Track parameter measuring device, track parameter measuring method and storage medium

Abstract

The embodiment of the invention provides a track parameter measuring device and method and a storage medium, and the device comprises a front vehicle, a middle vehicle and a rear vehicle which are connected in sequence. The left chord line and the right chord line are located on the two sides of the front vehicle and the rear vehicle, and the starting point and the end point of the left chord line and the starting point and the end point of the right chord line are fixedly arranged on the front vehicle and the rear vehicle; the position sensor is arranged on the middle vehicle and used for scanning three-dimensional data of four preset point positions of the left chord line and / or the right chord line; the angle sensor is arranged on the front vehicle, the middle vehicle and / or the rear vehicle and used for measuring the inclination angle between the vehicle and the horizontal plane; and the controller is in communication connection with the angle sensor and the position sensor and is used for calculating orbit parameters. Compared with a traditional three-chord measurement scheme, double-chord arrangement is compact, and space position occupation is reduced; a high-precision structured light sensor is introduced for position measurement; and three-dimensional space solution is adopted, so that the accuracy and the stability of measurement are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of railway track tamping measurement, and in particular to a track parameter measurement device, a track parameter measurement method and a storage medium. BACKGROUND

[0002] In railway line maintenance, a tamping vehicle is a core device for realizing accurate adjustment and stable support of a track. Its main function is to compact the track bed through a tamping device to restore the geometric shape of the track. In order to realize accurate operation control, the current geometric state of the track must be obtained in real time, including track deviation, track height, left and right track super height (horizontal) and other parameters. Accurate track geometric parameters are the basis for ensuring smooth and safe running of trains under various operating conditions.

[0003] The commonly used geometric parameters of a railway track in China are a three-chord measurement method. Specifically, two longitudinal chords and two height sensors are installed on the roof of the vehicle to detect the height deviation of the rail, and a chord line is used to pass through the central measurement trolley to measure the sagitta sensor to measure the track deviation. This method is simple to operate, but the mechanical sensor has the problems of low precision and poor repeatability, and occupies a large space. Some foreign manufacturers have proposed a measurement method based on optical principles, which uses a combination of a light source and a vision sensor to form a "light chord" for measurement. This method calculates the track geometric parameters by emitting light and capturing reflected images, improving the measurement accuracy and flexibility. However, this technology relies on a complex optical imaging system and is easily disturbed by other parts of the vehicle bottom on non-straight lines, resulting in unstable light paths. In addition, visual imaging is easily affected by external environments (such as lighting conditions and weather changes), affecting the stability of the measurement results.

[0004] Therefore, it is necessary to provide a technical solution that can overcome the problems of low precision, complex structure, large space occupation of the traditional three-chord measurement method, and poor anti-interference ability and weak environmental adaptability of the optical "light chord" measurement technology.

[0005] Application content

[0006] To solve one of the above technical defects, the present application provides a track parameter measurement device, a track parameter measurement method and a storage medium.

[0007] According to a first aspect of the present application, a track parameter measurement device is provided, which comprises: a front vehicle, a middle vehicle and a rear vehicle connected in sequence, wherein the front vehicle, the middle vehicle and the rear vehicle are all on the rail and are in rolling connection and close contact with the track of the rail.

[0008] A left chord line and a right chord line, the left chord line and the right chord line are located on both sides of the front car and the rear car, and the starting point and the ending point of the left chord line and the right chord line are fixedly arranged on the front car and the rear car;

[0009] A position sensor arranged on the middle car is arranged for scanning three-dimensional data of four preset points of the left chord line and / or the right chord line;

[0010] An angle sensor arranged on the front car, the middle car and / or the rear car is arranged for the inclination angle of the car with the horizontal plane; a controller in communication connection with the angle sensor and the position sensor is configured to calculate track parameters based on the three-dimensional data of the four preset points scanned by the position sensor and the inclination angle of the car with the horizontal plane determined by the angle sensor, the track parameters including: track deviation, track height deviation, front car superelevation, middle car superelevation and rear car superelevation.

[0011] Further, the number of the position sensors is at least two;

[0012] The measurement range of each position sensor covers the left chord line and the right chord line;

[0013] Or, the measurement range of all the position sensors covers the left chord line and the right chord line.

[0014] Further, the four preset points are located in the middle car section, and the middle car section is the area section where the left chord line or the right chord line is projected on the side of the track parameter measuring device.

[0015] Further, the position sensor is a structured light sensor.

[0016] Further, the structured light sensor is rigidly connected with the middle car;

[0017] Wherein, the light emitting point of the structured light sensor is in the same horizontal plane as the left chord line and the right chord line, and the light emitting surfaces of different structured light sensors are parallel.

[0018] Further, it further comprises a chord tensioning device;

[0019] The left chord line is arranged on the front car or the rear car through the chord tensioning device;

[0020] The right chord line is arranged on the front car or the rear car through the chord tensioning device;

[0021] Wherein, the chord tensioning device is used to tension the left chord line and the right chord line during measurement, so that the spatial position of the left chord line and the right chord line changes when the landing point of the front car and the rear car changes.

