A magnetic levitation track smoothness detection method based on track data

Abstract

The application discloses a kind of based on track data's magnetic levitation track smoothness detection method, it is related to track detection technical field, comprising: determining functional surface measuring point;Obtain the section pose of functional surface measuring point in mileage section, deduct the overall displacement corresponding to section pose, form first functional surface normal deviation;Form section linear normal deviation, and section linear normal deviation and first functional surface normal deviation are calculated according to mileage coordinate, form second functional surface normal deviation;To track beam connecting section, according to the section pose of section continuous mileage in section, the section pose in section is calculated, and with the functional surface design position after the action of section pose in section as reference, connecting section functional surface normal deviation is formed, connecting section functional surface normal deviation and second functional surface normal deviation are calculated according to mileage coordinate, generate smoothness detection result;The application is favorable to distinguish structural displacement and functional surface geometric deviation, improve the reliability of magnetic levitation track smoothness detection.

Description

Technical Field

[0001] This invention relates to the field of track inspection technology, and specifically to a method for detecting the smoothness of maglev tracks based on track data. Background Technology

[0002] With the increasing demands for construction, operation, and maintenance of maglev transportation lines, non-contact inspection of track geometry is gradually becoming an important method for evaluating the condition of track facilities. Maglev tracks rely on track beams as their load-bearing foundation, and the levitation operation of vehicles depends on the spatial stability of functional components. When the geometric state of functional surfaces changes, it is transmitted to the relative relationship between the vehicle and the track through the suspension gaps, thus affecting the smoothness of vehicle operation. Therefore, obtaining geometric deviations of functional surfaces based on image measurement data and generating inspection results that can be used for ride comfort evaluation has significant engineering application value.

[0003] Existing track vision inspection methods typically focus on image boundary extraction and measurement coordinate conversion. The inspection results are easily influenced by variations in the overall pose of the track beam, changes in the designed alignment, and variations in the position of component connections. For maglev tracks, functional surface measurement data needs to be correlated with mileage location, cross-sectional reference, and suspension gap direction to reflect geometric deviations related to vehicle levitation. If judgments are based solely on the direct difference between image measurement points and designed positions, structural displacements or changes in alignment reference can easily be included in smoothness anomalies, leading to inconsistencies between the inspection results and the actual functional surface condition. Summary of the Invention

[0004] The purpose of this invention is to provide a method for detecting the smoothness of maglev tracks based on track data, so as to solve the problems in the background art mentioned above.

[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a method for detecting the smoothness of maglev tracks based on track data, comprising: Obtain the track functional surface image with track beam mileage data, call up the corresponding mileage functional component section data containing the functional surface design location, and determine the functional surface measuring points; Based on the functional surface design location, the cross-sectional pose of the functional surface measuring point within the mileage section is obtained, and the overall displacement corresponding to the cross-sectional pose is deducted to form the first functional surface normal deviation. The cross-section design pose is determined by the line design alignment. The pose difference between the cross-section pose and the cross-section design pose is projected onto the suspension gap direction to form the cross-section alignment normal deviation. The cross-section alignment normal deviation and the first functional surface normal deviation are calculated according to the mileage coordinates to form the second functional surface normal deviation. For the track beam connection section, the cross-sectional pose of the section is calculated based on the cross-sectional pose of the continuous mileage outside the section. The functional surface design position after the cross-sectional pose of the section is applied is used as the reference to form the normal deviation of the functional surface of the connection section. The normal deviation of the functional surface of the connection section and the normal deviation of the second functional surface are calculated according to the mileage coordinates to generate the smoothness test result of the maglev track.

[0006] The technical effects and advantages provided by the present invention in the above technical solution are as follows: This invention associates track functional surface images with track beam mileage data with corresponding mileage functional component cross-sectional data. First, it calculates the cross-sectional pose based on the functional surface design position. Then, it subtracts the overall cross-sectional displacement to form a first functional surface normal deviation, and further combines this with the track design alignment to form a second functional surface normal deviation. This ensures that the geometric quantities corresponding to the image measurement points can be attributed to the suspension gap direction. For track beam connection sections, this invention calculates the cross-sectional pose within the section based on the cross-sectional pose of continuous mileage outside the section, and forms the connection section functional surface normal deviation based on the functional surface reference position within the section. This reduces the interference of structural connection on smoothness results and helps make the maglev track smoothness detection results more closely match the actual geometric state of the functional surfaces. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0008] Figure 1 This is a flowchart illustrating a method for detecting the smoothness of a maglev track based on track data, provided in an embodiment of the present invention. Detailed Implementation

[0009] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided to make the description of this application more complete and comprehensive, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative illustrations of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0010] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more exemplary embodiments. Numerous specific details are provided in the following description to give a full understanding of the exemplary embodiments disclosed in this application. However, those skilled in the art will recognize that the technical solutions disclosed in this application can be practiced with one or more specific details omitted, or other methods, components, steps, etc., can be employed. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the disclosure of this application.

