triangulation component 6 is 0.2mm and the baseline length is 1m, the angle measurement accuracy can reach 0.01°. The angle measurement accuracy is inversely proportional to the baseline length and directly proportional to the compensation accuracy. When the compensation accuracy is constant, the longer the baseline (ignoring mechanical deformation), the higher the accuracy. As shown in the attached figure Fig. 9 As shown, the left inner laser triangulation component 61, the compensation laser triangulation component 62 and the right inner laser triangulation component 63 are respectively recorded as LPM1, LPM2 and LPM3. Assuming that the coordinates of LPM2 and LPM3 measured twice are (x21, y21, z21), (x31, y31, z31) and (x22, y22, z22), (x32, y32, z32), the track inspection host 1 further calculates the angle according to the following formula:

[0150]

[0151] Among them, the coordinate vectors of LPM2 and LPM3 are measured for the first time:

[0152] (X1 Y1 Z1)=(x21 y21 z21)-(x31 y31 z31)

[0153] The second measurement of the coordinate vectors of LPM2 and LPM3:

[0154] (X2 Y2 Z2)=(x22 y22 z22)-(x32 y32 z32)

[0155] The correction angle calculation is further as follows:

[0156] ΔΦ s =a×ΔΦ+b*θ

[0157] Among them, ΔΦ s is the corrected angle change, ΔΦ is the attitude change measured by the inertial navigation device 5, a and b are confidence coefficients, and the sum of a and b is 1.

[0158] The track inspection host 1 further calculates the superelevation according to the following formula:

[0159] h=sin(Φ R )+z1-z2

[0160] Among them, Φ Ris the roll angle output by the inertial navigation device 5, z1 and z2 are the coordinate z values ​​of the gauge point measured by the left inner laser triangulation component 61 and the right inner laser triangulation component 63 respectively, the left superelevation is positive and the right superelevation is negative.

[0161] It should be noted that in the specific embodiment of the present application, the laser triangulation component 6 can be replaced by other two-dimensional optical ranging sensors, the speed sensor 8 can be replaced by other photoelectric internal encoders, and the radio frequency tag reader 3 signal can be replaced by a vehicle-mounted stop signal.

[0162] Example 3

[0163] As attached Figure 2 As shown, an embodiment of an electric passenger car track inspection system specifically includes: an electric passenger car track inspection device 10 as described in Example 2, an on-board network 17 and a ground data center 18, the on-board network 17 realizes data sending and bottom-level command uploading, and the ground data center 18 receives and displays the detection results and equipment status, and at the same time serves as a human-machine interface to operate the data management platform. The on-board network 17 realizes data sending and bottom-level command uploading, and refers to a vehicle-mounted dedicated network or a 4G / 5G (i.e., fourth-generation / fifth-generation mobile communication) vehicle-mounted network. The ground data center 18 receives and displays the detection results and equipment status, and at the same time serves as a human-machine interface to operate the data management platform.

[0164] As attached Figure 3 As shown, the accelerometer 2 , the radio frequency tag reader 3 , the temperature sensor 4 , the inertial navigation device 5 and the laser triangulation measurement component 6 are further arranged on the track inspection beam 9 .

[0165] The electric car track inspection method described in the specific embodiment of the present application innovatively uses combined navigation technology, combined with multi-degree-of-freedom compensation and synchronization functions, to achieve automated and intelligent detection of the track inspection system, which can effectively alleviate the tight window period for repairing urban rail transit electric cars, is conducive to reducing labor costs, and improves the quality of line maintenance, and has high economic and social benefits. The specific embodiment of the present application greatly improves the accuracy of rail coordinate measurement and optimizes the detection effect in low-speed intervals through a combined navigation algorithm based on an inertial navigation device 5, a laser triangulation component 6, and a speed sensor 8. The specific embodiment of the present application achieves full attitude compensation of the inertial navigation device by adopting an inertial navigation device posture compensation algorithm based on three sets of laser triangulation components. The specific embodiment of the present application achieves system automation by adopting a system self-start detection method based on radio frequency tags. The specific embodiment of the present application achieves synchronous measurement of various devices in the track inspection system by adopting a synchronous triggering method based on speed sensor signals. The specific embodiment of the present application achieves temperature compensation of the track inspection system by adopting a full-range temperature compensation method.