[0022] According to a second aspect of the embodiments of the present application, there is provided a track parameter measurement method, which is applied to the track parameter measurement device as described above, and the method comprises:

[0023] acquiring three-dimensional data of a first preset point and a second preset point on the left chord line and three-dimensional data of a third preset point and a fourth preset point on the right chord line by using the position sensor; wherein the three-dimensional data is used to represent the position information of the preset point relative to the position sensor, the three-dimensional data of the first preset point and the third preset point is used to represent the relative position information of the front vehicle and the middle vehicle, and the three-dimensional data of the second preset point and the fourth preset point is used to represent the relative position information of the rear vehicle and the middle vehicle;

[0024] calculating three-dimensional data of the start point and the end point of the double chord line based on the three-dimensional data of the four preset points, the distance between the start point of the double chord line and the nearest preset point, and the distance between the end point of the double chord line and the nearest preset point, wherein the start point and the end point of the double chord line include the start point of the left chord line, the end point of the left chord line, the start point of the right chord line and the end point of the right chord line, and the three-dimensional data of the start point and the end point of the double chord line is used to represent the position information of the front vehicle, the middle vehicle and the rear vehicle;

[0025] calculating three-dimensional data of the left and right track contact points of the front vehicle based on the three-dimensional data of the start point of the left chord line, the three-dimensional data of the start point of the right chord line and the distance between the start point of the left chord line and the first track contact point, wherein the first track contact point is the contact point between the left wheel of the front vehicle and the track;

[0026] calculating three-dimensional data of the left and right track contact points of the front vehicle based on the three-dimensional data of the end point of the left chord line, the three-dimensional data of the end point of the right chord line and the distance between the end point of the left chord line and the second track contact point, wherein the second track contact point is the contact point between the left wheel of the rear vehicle and the track;

[0027] determining track parameters based on all the three-dimensional data, wherein the track parameters include track alignment deviation, track level deviation, super-elevation of the front vehicle, super-elevation of the middle vehicle and super-elevation of the rear vehicle.

[0028] Further, the three-dimensional data of the start point of the left chord line and the end point of the left chord line is determined by the following method:

[0029] determining a straight line equation of the left chord line based on the three-dimensional data of the first preset point and the second preset point;

[0030] calculating the three-dimensional data of the start point of the left chord line based on the straight line equation of the left chord line and the distance between the start point of the left chord line and the first preset point;

[0031] Based on the straight line equation of the left chord line and the distance from the end point of the left chord line to the second preset point, the three-dimensional data of the end point of the left chord line is calculated.

[0032] Further, the track deviation is determined by the following way:

[0033] Based on the three-dimensional data of the first preset point, the second preset point, the third preset point and the fourth preset point, the plane equation of the plane where the left chord line and the right chord line are located is determined;

[0034] Based on the position of the position sensor, the three-dimensional data of the center point of the middle vehicle is determined;

[0035] Based on the plane equation and the three-dimensional data of the center point of the middle vehicle, the distance from the center point of the middle vehicle to the plane where the left chord line and the right chord line are located is calculated;

[0036] Based on the distance from the center point of the middle vehicle to the plane where the left chord line and the right chord line are located, the track deviation is determined.

[0037] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the method as described above.

[0038] The track parameter measuring device provided in the embodiments of the present application realizes high-precision, non-contact dynamic measurement of track geometric parameters by setting angle sensors on the front vehicle and the rear vehicle, setting a position sensor on the middle vehicle, and cooperating with the left and right chord line structures. The controller obtains the three-dimensional data of the four preset points on the chord line based on the position sensor, combines the inclination information measured by the angle sensors of the front vehicle and the rear vehicle and the known track distance parameters, and comprehensively calculates the track deviation, the track height deviation and the superelevation of each position of the front vehicle, the middle vehicle and the rear vehicle. The track parameter measuring device effectively fuses multi-source sensing data, eliminates the influence of vehicle posture changes on the measurement results, improves the measurement accuracy and stability under complex working conditions, has the advantages of strong anti-interference ability, high automation degree, good measurement continuity, etc., and significantly improves the working precision and efficiency of the track parameter measuring device or the tamping vehicle in track maintenance operation. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and the description thereof serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0040] Figure 1 The structure schematic diagram of the track parameter measuring device provided in the embodiments of the present application is shown in the drawings;

[0041] Figure 2 This is a schematic diagram of the structure measured by the structured light sensor provided in the embodiments of this application;

[0042] Figure 3 This is a schematic diagram of the spatial structure for the controller to calculate track parameters according to an embodiment of this application;

[0043] Figure 4 A schematic flowchart illustrating the orbital parameter measurement method provided in this application embodiment;

[0044] Reference signs:

[0045] 1-The vehicle in front;

[0046] 2-CRRC;

[0047] 3-The following vehicle;

[0048] 4-structured light sensor, 41-first structured light sensor, 42-second structured light sensor;

[0049] 5-Right chord;

[0050] 6-Angle sensor; Detailed Implementation

[0051] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0052] In response to the above problems, such as Figure 1 As shown in the embodiment of this application, a track parameter measuring device is provided. The track parameter measuring device includes a front car 1, a middle car 2 and a rear car 3 connected in sequence. The front car 1, the middle car 2 and the rear car 3 all rest on the rail and are in rolling connection with the rail and in close contact.

[0053] Angle sensor 6 is installed on the front vehicle 1 and the rear vehicle 3 to detect the tilt angle of the vehicle relative to the horizontal plane;

[0054] The left chord line and the right chord line 5 are located on both sides of the front vehicle 1 and the rear vehicle 3. The starting point and the ending point of the left chord line and the right chord line 5 are fixed on the front vehicle 1 and the rear vehicle 3.

[0055] A position sensor, installed on CRRC 2, is used to scan three-dimensional data of four preset points on the left chord and / or right chord 5.

[0056] A controller, in communication with the angle sensor 6 and the position sensor, is configured to calculate the track parameters based on the three-dimensional data of the preset four points scanned by the position sensor, the inclination of the front vehicle 1 with respect to the horizontal plane determined by the angle sensor 6, the inclination of the front vehicle 1 with respect to the horizontal plane determined by the angle sensor 6, and the track distance. The track parameters at least include: track alignment deviation, track level deviation, front vehicle 1 super-elevation, middle vehicle 2 super-elevation, and rear vehicle 3 super-elevation.