[0011] Example 1 like Figure 1 As shown, this embodiment discloses a method for detecting the smoothness of a maglev track based on track data. This method is used to detect the geometric state of functional surfaces of functional components of a maglev track. Functional surfaces are structural surfaces that participate in forming the suspension gap during the maglev vehicle's levitation operation. Track functional surface images provide actual measurement information of the functional surfaces. Track beam mileage data is used to determine the mileage section corresponding to the track functional surface image. Functional component section data provides the functional surface design location, suspension gap direction, and component connection boundary. Track design alignment provides the section design pose at the corresponding mileage. After establishing a correspondence between the above data and track beam mileage, it is used to form the maglev track smoothness detection result. The method includes: S101: Obtain the track functional surface image with track beam mileage data, call the corresponding mileage functional component section data containing the functional surface design location, and determine the functional surface measuring points.

[0012] The inspection vehicle runs along the extension direction of the maglev track. A visual acquisition device is positioned on the inspection vehicle, facing the functional surfaces of the track. The visual acquisition device acquires images of the functional surfaces of the track during the movement of the inspection vehicle. A mileage acquisition device works synchronously with the visual acquisition device, acquiring track beam mileage data. Each frame of the track functional surface image is associated with a track beam mileage data point. The track beam mileage data is used to determine the mileage section to which the track functional surface image belongs. The mileage section is the inspection section at the corresponding mileage point used to express the geometric state of the functional component section.

[0013] After acquiring the track functional surface image with track beam mileage data, the corresponding mileage functional component section data is retrieved from the functional component section database based on the track beam mileage data. The functional component section database is pre-stored according to track beam mileage or track beam mileage intervals. The corresponding mileage functional component section data represents the design cross-sectional geometry of the functional component within that mileage section and provides a design benchmark for determining the functional surface measuring points.

[0014] The functional component cross-sectional data records the design location of the functional surface; each functional surface design location corresponds to a suspension gap direction; the component connection boundary is the design connection location of the functional component within the track beam connection section. The functional surface design location is the geometric reference of the functional surface of the functional component in the design state within the corresponding mileage section. The suspension gap direction is the unit direction pointing from the functional surface design location to the direction of change of the vehicle's suspension gap. The component connection boundary is used to define the design connection location of the functional component within the track beam connection section.

[0015] Based on the functional surface design positions in the cross-sectional data of the functional components, the corresponding image measurement area is determined in the track functional surface image. Specifically, according to the calibration parameters of the vision acquisition device, the functional surface design positions are projected onto the track functional surface image to obtain the corresponding image reference positions of the functional surfaces; then, based on the projection direction of the suspension gap direction in the track functional surface image, the image measurement area is formed with the image reference positions as a reference. The image measurement area is used to limit the extraction range of functional surface measurement points, ensuring that the source of measurement points in the track functional surface image corresponds to the functional surface design positions.

[0016] When determining the functional surface measurement point within the image measurement area, sampling lines are generated along the direction of the suspension gap within the image measurement area, and grayscale value sequences are read along the sampling lines. The first-order difference of the grayscale value sequence is calculated to form a first-order difference absolute value sequence. If multiple local peak positions of the first-order difference absolute value exist on the same sampling line, the distance between each local peak position and the image reference position along the sampling line direction is calculated, and the local peak position with the highest distance is determined as the image position of the functional surface measurement point. If no local peak position is formed on the same sampling line, the first-order difference absolute value sequence is sorted by value, and the position with the highest ranking and located within the image measurement area is determined as the image position of the functional surface measurement point. When multiple positions with the same highest ranking value exist, the position closest to the image reference position is selected as the image position of the functional surface measurement point.

[0017] For each functional surface design location within the same mileage section, corresponding functional surface measurement points are determined. These measurement points are the locations in the track functional surface image corresponding to the functional surface design location. A correspondence is established between the determined functional surface measurement points and the track beam mileage data, the functional surface design location, and the suspension clearance direction. The functional surface measurement points are determined after the image measurement area is defined by the functional surface design location, and then assigned to the corresponding mileage section according to the track beam mileage data. This process brings the track functional surface image, track beam mileage data, and functional component section data into the same calculation chain, reducing the correspondence error between the image measurement location and the functional component section reference.

[0018] After the above processing, the functional surface measurement points, the designed positions of the functional surfaces, and the direction of the suspension gap within the corresponding mileage section are obtained. The functional surface measurement points are then used in the section pose determination process. The designed positions of the functional surfaces serve as the geometric references for the section. The direction of the suspension gap is used as the normal projection direction.