[0166] In the description of this application, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly disposed on the other element or indirectly disposed on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0167] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0168] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0169] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0170] By implementing the technical solution of the electric passenger car track inspection method described in the specific embodiment of the present application, the following technical effects can be produced:

[0171] (1) The electric passenger car track inspection method described in the specific embodiment of the present application adopts the combined navigation technology combined with multi-degree-of-freedom compensation and synchronization functions to realize the automatic and intelligent detection of the track inspection system, which can effectively alleviate the tight maintenance skylight situation, help reduce labor costs, improve the quality of line maintenance, and have high economic and social benefits;

[0172] (2) The electric passenger car track inspection method described in the specific embodiment of the present application adopts a combined navigation algorithm based on an inertial navigation device, a speed sensor, and a laser triangulation component, which greatly improves the accuracy of rail coordinate measurement and optimizes the detection effect in low-speed sections; at the same time, the inertial navigation device posture compensation algorithm based on three sets of laser triangulation components realizes the full posture compensation correction of the inertial navigation device;

[0173] (3) The electric passenger car track inspection method described in the specific embodiment of the present application uses a speed sensor to measure mileage and speed, and uses frequency division multiplexing synchronous triggering to synchronize and trigger various systems. It uses a system self-start detection based on radio frequency tags to achieve system automation.

[0174] (4) The electric passenger car track inspection method described in the specific embodiment of the present application adopts synchronous triggering based on speed sensor signals to achieve synchronous measurement of various devices in the track inspection system, and realizes temperature compensation of the track inspection system through full-range temperature compensation, while also realizing optimized calculation of track geometry parameters.

[0175] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0176] The above is only a preferred embodiment of the present application, and does not constitute any formal limitation to the present application. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any technician familiar with the art can use the above disclosed methods and technical contents to make many possible changes and modifications to the technical solution of the present application, or modify it into an equivalent embodiment of equivalent changes without departing from the spirit and technical solution of the present application. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of protection of the technical solution of the present application.

Claims

1. A method for inspecting electric passenger cars, characterized in that: Import the line label ledger in advance, and automatically trigger the start and end of track inspection data collection by setting the start / end label ID. The method includes the following steps: The track inspection host (1) automatically starts initialization after power-on, enters a waiting state after completion, and after reading the tag ID, judges the tag ID. If it is a start tag ID, it starts detection; if not, it continues to detect the tag ID; if it is an end detection tag ID, it ends detection, and then continues to wait for reading the start detection tag ID of the next section of the line; the detection process includes the following steps: The track inspection host (1) obtains the lateral / vertical acceleration of the vehicle through an accelerometer (2), obtains the line radio frequency tag signal through a radio frequency tag reader (3), and obtains and calculates track information through an inertial navigation device (5); the synchronous controller (7) obtains the speed sensor signal and outputs the mileage information to the track inspection host (1), and triggers the laser triangulation component (6) to obtain the rail profile data; the track inspection host (1) obtains the lateral / vertical acceleration, track, mileage and rail profile information of the vehicle, and calculates the track geometry parameter data including the track gauge, superelevation, track direction, height and curvature.

2. The electric passenger car track inspection method according to claim 1, characterized in that: The electric passenger car track inspection device also includes a temperature sensor (4) connected to the track inspection host (1); the detection process further includes: The track inspection host (1) obtains the real-time temperature of the track inspection beam (9) through a temperature sensor (4), and performs temperature compensation on the track inspection beam (9).

3. The electric passenger car track inspection method according to claim 2, characterized in that; The inertial navigation device (5) has a built-in accelerometer, a three-axis gyroscope and a navigation computer for dead reckoning. The dead reckoning process further includes the following steps: The rough position r0 is input to initialize the north search of the electric passenger car track inspection device (10). During the initialization process, the inertial navigation device (5) outputs the carrier angular velocity measured by the gyroscope. Specific force f measured by accelerometer (2) b Perform static initial alignment to obtain high-precision initial attitude information; during the measurement process, the carrier angular velocity measured by the inertial navigation device (5) Perform attitude calculation to obtain the attitude Φ and attitude matrix of the carrier relative to the navigation system at any time and the speed V measured by the speed sensor (8) b The three-dimensional coordinates r are obtained by combining the dead reckoning DR , with the rough position input r0 and the three-dimensional coordinate r DR The three-dimensional coordinate difference δr is calculated as input, and then the three-dimensional coordinate correction is obtained through Kalman filtering. Installation deviation between speed sensor (8) and vehicle body Speed ​​sensor scale factor error δ and filter state estimate Covariance matrix The filter state estimator and the covariance matrix The three-dimensional coordinate solution obtained after RTS smoothing is input and then compared with the dead reckoning result r DR and 3D coordinate correction Added After the combination, the three-dimensional coordinate value of the odometer in the navigation system at any time is obtained 4. The electric passenger car track inspection method according to claim 3, characterized in that: The synchronous controller (7) collects the second pulses generated by the inertial navigation device (5), divides the frequency of the collected frequency into trigger signals to the laser triangulation component (6), starts the profile measurement, and records the serial number stamp; the synchronous controller (7) collects the pulse signal of the speed sensor (8), calculates the accumulated mileage, and forwards the pulse signal to the inertial navigation device (5); the mileage is calculated according to the following formula: D=D0+2×π×R×n / N Where D is the current accumulated mileage, D0 is the starting mileage, π is the pi, R is the wheel diameter of the vehicle, n is the current pulse count, and N is the number of pulses of the single-lap speed sensor.