[0057] Specifically, the front vehicle 1, the middle vehicle 2, and the rear vehicle 3 are usually measurement trolleys on the track parameter measuring device, which are mechanically hinged in series on the main frame of the track parameter measuring device. During measurement, a certain downward pressure is used to make the wheels of the measurement trolleys adhere to the steel rails, and the geometric relationship of the steel rails is reflected in the positional relationship of the three trolleys in real time. The structure design of the measurement trolley should ensure that the landing points of the measurement trolleys are consistent when the main frame of the track parameter measuring device stops at the same position multiple times.

[0058] The angle sensor 6 is installed on the front vehicle 1 and the rear vehicle 3, and is used to measure the inclination angle (i.e. the roll angle relative to the driving direction) of the front vehicle and the rear vehicle with respect to the horizontal plane in real time. Usually, the angle sensor 6 is located in the central area of the front vehicle 1 or the rear vehicle 3, close to the center of gravity of the vehicle. Specifically, it can be installed on the frame of the front vehicle 1 or the rear vehicle 3, and its measurement axis should be consistent with the longitudinal direction of the vehicle, so as to ensure the accuracy of real-time monitoring of the inclination angle of the front vehicle 1 with respect to the horizontal plane.

[0059] In some possible embodiments, multiple angle sensors 6 can be provided, i.e. multiple angle sensors 6 are installed on the front vehicle 1 and the rear vehicle 3 respectively, forming a distributed sensor network. For example, one angle sensor 6 is installed at each corner of the front vehicle 1 and the rear vehicle 3, which can more comprehensively capture the attitude changes of the vehicle.

[0060] Through multi-point and multi-dimensional angle measurement, the actual attitude of the vehicle can be more accurately reflected, thereby improving the measurement accuracy of the track geometric parameters. At the same time, the multi-sensor configuration provides higher fault tolerance, so that even if a sensor fails, the system can still continue to work normally.

[0061] The left and right chord lines 5 are two high-strength, low-elongation metal wires or synthetic fiber lines, which are fixed to the left and right sides of the front vehicle 1 and the rear vehicle 3 respectively. During measurement, a chord tensioning device is used to keep the chord lines in a tensioned state in real time.

[0062] Specifically, the left chord line starting point should be fixed at the left side of the front vehicle 1 near the front end edge, usually selected at a place where the vehicle structure is relatively strong to ensure its stability and anti-vibration capability. It can be selected at the main beam of the vehicle frame of the front vehicle 1 or at a specific mounting point near the bogie member, which not only has sufficient strength and rigidity, but also can effectively reduce the influence of dynamic stress generated during vehicle operation on the tension of the chord line. At the same time, in order to ensure the measurement accuracy, the height of the left chord line should be as consistent as possible with the height of the right chord line 5, and if it cannot be consistent, the height of the left chord line can be kept consistent with the height of the right chord line 5 by pre-calibrating the zero point. In addition, it should be noted that when the front, middle and rear vehicles (measuring trolley) are in the falling state on the standard track, the height of the chord line relative to the height of the track surface is constant. For example, the height of the chord line from the track surface is set to be between 50 and 80 cm, which can provide sufficient measurement space and avoid interference of external environmental factors (such as wind, stones, etc.) on the chord line. In order to realize the height adjustment of the left chord line or the right chord line 5, height adjustment supports can be installed at each fixed point to ensure the accurate consistency of the heights of the left and right chord lines 5.

[0063] The position sensor is installed on the middle vehicle 2 for non-contact scanning of specific point positions on the left chord line and the right chord line 5 to obtain their three-dimensional space coordinates. The preferred structure is a structured light sensor 4.

[0064] The structured light sensor 4 can be installed on the top or side rigid support of the middle vehicle 2 to ensure that its field of view can cover the preset measurement point positions of the left chord line and the right chord line 5. The preferred installation position is the central region of the middle vehicle 2, which is close to the vehicle center of gravity and far away from the positions that may generate vibration interference.

[0065] In an optional embodiment, the number of position sensors is at least two, and each position sensor can scan the left chord line and the right chord line 5.

[0066] Specifically, in order to improve the redundancy and reliability of measurement, two or more structured light sensors 4 can be arranged symmetrically on the middle vehicle 2. Each sensor faces the left chord line and the right chord line 5, or cross covers the double chord region. For example, the first structured light sensor 41 is installed on the middle vehicle 2 near the front vehicle 1, mainly facing the left chord line, and can partially cover the right chord line 5; the first structured light sensor 41 is installed on the middle vehicle 2 near the rear vehicle 3, mainly facing the right chord line 5, and can partially cover the left chord line. Both sensors communicate with the controller and synchronously upload data, and the controller can select the optimal data source or perform data fusion processing to improve the overall measurement accuracy.

[0067] In actual application, the first structured light sensor 41 can scan the three-dimensional data of the first preset point position C L1 and the third preset point position C R1 , wherein the first preset point position CL1 A point on the left chord line close to the front vehicle 1, such as a point at a certain distance (e.g. 50 cm) from the fixed point of the middle vehicle 2. The third preset point C R1 A point on the right chord line 5 close to the front vehicle 1, such as a point at a certain distance (e.g. 50 cm) from the fixed point of the middle vehicle 2. It should be noted that the first preset point C L1 and the third preset point C R1 The positions are determined based on the field of view range of the structured light sensor 4 and the chord length.