[0019] S102: Based on the functional surface design position, calculate the cross-sectional pose of the functional surface measuring point within the mileage section, deduct the overall displacement corresponding to the cross-sectional pose, and form the first functional surface normal deviation.

[0020] The offset of the functional surface measuring points relative to the functional surface design position includes both the overall positional change of the mileage section and the geometric deviation of the functional surface itself. If the offset of the functional surface measuring points relative to the functional surface design position is directly taken as the functional surface deviation, the overall translation and attitude change of the track beam section will be included in the functional surface deviation. Therefore, the cross-sectional pose of the functional surface measuring points within the mileage section is first calculated based on the functional surface design position, and then the overall displacement corresponding to the cross-sectional pose is subtracted to form the first functional surface normal deviation. This process can separate the influence of the overall cross-sectional pose from the residual functional surface normal deviation.

[0021] Specifically, the process of determining the sectional pose of the functional surface measuring points within the mileage section includes the following steps.

[0022] Based on the track beam mileage data, establish a cross-sectional coordinate system for the corresponding mileage section, and convert the functional surface measuring points into measuring point cross-sectional coordinates.

[0023] The mileage section corresponding to the functional surface image of the track is determined based on the track beam mileage data. A section coordinate system is established based on the corresponding mileage section. The origin of the section coordinate system is determined by the section reference position in the functional component section data. The coordinate direction of the section coordinate system is determined by the track beam section direction at the corresponding mileage. The plane containing the corresponding mileage section is determined by the design section center position determined by the track beam mileage data in the track design alignment and the section normal corresponding to the functional component section data. Thus, the functional surface measurement points have a clear geometric reference when transformed from image coordinates to section coordinates.

[0024] The calibration parameters of the visual acquisition device include intrinsic parameter matrix, extrinsic parameter matrix, and distortion parameters. First, the image positions of the functional surface measurement points are corrected for distortion based on the distortion parameters. Then, the corrected image positions are converted into normalized image points based on the intrinsic parameter matrix. Combined with the extrinsic parameter matrix, a measurement ray is generated pointing from the optical center of the visual acquisition device to the functional surface measurement point. This measurement ray intersects the plane containing the corresponding mileage section, and the intersection point is projected onto the section coordinate system to form the section coordinates of the measurement point. The coordinates of the measuring points of each functional surface measuring point are as follows: After all functional surface measuring points within the same mileage section are transformed, a set of measuring point section coordinates is formed.

[0025] The coordinates of the measuring point section are used to represent the measured position of the functional surface measuring point within the corresponding mileage section. These coordinates are obtained from the functional surface measuring point in the track functional surface image through the calibration parameters of the vision acquisition device and the geometric relationship of the mileage section. The coordinates of the measuring point section are then used in the subsequent pose transformation parameter calculation process.

[0026] The functional surface design position is converted into design section coordinates, and the pose transformation parameters are obtained using the sum of the squares of the distances between the measuring point section coordinates and the design section coordinates as constraints.

[0027] The functional surface design positions in the functional component cross-section data are transformed to the same cross-section coordinate system to form the design cross-section coordinates. The coordinates of the design section at each functional surface design location are as follows: The design section coordinates represent the geometric position of the corresponding functional surface within the corresponding mileage section under design conditions. The measurement point section coordinates represent the measurement position of the corresponding functional surface within the corresponding mileage section under actual measurement conditions. When both are located in the same section coordinate system, they are used to calculate the overall pose change of the mileage section.

[0028] Within the same mileage section, each functional surface measuring point involved in determining the pose transformation parameters must correspond to at least two functional surface design positions, and these two design positions must not coincide in the section coordinate system. This condition ensures that the attitude transformation matrix and the section translation vector have explicit geometric constraints. Using the sum of the squares of the distances between the measuring point section coordinates and the design section coordinates as constraints, the pose transformation parameters that make the overall design section coordinates correspond to the measuring point section coordinates are determined.

[0029] The pose transformation parameters are determined by the attitude transformation matrix and the cross-section translation vector. The cross-section pose is jointly characterized by the functional surface design position after the attitude transformation matrix is ​​applied and the cross-section translation vector. The attitude transformation matrix is ​​used to characterize the attitude change of the mileage section relative to the functional component cross-section data. The cross-section translation vector is used to characterize the position change of the mileage section relative to the functional component cross-section data. The above pose transformation parameters are used to reflect the overall positional state presented by multiple functional surface measuring points within the same mileage section. Obtaining the cross-section pose jointly by multiple functional surface measuring points can reduce the influence of local geometric deviations of a single functional surface on the overall pose determination of the cross-section, allowing the subsequent first functional surface normal deviation to more concentratedly characterize the local normal residual of the functional surface.