5. The electric passenger car track inspection method according to claim 2, 3 or 4, characterized in that: The track inspection host (1) performs temperature compensation on the track inspection beam (9) according to the following formula: Δg=L×(k1-k2)×(t-T0) Wherein, Δg is the track gauge change, L is the length of the track inspection beam (9), k1 is the thermal expansion coefficient of the track inspection beam (9), k2 is the thermal expansion coefficient of the sleeper (16), t is the current temperature, and T0 is the calibration temperature.

6. The electric passenger car track inspection method according to claim 5, characterized in that: The track inspection host (1) calculates the track direction according to the following formula: Among them, let the track ABC, draw a perpendicular line to AC through the midpoint B, and the coordinates of point A are (x A ,y A ,z A ), the coordinates of point B are (x B ,y B ,z B ), the coordinates of point C are (x C ,y C ,z C ), the coordinates of point D are (x D ,y D ,z D ), a deviation to the left is positive, and a deviation to the right is negative.

7. The electric passenger car track inspection method according to claim 6, characterized in that: The track inspection host (1) calculates the height according to the following formula, where the height is positive when it is upward and negative when it is downward:

8. The electric passenger car track inspection method according to claim 2, 3, 4, 6 or 7, characterized in that: The laser triangulation component (6) comprises: The left inner laser triangulation component (61) detects the left inner rail profile data and provides the track gauge point coordinates as vehicle body posture compensation; A compensating laser triangulation component (62) detects the front or rear rail profile data and provides the track gauge point coordinates as a vehicle body posture compensation; The right inner laser triangulation component (63) detects the right inner rail profile data and provides the track gauge point coordinates as the vehicle body posture compensation; The track inspection host (1) calibrates the coordinate conversion between the left inner laser triangulation component (61), the compensation laser triangulation component (62) and the right inner laser triangulation component (63) and the inertial navigation device (5), thereby outputting the coordinates of the left and right rail gauge points (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3), and fits the track coordinates by the least squares method to obtain the track radius, and obtains the curvature detection parameter after taking the inverse.

9. The electric passenger car track inspection method according to claim 8, characterized in that: The track inspection host (1) calculates the track gauge according to the following formula: in:

10. The electric passenger car track inspection method according to claim 8, characterized in that: The left inner laser triangulation component (61), the compensation laser triangulation component (62) and the right inner laser triangulation component (63) are respectively denoted as LPM1, LPM2 and LPM3. Assuming that the coordinates of LPM2 and LPM3 measured twice are (x21, y21, z21), (x31, y31, z31) and (x22, y22, z22), (x32, y32, z32), respectively, the track inspection host (1) calculates the angle according to the following formula: Among them, the coordinate vectors of LPM2 and LPM3 are measured for the first time: (X1 Y1 Z1)=(x21 y21 z21)-(x31 y31 z31) The second measurement of the coordinate vectors of LPM2 and LPM3: (X2 Y2 Z2)=(x22 y22 z22)-(x32 y32 z32) The correction angle is calculated as follows: DF s =a×ΔΦ+b*θ Among them, ΔΦ s is the corrected angle change, ΔΦ is the attitude change measured by the inertial navigation device (5), a and b are confidence coefficients, and the sum of a and b is 1.

11. The electric passenger car track inspection method according to claim 8, characterized in that: The track inspection host (1) calculates the superelevation according to the following formula: h=sin(Φ R )+z1-z2 Among them, Φ R is the roll angle output by the inertial navigation device (5), z1 and z2 are the coordinate z values ​​of the track gauge point measured by the left inner laser triangulation component (61) and the right inner laser triangulation component (63), respectively, and the left superelevation is positive and the right superelevation is negative.

12. The electric passenger car track inspection method according to claim 1, 2, 3, 4, 6, 7, 9, 10 or 11, characterized in that: The vehicle-mounted network (17) is used to realize data transmission and bottom-level command upload between the track inspection host (1) and the ground data center (18), and the ground data center (18) receives and displays the inspection results and equipment status, and at the same time serves as a human-machine interface to operate a data management platform.

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