[0068] The first structured light sensor 41 can scan the three-dimensional data of the second preset point C L2 and the fourth preset point C R2 The positions of the second preset point C L2 and the fourth preset point C R2 are the same as those of the first preset point C L1 and the third preset point C R1 and will not be repeated. The three-dimensional data is used to represent the position of the corresponding point equal to the center point of the middle vehicle 2. For example, taking the sensor as the coordinate origin, the steel rail direction as the X direction, the rail tie direction as the Y direction, and the vertical direction as the Z direction, the three-dimensional coordinates of each point are calculated in real time by projecting the coded light field with the structured light sensor 4 and capturing its deformation on the chord line, combined with the triangulation principle, so as to determine the coordinates of the four preset points.

[0069] The controller communicates with the angle sensor 6 and the position sensor, and performs data fusion and track parameter calculation based on the real-time data obtained by the sensors. It can be an embedded industrial computer or a PLC (Programmable Logic Controller), or an MCU (Microcontroller Unit) of the vehicle.

[0070] Specifically, as shown in Figure 3 and 4 The controller can perform the following steps to complete the calculation of the track parameters:

[0071] S102, using the three-dimensional data of the first preset point and the second preset point on the left chord line and the three-dimensional data of the third preset point and the fourth preset point on the right chord line obtained by the position sensor; wherein the three-dimensional data is used to represent the position information of the preset point relative to the position sensor, the three-dimensional data of the first preset point and the third preset point is used to represent the relative position information of the front vehicle and the middle vehicle, and the three-dimensional data of the second preset point and the fourth preset point is used to represent the relative position information of the rear vehicle and the middle vehicle;

[0072] Specifically, the preset point position acquired by the position sensor is the coordinate of the coordinate system in which the position sensor is located. In actual application, the controller needs to perform coordinate transformation on the acquired original data based on the installation posture of the position sensor, so as to convert the coordinates of each point into position information in a unified global coordinate system. Thus, the coordinates of the four preset point positions in the controller coordinate system are respectively:

[0073] C L1 (x L1 ,y L1 ,z L1 ), C L2 (x L2 ,y L2 ,z L2 ), C R1 (x R1 ,y R1 ,z R1 ), and C R2 (x R1 ,y R1 ,z R1 )

[0074] The controller coordinate system is a coordinate system with the center point of the middle vehicle 2 as the coordinate origin, the steel rail direction as the X direction, the rail tie direction as the Y direction, and the vertical direction as the Z direction. The value of x is determined by the installation position of the structured light sensor 4 on the C point of the middle vehicle 2, and the values of y and z are obtained by real-time measurement of the structured light measurement sensor.

[0075] In S104, three-dimensional data of the start point and the end point of the double chord line are calculated based on the three-dimensional data of the four preset points, the distance between the start point of the double chord line and the nearest preset point, and the distance between the end point of the double chord line and the nearest preset point. The start point and the end point of the double chord line include the start point of the left chord line and the end point of the left chord line, and the start point of the right chord line and the end point of the right chord line. The three-dimensional data of the start point and the end point of the double chord line are used to represent the position information of the front vehicle, the middle vehicle and the rear vehicle.

[0076] Specifically, the posture position of the middle vehicle 2 relative to the front vehicle 1 and the rear vehicle 3 can be calculated based on the coordinates of the four preset points in the controller coordinate system and the structural position of the chord line.

[0077] For example, first, the coordinate points of the start point D L1 of the left chord line, the start point D R1 of the right chord line, the end point B L1 of the left chord line, the end point B R1 of the right chord line, and C L0 are calculated. The straight line equation of the left chord line can be determined according to the two points C L1 and C L2 .

[0078]

[0079] Find the distance point C on the equation of the straight line. L1 Long L DC -L C0 point After calculation, it can be determined that:

[0080]

[0081]

[0082] Where L C C L1 C L2 The distance, L DC Let L be the chord length of the front carriage 1 and the middle carriage 2. C0 C L1 The distance to CRRC 2, these three distances can be measured.

[0083] Based on the above method, it can be calculated that

[0084] The distance between the starting point of the left chord and the nearest preset point can be understood as: Figure 2 D L1 and C L1 The distance between them.

[0085] S106. Based on the three-dimensional data of the starting point of the left chord line, the three-dimensional data of the starting point of the right chord line, and the distance between the left chord line and the first track contact point, calculate the three-dimensional data of the track contact points on the left and right sides of the front vehicle. The first track contact point is the contact point between the left wheel of the front vehicle and the track.

[0086] Calculate D L2 D is the intersection of the left end of the extended line of the left and right chords of the front car 1 with the Z-direction of the rail (the first rail contact point); R2 The intersection of the right end of the extended line of the left and right chords of the front car 1 with the Z-direction of the rail (the third rail contact point); B L2 The intersection of the left end of the extended left and right chord lines of the rear carriage 3 with the Z-direction of the rail (the intersection of the left end of the extended left and right chord lines with the Z-direction of the rail) (the second rail contact point); B R2 The intersection of the right end of the extended line of the left and right chords of the rear carriage 3 with the Z-direction of the rail (the fourth rail contact point).

[0087] Among them, D L2 D R2 With B L2 B R2 The distance between them is L g .

[0088] According to D L1 DR1 Two points of three-dimensional data can determine D L1 , D R1 The straight line equation of the connecting line is:

[0089]

[0090] The distance of the point D L1 from the straight line equation is L S The position coordinate point of D Thus, it is determined that:

[0091]

[0092]

[0093] Where L s is the distance between D L1 and D L2 (the distance between the left chord line and the contact point of the first track), S C is the distance between D L1 and D R1 (that is, the distance between the two chord lines), and L s and S C can be determined according to the installation position of the left chord line.

[0094] L g is the distance between the left and right rails.

[0095] C L , C R are the two intersection points of the left and right chord lines with the longitudinal direction of the middle vehicle 2, and according to the coordinate system established above, C L (0, L g / 2, 0) and C R (0, -L g / 2, 0) can be obtained.