[0030] By applying the pose transformation parameters to the design section coordinates, the sectional pose of the functional surface measuring points within the mileage section is obtained.

[0031] The pose transformation parameters are applied to the design section coordinates, converting them into the measured positions within the corresponding mileage section. The design section coordinates after the attitude transformation matrix and the section translation vector together characterize the section pose. The section pose represents the overall section state of the functional surface measuring points relative to the functional surface design position within the same mileage section. This section pose is then incorporated into the subsequent overall displacement calculation process.

[0032] The pose transformation parameters satisfy: ; And the attitude transformation matrix satisfies: ; In the formula, For the first Coordinates of the measuring points of each functional surface; For the first Design section coordinates for each functional surface design location; This is the attitude transformation matrix; The translation vector of the cross section; It is the identity matrix; This refers to the number of functional surface measuring points within the same mileage section.

[0033] Based on the above constraints, the attitude transformation matrix Limited to rigid body attitude transformation, cross-section translation vector This method is used to characterize the translational changes of rigid bodies. The cross-sectional pose obtained in this way can represent the overall pose change of the track beam cross-section, rather than directly treating this overall pose change as a local deviation of the functional surface. This process helps to separate the influence of the overall pose of the track beam cross-section from the functional surface measurement data.

[0034] Specifically, the deduction of the overall displacement corresponding to the cross-sectional pose to form the normal deviation of the first functional surface includes the following process.

[0035] Apply the cross-sectional pose to the functional surface design position and calculate the overall displacement of the functional surface design position in the direction of the suspension gap.

[0036] The cross-sectional pose is applied to the functional surface design position to obtain the functional surface position after the cross-sectional pose is applied. This position represents the position that the functional surface design position should reach under the influence of the overall pose change of the mileage cross-section. The position difference between the functional surface position after the cross-sectional pose is applied and the functional surface design position is calculated, and this position difference is projected onto the suspension gap direction to obtain the overall displacement. The overall displacement is the displacement component in the suspension gap direction after the cross-sectional pose is applied to the functional surface design position. The overall displacement represents the normal component caused by the overall pose change of the mileage cross-section. This component is not a local geometric deviation of the functional surface itself. After subtracting the overall displacement from the normal displacement of the functional surface measuring point relative to the functional surface design position, the normal residual amount corresponding to the geometric state of the functional surface can be retained.

[0037] The first functional surface normal deviation is formed by subtracting the overall displacement from the normal displacement of the functional surface measuring point relative to the functional surface design position.

[0038] Calculate the normal displacement of the functional surface measuring point relative to the functional surface design position. This normal displacement is the projection of the positional difference between the functional surface measuring point and the functional surface design position onto the suspension gap direction. Subtract the overall displacement from the normal displacement to form the first functional surface normal deviation. The first functional surface normal deviation is the remaining normal displacement of the functional surface measuring point after deducting the overall displacement. The first functional surface normal deviation is used for subsequent calculations with the cross-sectional line normal deviation.

[0039] The normal deviation of the first functional surface satisfies: ; In the formula, For the first The first functional surface normal deviation of each functional surface measuring point; For the first Coordinates of the measuring points of each functional surface; For the first Design section coordinates for each functional surface design location; This is the attitude transformation matrix in the cross-sectional pose; The translation vector of the cross section in the cross section pose; For the first The unit vector of the suspension gap direction corresponding to the design position of each functional surface.

[0040] In the above formula, This represents the normal displacement of the measuring point on the functional surface relative to the design position of the functional surface. This represents the overall displacement corresponding to the cross-sectional pose. The difference between the two is the normal deviation of the first functional surface. The inputs to this calculation process are the coordinates of the measuring point cross-section, the coordinates of the designed cross-section, the attitude transformation matrix, the cross-section translation vector, and the unit vector of the suspension gap direction. The output is the normal deviation of the first functional surface.

[0041] After the above processing, the first functional surface normal deviation of each functional surface measuring point within the corresponding mileage section is obtained, and the section pose is preserved. The first functional surface normal deviation is used for subsequent calculations with the section linear normal deviation. The section pose is used for subsequent comparison with the section design pose. The aforementioned functional surface measuring points, functional surface design positions, and suspension gap directions all participate in the formation process of the first functional surface normal deviation, and the obtained first functional surface normal deviation and section pose can serve as explicit inputs for subsequent processing.

[0042] S103: The cross-section design pose is determined by the line design alignment. The pose difference between the cross-section pose and the cross-section design pose is projected onto the suspension gap direction to form the cross-section alignment normal deviation. The cross-section alignment normal deviation and the first functional surface normal deviation are calculated according to the mileage coordinates to form the second functional surface normal deviation.

[0043] The track design alignment represents the geometric extension of the track beam along the mileage direction under design conditions. The track beam has corresponding design positions and design directions at different mileages. The first functional surface normal deviation has already deducted the overall pose influence of the mileage section and is used to characterize the normal residual of the functional surface relative to the section pose. To ensure that the detection results simultaneously reflect the section offset corresponding to the track design alignment, a section alignment normal deviation is further formed based on the pose difference between the section pose and the design pose of the section. The section alignment normal deviation and the first functional surface normal deviation are then calculated according to the mileage coordinates to form the second functional surface normal deviation. This processing avoids repeated deduction of the displacement corresponding to the section pose and retains the normal deviation components related to the track alignment.

[0044] Specifically, the pose difference between the cross-section pose and the cross-section design pose is projected onto the suspension gap direction to form the cross-section linear normal deviation, and the cross-section linear normal deviation and the first functional surface normal deviation are calculated according to the mileage coordinates to form the second functional surface normal deviation, including the following process.

[0045] Based on the track beam mileage data, the cross-sectional design pose of the corresponding mileage is determined in the line design alignment, and the positional difference between the cross-sectional pose and the cross-sectional design pose at the functional surface measuring point is calculated.

[0046] Based on the track beam mileage data, the center position of the design section at the corresponding mileage is determined in the track design alignment. The center position of the design section is the theoretical section position corresponding to that mileage in the track design alignment. The longitudinal direction of the section at the corresponding mileage is determined based on the track tangent at the center position of the design section, and the transverse direction of the design section is determined based on the transverse reference of the section in the functional component section data. The vertical direction of the design section is determined based on the cross product of the longitudinal and transverse directions of the section. The design orientation of the section is determined by the center position, longitudinal direction, transverse direction, and vertical direction of the design section.

[0047] The cross-section design pose and the aforementioned cross-section pose are under the same coordinate reference. The cross-section pose represents the overall state of the measured cross-section obtained from the functional surface measuring points. The cross-section design pose represents the overall state of the theoretical cross-section determined by the line design alignment. Comparing the cross-section pose and the cross-section design pose yields the pose difference between the cross-section pose and the cross-section design pose. Applying this pose difference to the corresponding position of the functional surface measuring point, the position difference generated by the pose difference at the functional surface measuring point is calculated. The positional difference at each functional surface measuring point is denoted as . This positional difference represents the change in position of the cross-section pose relative to the cross-section design pose at the corresponding functional surface measuring point.

[0048] Through the above processing, the line design alignment is first converted into the cross-sectional design pose, and then compared with the cross-sectional pose obtained from the functional surface measurement points. This processing enables the line design alignment, cross-sectional pose, and functional surface measurement points to enter the same geometric calculation link, reducing the confusion between the attribution of line design changes and the local normal residuals of the functional surfaces.

[0049] Projecting the position difference onto the direction of the suspension gap creates a normal deviation in the cross-sectional shape.

[0050] The first Position difference at each functional surface measuring point Project onto the corresponding suspension gap direction. The suspension gap direction is determined by the unit direction corresponding to the functional surface design position in the functional component cross-sectional data. The unit vector of the suspension gap direction corresponding to the design position of each functional surface is denoted as: .calculate The projection of the pose difference along the suspension gap direction is obtained, and this projection is used as the cross-sectional normal deviation. The cross-sectional normal deviation represents the influence of the difference between the cross-sectional pose and the designed cross-sectional pose on the functional surface measuring points along the suspension gap direction.

[0051] The cross-sectional normal deviation is added to the first functional surface normal deviation according to the corresponding mileage to form the second functional surface normal deviation.

[0052] The cross-sectional alignment normal deviation corresponding to the same mileage and the same functional surface measurement point is added to the first functional surface normal deviation to form the second functional surface normal deviation. The first functional surface normal deviation characterizes the local normal residual of the functional surface relative to the measured cross-sectional pose, while the cross-sectional alignment normal deviation characterizes the normal difference between the measured cross-sectional pose and the designed cross-sectional pose. After adding the two at corresponding mileages, the second functional surface normal deviation can characterize the normal deviation of the functional surface relative to the designed line alignment.

[0053] The normal deviation of the second functional surface satisfies: ; In the formula, For the first The second functional surface normal deviation of each functional surface measuring point; For the first The first functional surface normal deviation of each functional surface measuring point; The pose of the cross section relative to the cross section is designed in the first step. Positional differences generated at each functional surface measuring point; For the first The unit vector of the suspension gap direction corresponding to the design position of each functional surface.

[0054] In the above formula, The normal deviation of the cross-sectional profile is the first functional surface normal deviation. The second functional surface normal deviation is formed by adding the first functional surface normal deviation to the cross-sectional profile normal deviation. The second functional surface normal deviation is used to characterize the normal deviation of the functional surface relative to the designed alignment of the line.