[0096] Based on the above method, the three-dimensional data of D R2 can be calculated, and the details are not repeated.

[0097] S108, based on the three-dimensional data of the left chord line end point, the three-dimensional data of the right chord line 5 end point, and the distance between the left chord line and the second track contact point, the three-dimensional data of the track contact points on the left and right sides of the front vehicle 1 are calculated, and the second track contact point is the contact point between the left wheel of the rear vehicle 3 and the track;

[0098] Based on the above method, the three-dimensional data (three-dimensional coordinates) of B L2 and B R2 can be calculated.

[0099] S110, determining track parameters based on the three-dimensional data, the track parameters including: track deviation, track height deviation, front vehicle 1 super height, middle vehicle 2 super height and rear vehicle 3 super height.

[0100] Specifically, the track deviation is determined by the following method:

[0101] Determine the plane equation of the plane where the left chord line and the right chord line 5 are located based on the three-dimensional data of the first preset point, the second preset point, the third preset point and the fourth preset point;

[0102] Determine the three-dimensional data of the center point of the middle vehicle 2 based on the position of the position sensor;

[0103] Calculate the distance from the center point of the middle vehicle 2 to the plane where the left chord line and the right chord line 5 are located based on the plane equation and the three-dimensional data of the center point of the middle vehicle 2;

[0104] Determine the track deviation based on the distance from the center point of the middle vehicle 2 to the plane where the left chord line and the right chord line 5 are located.

[0105] Specifically, the track calculation (chord) is to find D L2 , B L2 the distance of the projection of the line connecting point C L (0, L g / 2, 0) on the XOY plane;

[0106] Specifically, the straight line equation of D L2 , B L2 on the XOY plane is:

[0107]

[0108] The distance from point C L to the straight line is:

[0109]

[0110] The value is the distance of the track deviation.

[0111] Wherein, the "chord zero point" refers to the chord value of the measurement system pre-marked in the ideal track state as the system zero point to input and correct the system error. The chord zero point is that when the system is manufactured or first put into use, the equipment is run on a standard track which is known to be flat and has no track deviation; the chord value displayed by the measurement system at this time is taken as the average value or a certain fixed point is set as the reference; and the value is stored in the controller as a subsequent measurement reference.

[0112] For example, assuming that the chord is 0.5mm when calibrated on the standard track, this value is set as the "chord zero point". This is the chord zero point O calibrated= 0.5mm; when the device runs to a certain section in the actual line, the current sag is measured as 2mm, i.e. the measured sag O measured = 2mm. Then the track deviation is: 1.5mm, which means that the track deviates to one side by 1.5mm, and needs to be adjusted.

[0113] The track height deviation (longitudinal flatness) is calculated as follows: the left track height deviation is D L2 , B L2 The distance from the line to the projection of point C L (0, L g / 2, 0) on the XOZ plane.

[0114] Specifically, the straight line equation of D L2 , B L2 on the XOZ plane is:

[0115]

[0116] The position of this straight line to the origin is:

[0117] Similarly, the right track height deviation is D R2 , B R2 The distance from the line to the projection of point C R (0, -L g / 2, 0) on the XOZ plane is:

[0118]

[0119]

[0120] The value minus the calibrated longitudinal flatness zero point is the distance of the track height deviation.

[0121] Wherein, the "longitudinal flatness zero point" refers to the longitudinal flatness value of the measurement system pre-calibrated in the ideal track state, which is used as the system zero point to correct the longitudinal flatness system error. The longitudinal flatness zero point is that when the system is manufactured or first put into use, the device runs on a standard track which is known to be flat and has no height deviation; the longitudinal flatness value displayed by the measurement system at this time is collected, and the average value or a certain fixed point is taken as the reference; and this value is stored in the controller as a reference for subsequent measurement.

[0122] For example, it is assumed that when calibrated on a standard track, the measured longitudinal flatness is 0.8mm, which is set as the "longitudinal flatness zero point".

[0123] When the device runs to a certain section, the longitudinal flat value is measured as-7mm, i.e., the value is-7mm. At this time, the track height deviation is-6.2mm, and the position has a height unevenness, which needs to be repaired by track lifting or tamping operation.

[0124] The super elevation of the front vehicle 1 is calculated as follows:

[0125] The angle sensor (angle sensor 6) installed on the front vehicle 1 measures the angle between the front vehicle 1 and the horizontal plane as a, and the super elevation of the front vehicle 1 position can be calculated as Sup_D=Lg*sin a in combination with the gauge Lg.

[0126] The super elevation of the rear vehicle 3 is calculated as follows:

[0127] Similarly, the angle sensor (angle sensor 6) installed on the rear vehicle 3 measures the angle between the rear vehicle 3 and the horizontal plane as y, and the super elevation of the rear vehicle 3 is calculated as Sup_B=Lg*sin y.

[0128] The super elevation of the middle vehicle 2 is calculated as follows:

[0129] Calculation C L1 , C R1 The angle between the projected straight line and the y-axis;

[0130] Specifically, the projected straight line equation is:

[0131]

[0132] The angle between the projected straight line and the y-axis At this time, the super elevation angle of the middle measuring trolley is β=β1-α, and the super elevation of the middle measuring trolley is Sup_C=Lg*sin β.