[0055] After the above processing, the second functional surface normal deviation of each functional surface measuring point within the corresponding mileage section is obtained. The second functional surface normal deviation serves as the basis for calculating the functional surface deviation of non-connecting sections, and is subsequently calculated along with the functional surface normal deviation of connecting sections using mileage coordinates. This processing clarifies the source of deviation in non-connecting sections and improves the geometric orientation of the maglev track smoothness test results.

[0056] S104: For the track beam connection section, calculate the cross-sectional pose of the section based on the cross-sectional pose of the continuous mileage outside the section, and take the functional surface design position after the cross-sectional pose of the section is applied as the reference to form the normal deviation of the functional surface of the connection section. Calculate the normal deviation of the functional surface of the connection section and the normal deviation of the second functional surface according to the mileage coordinates to generate the smoothness test result of the maglev track.

[0057] There are component splicing boundaries within the track beam connection section. These splicing boundaries may appear as positional changes in the track functional surface image. These changes include structural displacements caused by component splicing, and may also include geometric deviations of the functional surface itself. For the track beam connection section, the cross-sectional poses of the continuous mileage outside the section are used to estimate the cross-sectional poses within the section. The designed position of the functional surface after the cross-sectional poses within the section are then used as the reference position for the functional surface of the connection section, forming the normal deviation of the functional surface of the connection section. This process uses the functional surface reference position as a reference to avoid repeatedly deducting splicing displacements under the same reference.

[0058] Specifically, the process of calculating the cross-sectional pose within a section based on the cross-sectional pose of continuous mileage outside the section includes the following steps.

[0059] Extract the cross-sectional pose of continuous mileage outside the track beam connection section, and decompose the cross-sectional pose into pose scalar components.

[0060] The track beam connection section is determined based on the track beam mileage data. The range of the track beam connection section is determined by the starting and ending mileages corresponding to the component connection boundaries in the functional component cross-section data. The continuous mileage outside the track beam connection section is the continuous detection mileage immediately outside the starting mileage and immediately outside the ending mileage. The cross-sectional poses of the continuous mileage positions on both sides of the track beam connection section are extracted. The cross-sectional poses are derived from the cross-sectional poses obtained above based on the functional surface design position.

[0061] The cross-sectional pose is decomposed into pose scalar components. These scalar components represent single numerical components in the cross-sectional pose that continuously change along the mileage direction. The pose scalar components include components of the cross-sectional translation vector and attitude parameter components corresponding to the attitude transformation. Each pose scalar component is associated with its corresponding mileage. By decomposing the cross-sectional pose into pose scalar components, component-by-component calculations of cross-sectional pose changes over continuous mileage outside a segment are possible, avoiding unclear interpolation of the overall pose containing the attitude matrix.

[0062] The pose of the cross section within the section is calculated based on the rate of change of the pose scalar components of the continuous mileage outside the section along the mileage direction.

[0063] Extract the continuous mileage positions on one side of the track beam connection section respectively The pose scalar components at the location, and the continuous mileage position on the other side of the track beam connection section. The pose scalar components at a given location. For any mileage within the track beam connection section. The pose scalar component at a given mileage is calculated based on the rate of change of the pose scalar component between consecutive mileage positions on both sides. After the multiple pose scalar components are calculated, they are combined to form the cross-sectional pose within the segment.

[0064] Among them, the first in the cross-sectional pose within the segment Each pose scalar component satisfies: ; In the formula, For mileage The first section of the cross-sectional pose Individual pose scalar components; This refers to the continuous mileage position on one side of the track beam connection section; This refers to the continuous mileage positions on the other side of the track beam connection section; For mileage The first section pose Individual pose scalar components; For mileage The first section pose Each pose scalar component.

[0065] The above formula is used to calculate the cross-sectional pose within the track beam connection section based on the cross-sectional pose of the continuous mileage outside the connection section. Since the calculation process is based on the measured cross-sectional pose of the continuous mileage outside the section, the cross-sectional pose within the section can reflect the continuity of the cross-sectional pose of the track beams on both sides of the connection section and provide a benchmark for the formation of the normal deviation of the functional surface of the connection section.

[0066] Specifically, the cross-sectional pose within the segment is used to form the normal deviation of the functional surface of the connecting segment, including the following process.

[0067] Apply the cross-sectional pose within the section to the functional surface design position to form the reference position of the functional surface of the connecting section.

[0068] By applying the cross-sectional pose within the segment to the designed position of the functional surface, the reference position of the functional surface of the connecting segment is obtained. The reference position of the functional surface of the connecting segment represents the reference position corresponding to the designed position of the functional surface under the action of the cross-sectional pose within the segment. This reference position is used to calculate the normal displacement of the measuring points of the functional surface within the connecting segment.

[0069] Calculate the normal displacement of the measuring points on the functional surface within the connecting section relative to the reference position of the functional surface in the connecting section.

[0070] Calculate the positional difference between the functional surface measuring point within the connecting section and the reference position of the functional surface within the connecting section, and project this positional difference onto the direction of the suspension gap to form a normal displacement. This normal displacement represents the normal deviation of the functional surface measuring point within the connecting section relative to the reference position of the functional surface within the connecting section.

[0071] The normal displacement is defined as the normal deviation of the functional surface of the connecting section.

[0072] The normal displacement of the functional surface measuring points within the connecting section relative to the reference position of the functional surface within the connecting section is defined as the normal deviation of the functional surface within the connecting section. The normal deviation of the functional surface within the connecting section is used to characterize the geometric deviation of the functional surface within the connecting section, based on the designed position of the functional surface after the action of the cross-sectional pose within the section.

[0073] Among them, the normal deviation of the functional surface of the connecting section satisfies: ; In the formula, For mileage First Normal deviation of the functional surface of the connecting section corresponding to each functional surface measuring point; For mileage First Functional surface measurement points within each connecting section; For mileage First Reference positions of functional surfaces of each connecting section; For the first The unit vector of the suspension gap direction corresponding to the design position of each functional surface.

[0074] After the functional surface normal deviation of the connecting section is formed, the functional surface normal deviation of the connecting section and the normal deviation of the second functional surface are calculated according to the mileage coordinates. The normal deviation of the second functional surface corresponds to the functional surface normal deviation of the non-connecting section of the track beam. The normal deviation of the functional surface of the connecting section corresponds to the functional surface normal deviation within the connecting section of the track beam. Based on the track beam mileage data, the two are assigned to the same mileage coordinates to form functional surface deviation data arranged along the track beam mileage. The smoothness test results of the maglev track include functional surface deviation data arranged according to the track beam mileage. The functional surface deviation data is used to characterize the geometric state of the functional surface along the suspension gap direction.

[0075] For example, for a line segment including a track beam connection section, the cross-sectional pose is obtained at continuous mileage locations outside the connection section, and the cross-sectional pose within the connection section is calculated from this pose. Subsequently, the functional surface design position after the cross-sectional pose within the section is used as the reference position for the functional surface of the connection section, and the normal displacement of the functional surface measurement points within the connection section relative to this reference position is calculated. This normal displacement, as the normal deviation of the functional surface of the connection section, is in the same physical direction and under the same mileage coordinates as the normal deviation of the second functional surface of the non-connection section, and can be used together to generate the smoothness test results of the maglev track.

[0076] As shown in the above processing, the track functional surface image provides functional surface measurement points, the track beam mileage data provides mileage section positioning, the functional component section data provides the functional surface design position, suspension gap direction, and component connection boundary, and the track design alignment provides the section design pose. Each data source corresponds to a clearly defined calculation purpose. The method first forms the first functional surface normal deviation, then forms the section alignment normal deviation, and calculates the second functional surface normal deviation from the first functional surface normal deviation and the section alignment normal deviation; for the track beam connection section, the functional surface design position after the section pose is applied is used as the reference to form the connection section functional surface normal deviation. Through the above processing, the maglev track smoothness detection results can characterize the geometric state of the functional surface along the suspension gap direction.

[0077] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for detecting the smoothness of a maglev track based on track data, characterized in that, include: Obtain the track functional surface image with track beam mileage data, call up the corresponding mileage functional component section data containing the functional surface design location, and determine the functional surface measuring points; Based on the functional surface design location, the cross-sectional pose of the functional surface measuring point within the mileage section is obtained, and the overall displacement corresponding to the cross-sectional pose is deducted to form the first functional surface normal deviation. The cross-section design pose is determined by the line design alignment. The pose difference between the cross-section pose and the cross-section design pose is projected onto the suspension gap direction to form the cross-section alignment normal deviation. The cross-section alignment normal deviation and the first functional surface normal deviation are calculated according to the mileage coordinates to form the second functional surface normal deviation. For the track beam connection section, the cross-sectional pose of the section is calculated based on the cross-sectional pose of the continuous mileage outside the section. The functional surface design position after the cross-sectional pose of the section is applied is used as the reference to form the normal deviation of the functional surface of the connection section. The normal deviation of the functional surface of the connection section and the normal deviation of the second functional surface are calculated according to the mileage coordinates to generate the smoothness test result of the maglev track.

2. The method according to claim 1, characterized in that, The cross-sectional data of the functional components record the design position of the functional surface; each functional surface design position corresponds to a suspension gap direction; the component connection boundary is the design connection position of the functional components within the track beam connection section.