[0133] The track parameter measuring device provided by the embodiment of the application realizes high-precision, non-contact dynamic measurement of track geometric parameters by arranging the angle sensor 6 on the front vehicle 1 and the rear vehicle 3, arranging the position sensor on the middle vehicle 2, and cooperating with the left and right chord line structures. The controller obtains the three-dimensional data of the four preset points on the chord line based on the position sensor, combines the inclination angle information measured by the angle sensor 6 of the front and rear vehicles 3, and the known track distance parameters, and comprehensively calculates the track deviation, the track height deviation, and the super elevation of each position of the front vehicle 1, the middle vehicle 2, and the rear vehicle 3. The track parameter measuring device effectively fuses multi-source sensing data, eliminates the influence of vehicle posture changes on the measurement results, improves the measurement accuracy and stability under complex working conditions, has the advantages of strong anti-interference ability, high automation degree, good measurement continuity, and the like, and significantly improves the working precision and efficiency of the track parameter measuring device or tamping vehicle in track maintenance operation.

[0134] On the basis of the above embodiments, in one embodiment of the present specification, the four preset point positions are all located in the middle vehicle section, and the middle vehicle section is the area section in which the left chord line or the right chord line 5 is projected on the side of the track parameter measurement device.

[0135] In the embodiments of the present application, the four preset point positions are all located in the middle vehicle section, and the middle vehicle section refers to the chord line area covered by the left chord line and the right chord line 5 projected on the side of the track parameter measurement device, which corresponds to the body of the middle vehicle 2. Specifically, when viewed from the side of the vehicle, the left chord line and the right chord line 5 extend along the track direction from the front vehicle 1 to the rear vehicle 3, and the part spanning the length range of the middle vehicle 2 is the "middle vehicle section".

[0136] In this embodiment, the four preset point positions include: the first preset point position is a measurement point on the left chord line located on the side close to the front vehicle 1 in the middle vehicle section, the second preset point position is a measurement point on the left chord line located on the side close to the rear vehicle 3 in the middle vehicle section, the third preset point position is a measurement point on the right chord line 5 located on the side close to the front vehicle 1 in the middle vehicle section, and the fourth preset point position is a measurement point on the right chord line 5 located on the side close to the rear vehicle 3 in the middle vehicle section. The four point positions are all distributed on the chord line section directly opposite the middle vehicle 2 and do not extend to the far end area of the front vehicle 1 or the rear vehicle 3.

[0137] Since the position sensor is fixed on the middle vehicle 2, its optical axis direction, field of view range and focal length are all optimized for the local area of the middle vehicle 2. Concentrating the measurement points in the middle vehicle section can ensure that the distance between the sensor and the target chord line is moderate, avoiding the resolution and signal-to-noise ratio from being reduced due to too far a distance, and preventing the inability to completely cover multiple point positions due to too close a distance. Secondly, the middle vehicle section is far away from the wheelset contact areas of the front vehicle 1 and the rear vehicle 3, which are less affected by mechanical vibration, impact and wheel-rail noise during vehicle operation. The chord line maintains good tension and spatial stability in this area, which is conducive to improving the measurement accuracy and repeatability of three-dimensional coordinates.

[0138] On the basis of the above embodiments, in one embodiment of the present specification, the light emitting point of the structured light sensor 4 is at the same horizontal plane as the left chord line and the right chord line 5.

[0139] In the embodiments of the present application, the light emitting point of the structured light sensor 4 is at the same horizontal plane as the left chord line and the right chord line 5, which aims to optimize the spatial geometric relationship between the sensor and the measurement target to improve the accuracy and reliability of three-dimensional data acquisition.

[0140] The "light emitting point" refers to the effective light plane of the coded light field (such as a stripe or grid pattern) projected by the structured light sensor 4 in the measurement space, especially the reference light band used for profile extraction. The light plane is generated by the projection unit inside the sensor and is designed through optics to form clear light stripes at a certain distance.

[0141] The "same level" refers to the level of the center or the lowest effective light band of the light plane projected by the structured light sensor 4, which is consistent with the spatial height plane of the left and right chord lines 5 in the static installation state. That is, when the vehicle is parked on the standard rail surface, the height of the longitudinal axis of the left and right chord lines 5 is equal to the height of the main light plane emitted by the sensor, ensuring that the chord lines are located in the middle of the light plane or the best response area.

[0142] By aligning the light-emitting surface of the sensor and the double chord lines to the same level, the structured light can be incident at a nearly vertical angle when irradiating the chord line and effectively reflected to the receiving camera by the chord line surface, thereby obtaining a clear and sharp light stripe image. This alignment method maximally reduces optical distortion phenomena such as projection stretching, edge blurring or shadow blocking caused by angle deviation.

[0143] In addition, this arrangement ensures the optimal working state of the measurement system under the principle of triangulation. The three-dimensional reconstruction accuracy of the structured light sensor 4 is highest in the light plane, and once the measured target deviates from the plane, even a slight vertical deviation will cause the Z-direction coordinate measurement error to increase significantly. Placing the chord line in the plane of the light-emitting point can effectively suppress such errors and improve the measurement resolution in the height direction (z-axis).

[0144] On the basis of the above embodiment, in an embodiment of the present application, the left and right chord lines 5 and the contact points of the wheels and the rail are in the same level.

[0145] In the embodiment of the present application, the left and right chord lines 5 and the contact points of the wheels and the rail are in the same level, which aims to establish a direct spatial correlation between the chord line measurement system and the actual geometric state of the rail, and to improve the accuracy and physical interpretability of the measurement of the geometric parameters of the rail.

[0146] The "contact points of the wheels and the rail" refer to the actual contact positions of the tread surfaces of the front wheels 1, the middle wheels 2 or the rear wheels 3 and the top surface of the steel rail, which usually include the left rail contact point of the front wheels 1, the right rail contact point of the front wheels 1, the left rail contact point of the rear wheels 3 and the right rail contact point of the rear wheels 3. These points are a direct manifestation of the geometric state of the rail, and their spatial positions determine the running attitude of the vehicle and the smoothness of the rail.