3. The method according to claim 1, characterized in that, The determination of the sectional pose of the functional surface measuring points within the mileage section includes: Establish a cross-sectional coordinate system for the corresponding mileage section based on the track beam mileage data, and convert the functional surface measuring points into measuring point cross-sectional coordinates; The functional surface design position is converted into design section coordinates, and the pose transformation parameters are obtained by using the sum of the squares of the distances between the measuring point section coordinates and the design section coordinates as constraints. Apply the pose transformation parameters to the design section coordinates to obtain the section pose of the functional surface measuring points within the mileage section; The pose transformation parameters satisfy: And the attitude transformation matrix satisfies: In the formula, For the first Coordinates of the measuring points of each functional surface; For the first Design section coordinates for each functional surface design location; This is the attitude transformation matrix; The translation vector of the cross section; It is the identity matrix; This refers to the number of functional surface measuring points within the same mileage section.

4. The method according to claim 3, characterized in that, The pose transformation parameters are determined by the pose transformation matrix and the cross-section translation vector. The cross-section pose is characterized by the functional surface design position after the action of the pose transformation matrix and the cross-section translation vector.

5. The method according to claim 1, characterized in that, The overall displacement corresponding to the deduction section pose forms the first functional surface normal deviation, including: Apply the cross-sectional pose to the functional surface design position and calculate the overall displacement of the functional surface design position in the direction of the suspension gap. The first functional surface normal deviation is formed by subtracting the overall displacement from the normal displacement of the functional surface measuring point relative to the functional surface design position; The normal deviation of the first functional surface satisfies: In the formula, For the first The first functional surface normal deviation of each functional surface measuring point; For the first Coordinates of the measuring points of each functional surface; For the first Design section coordinates for each functional surface design location; This is the attitude transformation matrix in the cross-sectional pose; The translation vector of the cross section in the cross section pose; For the first The unit vector of the suspension gap direction corresponding to the design position of each functional surface.

6. The method according to claim 5, characterized in that, The overall displacement is the displacement component in the direction of the suspension gap after the cross-sectional pose is applied to the functional surface design position, and the first functional surface normal deviation is the normal remaining amount after deducting the overall displacement from the functional surface measuring point.

7. The method according to claim 1, characterized in that, The process of projecting the pose difference between the cross-sectional pose and the designed cross-sectional pose onto the suspension gap direction to form the cross-sectional linear normal deviation, and calculating the cross-sectional linear normal deviation and the first functional surface normal deviation according to mileage coordinates to form the second functional surface normal deviation, includes: Based on the track beam mileage data, the cross-sectional design pose of the corresponding mileage is determined in the line design alignment, and the positional difference between the cross-sectional pose and the cross-sectional design pose at the functional surface measuring point is calculated. Projecting the position difference onto the direction of the suspension gap creates a normal deviation in the cross-sectional shape. The cross-sectional normal deviation and the first functional surface normal deviation are added together according to the corresponding mileage to form the second functional surface normal deviation; The normal deviation of the second functional surface satisfies: In the formula, For the first The second functional surface normal deviation of each functional surface measuring point; For the first The first functional surface normal deviation of each functional surface measuring point; The pose of the cross section is designed relative to the cross section in the first step. Positional differences generated at each functional surface measuring point; For the first The unit vector of the suspension gap direction corresponding to the design position of each functional surface.

8. The method according to claim 1, characterized in that, The calculation of the section pose within the section based on the section pose of continuous mileage outside the section includes: Extract the cross-sectional pose of the continuous mileage outside the track beam connection section, and decompose the cross-sectional pose into pose scalar components; The pose of the cross section within the section is calculated based on the rate of change of the pose scalar components of the continuous mileage outside the section along the mileage direction. Among them, the first in the cross-sectional pose within the segment Each pose scalar component satisfies: In the formula, For mileage The first section of the cross-sectional pose Individual pose scalar components; This refers to the continuous mileage position on one side of the track beam connection section; This refers to the continuous mileage positions on the other side of the track beam connection section; For mileage The first section pose Individual pose scalar components; For mileage The first section pose Individual pose scalar components.

9. The method according to claim 8, characterized in that, The cross-sectional pose within the segment is used to form the normal deviation of the functional surface of the connecting segment, including: Apply the cross-sectional pose within the section to the functional surface design position to form the reference position of the functional surface of the connecting section. Calculate the normal displacement of the measuring points on the functional surface within the connecting section relative to the reference position of the functional surface in the connecting section; The normal displacement is defined as the normal deviation of the functional surface of the connecting section; Among them, the normal deviation of the functional surface of the connecting section satisfies: In the formula, For mileage First Normal deviation of the functional surface of the connecting section corresponding to each functional surface measuring point; For mileage First Functional surface measurement points within each connecting section; For mileage First Reference positions of functional surfaces of each connecting section; For the first The unit vector of the suspension gap direction corresponding to the design position of each functional surface.

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