[0147] The "same level" refers to the installation height of the left and right chord lines 5 being consistent with the height of the rail surface at the contact points of the wheels and the rail under the ideal rail state, that is, the left and right chord lines 5 and the rail contact points are all located on a horizontal reference plane parallel to the standard rail surface. In other words, the chord lines are not higher or lower than the rail surface, but are precisely adjusted to the same vertical height position as the top surface of the rail.

[0148] By setting the left and right chord lines 5 in the same horizontal plane as the track contact points, the chord lines themselves become direct extension references of the track center line or the track surface elevation. In this configuration, the spatial course of the chord lines can directly reflect the lateral (track) and longitudinal (high-low) geometry of the track, without the need for complex height compensation or attitude projection conversion, thereby simplifying the data processing process.

[0149] This arrangement significantly improves the measurement accuracy of track lateral deviation and track high-low deviation. For example, when measuring the track lateral deviation, if the chord lines are coplanar with the track contact points, the vertical distance from the center point of the middle vehicle 2 to the plane determined by the left and right chord lines 5 can directly represent the track lateral deviation, avoiding the projection error introduced by the height difference of the chord lines. When measuring the high-low deviation, the chord line height is consistent with the track surface, making the height of the track contact point based on the extrapolation of the chord line point more realistic.

[0150] On the other hand, the present application provides a track parameter measurement method, the method is applied to the track parameter measurement device, and the method comprises:

[0151] S102, obtaining the three-dimensional data of the first and second preset points on the left chord line and the third and fourth preset points on the right chord line by using the position sensor; wherein the three-dimensional data represents the position information of the preset points relative to the position sensor, the three-dimensional data of the first and third preset points represents the relative position information of the front vehicle and the middle vehicle, and the three-dimensional data of the second and fourth preset points represents the relative position information of the rear vehicle and the middle vehicle;

[0152] S104, calculating the three-dimensional data of the start and end points of the double chord lines based on the three-dimensional data of the four preset points, the distance between the start point of the double chord lines and the nearest preset point, and the distance between the end point of the double chord lines and the nearest preset point; the start and end points of the double chord lines include the start and end points of the left chord line and the start and end points of the right chord line; and the three-dimensional data of the start and end points of the double chord lines represents the position information of the front vehicle, the middle vehicle and the rear vehicle.

[0153] S106, calculating the three-dimensional data of the track contact points on the left and right sides of the front vehicle 1 based on the three-dimensional data of the start point of the left chord line, the three-dimensional data of the start point of the right chord line 5, and the distance between the left chord line and the first track contact point; the first track contact point is the contact point between the left wheel of the front vehicle 1 and the track.

[0154] S108, calculating the three-dimensional data of the track contact points on the left and right sides of the front vehicle 1 based on the three-dimensional data of the end point of the left chord line, the three-dimensional data of the end point of the right chord line 5, and the distance between the left chord line and the second track contact point; the second track contact point is the contact point between the left wheel of the rear vehicle 3 and the track.

[0155] S110, determining track parameters based on the three-dimensional data, the track parameters including: track alignment deviation, track level deviation, front vehicle 1 super-elevation, middle vehicle 2 super-elevation and rear vehicle 3 super-elevation.

[0156] On the basis of the above-mentioned embodiments, in an embodiment of the present specification, the three-dimensional data of the starting point of the left chord and the ending point of the left chord are determined by the following method:

[0157] The straight line equation of the left chord is determined based on the three-dimensional data of the first preset point and the second preset point;

[0158] The three-dimensional data of the starting point of the left chord is calculated based on the straight line equation of the left chord and the distance from the starting point of the left chord to the first preset point;

[0159] The three-dimensional data of the ending point of the left chord is calculated based on the straight line equation of the left chord and the distance from the ending point of the left chord to the second preset point.

[0160] On the basis of the above-mentioned embodiments, in an embodiment of the present specification, the track alignment deviation is determined by the following method:

[0161] The plane equation of the plane where the left chord and the right chord 5 are located is determined based on the three-dimensional data of the first preset point, the second preset point, the third preset point and the fourth preset point;

[0162] The three-dimensional data of the center point of the middle vehicle 2 is determined based on the position of the position sensor;

[0163] The distance from the center point of the middle vehicle 2 to the plane where the left chord and the right chord 5 are located is calculated based on the plane equation and the three-dimensional data of the center point of the middle vehicle 2;

[0164] The track alignment deviation is determined based on the distance from the center point of the middle vehicle 2 to the plane where the left chord and the right chord 5 are located.

[0165] With reference to the above-mentioned embodiments, the execution subject of the method is a controller, which interacts with the angle sensor 6 and the position sensor to solve the track parameters. The specific execution actions and technical effects have been described in the above-mentioned embodiments and will not be repeated here.

[0166] On the other hand, the present application provides a computer readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the method as described above.

[0167] Those skilled in the art will appreciate that embodiments of the application can be readily used as a method, a system or a computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code thereon for use by or in connection with an instruction execution system. Program code embodied on one or more computer-usable storage media can be downloaded over a network from one computer to another computer and / or loaded into a computer from another computer readable medium. Program code embodied on one or more computer-usable storage media can cause a computer to perform a process when the computer reads the program code from the computer-usable storage medium. Alternatively, or in addition, the program code can cause a computer to perform a process when the computer reads the program code from the computer-usable storage medium.

[0168] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0169] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0170] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0171] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0172] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0173] In this application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0174] Although the preferred embodiments of the application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the application.

[0175] Obviously, those skilled in the art can make various modifications and variations to the application without departing from the spirit and scope of the application. Thus, if these modifications and variations of the application fall within the scope of the claims of the application and their equivalents, the application also intends to include these modifications and variations.

Claims

1. A track parameter measuring device, characterized in that, the track parameter measuring device comprises a front vehicle, a middle vehicle and a rear vehicle connected in sequence, wherein the front vehicle, the middle vehicle and the rear vehicle are all on a steel rail and are in rolling connection and close contact with the steel rail; a left chord line and a right chord line, the left chord line and the right chord line are located on both sides of the front vehicle and the rear vehicle, and the starting point and the ending point of the left chord line and the right chord line are fixedly arranged on the front vehicle and the rear vehicle; a position sensor arranged on the middle vehicle, for scanning three-dimensional data of four preset point positions of the left chord line and / or the right chord line; an angle sensor arranged on the front vehicle, the middle vehicle and / or the rear vehicle, for detecting the inclination angle of the vehicle with respect to the horizontal plane; a controller in communication connection with the angle sensor and the position sensor, configured to calculate track parameters based on the three-dimensional data of the four preset point positions scanned by the position sensor and the inclination angle of the vehicle with respect to the horizontal plane determined by the angle sensor, the track parameters at least including track alignment deviation, track level deviation, front vehicle superelevation, middle vehicle superelevation and rear vehicle superelevation.

2. The track parameter measuring device according to claim 1, characterized in that The number of position sensors is at least two; The measurement range of each position sensor covers the left chord line and the right chord line; Or, the measurement range of all position sensors covers the left chord line and the right chord line.

3. The track parameter measuring device according to claim 1 or 2, characterized in that The four preset point positions are all located in the middle vehicle section, and the middle vehicle section is the area section where the left chord line or the right chord line is projected on the side of the track parameter measuring device.

4. The track parameter measuring apparatus according to claim 2, wherein The position sensor is a structured light sensor.

5. The track parameter measuring device according to claim 4, characterized in that The structured light sensor is rigidly connected with the middle vehicle; Wherein, the light emitting point of the structured light sensor is in the same horizontal plane with the left chord line and the right chord line, and the light emitting surfaces of different structured light sensors are parallel.

6. The track parameter measuring device of claim 4, wherein Further comprising: a chord tensioning device; The left chord line is arranged on the front vehicle or the rear vehicle through the chord tensioning device; The right chord line is arranged on the front vehicle or the rear vehicle through the chord tensioning device; Wherein, the chord tensioning device is used to tension the left chord line and the right chord line during measurement, so as to change the spatial position of the left chord line and the right chord line when the landing point of the front vehicle and the rear vehicle changes.

7. A method of measuring track parameters, characterized in that The method is applied to the track parameter measuring device as claimed in any one of claims 1-6, and the method comprises: obtaining three-dimensional data of a first preset point position and a second preset point position on the left chord line and three-dimensional data of a third preset point position and a fourth preset point position on the right chord line by using the position sensor; wherein, the three-dimensional data is used to represent the position information of the preset point position with respect to the position sensor, the three-dimensional data of the first preset point and the third preset point is used to represent the relative position information of the front vehicle and the middle vehicle, and the three-dimensional data of the second preset point and the fourth preset point is used to represent the relative position information of the rear vehicle and the middle vehicle; The three-dimensional data of the start point and the end point of the double chord line are calculated based on the three-dimensional data of the four preset points, the distance between the start point of the double chord line and the nearest preset point, and the distance between the end point of the double chord line and the nearest preset point. The start point and the end point of the double chord line include the start point of the left chord line, the end point of the left chord line, the start point of the right chord line, and the end point of the right chord line. The three-dimensional data of the start point and the end point of the double chord line are used to represent the position information of the front vehicle, the middle vehicle, and the rear vehicle. The three-dimensional data of the left and right track contact points of the front vehicle are calculated based on the three-dimensional data of the start point of the left chord line, the three-dimensional data of the start point of the right chord line, and the distance between the left chord line and the first track contact point. The first track contact point is the contact point between the left wheel of the front vehicle and the track. The three-dimensional data of the left and right track contact points of the front vehicle are calculated based on the three-dimensional data of the end point of the left chord line, the three-dimensional data of the end point of the right chord line, and the distance between the left chord line and the second track contact point. The second track contact point is the contact point between the left wheel of the rear vehicle and the track. The track parameters are determined based on all the three-dimensional data. The track parameters include the track alignment deviation, the track elevation deviation, the super-elevation of the front vehicle, the super-elevation of the middle vehicle, and the super-elevation of the rear vehicle.

8. The track parameter measurement method of claim 7, wherein, The three-dimensional data of the start point and the end point of the left chord line are determined as follows: The straight line equation of the left chord line is determined based on the three-dimensional data of the first preset point and the second preset point. The three-dimensional data of the start point of the left chord line is calculated based on the straight line equation of the left chord line and the distance from the start point of the left chord line to the first preset point. The three-dimensional data of the end point of the left chord line is calculated based on the straight line equation of the left chord line and the distance from the end point of the left chord line to the second preset point.

9. The track parameter measuring method according to claim 7, wherein The track alignment deviation is determined as follows: The plane equation of the plane on which the left chord line and the right chord line are located is determined based on the three-dimensional data of the first preset point, the second preset point, the third preset point, and the fourth preset point. The three-dimensional data of the center point of the middle vehicle is determined based on the position of the position sensor. The distance from the center point of the middle vehicle to the plane on which the left chord line and the right chord line are located is calculated based on the plane equation and the three-dimensional data of the center point of the middle vehicle. The track alignment deviation is determined based on the distance from the center point of the middle vehicle to the plane on which the left chord line and the right chord line are located.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon. The computer program is executed by a processor to implement the method of any one of claims 7 to 9.

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