A track detection device for a patrol robot

Abstract

The present application relates to the technical field of railway surveying instrument detection, and provides a track detection device for a patrol robot, which comprises an integrated frame, an upper and lower marble table assembly, a rotary lifting mechanism and a control board module, a data acquisition module acquires dynamic characteristics of a motion process in real time, an inertial overshoot analysis module determines whether there is inertial overshoot based on inertial overshoot characteristics, and an overshoot control module determines to increase a low-speed positioning section and reduce the speed of the low-speed positioning section in the presence of an inertial overshoot state, and an overshoot control verification optimization module evaluates the control effect through overshoot recovery characteristics and reduces the deceleration speed of a deceleration section or advances the starting position of the deceleration section in the presence of a substandard state. The present application solves the technical problems of low positioning accuracy and long stable waiting time caused by overshoot oscillation when a large inertia load is lifted and stopped.

Description

Technical Field

[0001] This invention relates to the field of railway measuring instrument testing technology, and in particular to a track testing device for inspection robots. Background Technology

[0002] Track inspection robots are core measuring devices for ensuring the smoothness of railway tracks, and the accuracy of their superelevation and track alignment parameters directly affects train operation safety. In existing track inspection robot devices, some units use a precision lifting mechanism to tilt the lower marble platform assembly to simulate track superelevation or track alignment conditions. However, the lower and upper marble platform assemblies of such devices have a large overall mass. When the lifting mechanism lifts and stops this large inertial load, the platform cannot immediately come to a stop at the target position due to inertia, inevitably resulting in overshoot oscillations of varying degrees.

[0003] Traditional solutions rely on operators to manually control the lifting and lowering. Although some automatic control schemes use conventional PID algorithms, they still suffer from problems such as large overshoot and long settling time when faced with complex characteristics such as large inertia, nonlinear friction and transmission clearance.

[0004] Therefore, there is an urgent need for a control system that can adaptively suppress overshoot during lifting and lowering of large inertial loads in order to improve the automation and accuracy of the inspection device for track inspection robots.

[0005] Chinese patent CN121573031A discloses a high-speed railway intelligent track inspection machine that integrates an intelligent composite cleaning component and an active anti-tipping mechanism. It can physically clean the track surface before inspection and monitor the equipment's operating posture in real time through tilt sensors and a pneumatically driven anti-tipping mechanism, improving the stability of track geometric data acquisition. This machine also uses the track itself as the inspection object to collect geometric parameters such as track deformation and gauge.

[0006] However, the aforementioned intelligent track inspection machine for high-speed railways has the following problems: This solution fails to address the overshoot oscillation issue caused by the large inertial load during lifting and stopping of the detection device when simulating superelevation or high-low conditions on the track. It lacks control over the lifting and positioning accuracy, resulting in large lifting and positioning errors and long stabilization waiting time. Summary of the Invention

[0007] Therefore, this invention provides a track detection device for inspection robots. This overcomes the problems of existing technologies, such as fragmented detection platform functions, the need for manual equipment handling, and low positioning accuracy and long stabilization time due to overshoot oscillations when lifting and stopping under large inertial loads.

[0008] To achieve the above objectives, the present invention provides a track detection device for an inspection robot, comprising: Integrated frame; The rotating lifting mechanism includes an upper marble platform assembly, a lower marble platform assembly, and a precision lifting assembly disposed on the upper part of the integrated frame. The electrical control box contains an industrial computer and a control board for controlling the operation of the track detection device. The control board integrates: The data acquisition module is used to acquire the dynamic operating characteristics of the rotary lifting mechanism in real time during the load operation process; The inertial overshoot analysis module is used to determine the inertial overshoot of the rotary lifting mechanism during its operation based on the first residual oscillation peak sequence in the vertical direction and the first instantaneous reverse swing angle peak sequence in the horizontal direction when the rotary lifting mechanism is at rest. The overshoot control module is used to determine the first direction of change of the process peak value and the second direction of change of the number of oscillations based on the overshoot peak value and the number of oscillations of the rotary lifting mechanism under stable conditions after one lifting or rotating action, so as to determine the speed of increasing the low-speed positioning segment and decreasing the speed of the low-speed positioning segment. The overshoot control verification and optimization module is used to determine the control effect of the dynamic control strategy based on the second residual oscillation peak sequence and the second instantaneous reverse swing angle peak sequence of the rotary lifting mechanism under the condition of executing the control strategy, and to reduce the deceleration speed of the deceleration segment or advance the starting position of the deceleration segment when the effect is not up to standard.

[0009] Furthermore, the marble platform assembly includes a marble platform, a displacement calibration unit disposed on the upper part of the marble platform for calibrating the displacement of the track detection device, an inclination height calibration unit disposed on one side of the integrated frame for calibrating the inclination height of the track detection device, and a metal positioning plate disposed at the bottom of the marble platform for limiting the rotation position of the marble platform. The lower marble platform assembly includes a cross-shaped marble platform, an electric rotary support bearing disposed in the middle of the cross-shaped marble platform for driving the upper marble platform assembly to rotate, a contact positioning sensor and an electromagnet disposed on the upper part of the cross-shaped marble platform for positioning and locking the upper marble platform assembly, a lifting support shaft disposed at the bottom of the cross-shaped marble platform for providing vertical support force for the upper and lower marble platform assemblies, and a rotary support shaft disposed at the bottom of the cross-shaped marble platform for forming stable support with the integrated frame.

[0010] Furthermore, the precision lifting assembly includes a base plate disposed at the bottom of the integrated frame, a support unit disposed on the upper part of the base plate for supporting the load, and a drive unit disposed on the upper part of the base plate and cooperating with the support unit to provide driving force.

[0011] Furthermore, the inertial overshoot analysis module includes, An inertial overshoot characteristic determination unit is used to determine a first monotonic variation trend of the vertical peak sequence based on the first residual oscillation peak sequence, and to determine a second monotonic variation trend of the horizontal peak sequence based on the first instantaneous reverse swing angle peak sequence, wherein... The first residual oscillation peak sequence is determined based on the peak values ​​of each oscillation cycle continuously collected from the stopping time, and is used to determine the rate of energy dissipation of the rotary lifting mechanism in the vertical direction. The first instantaneous reverse swing angle peak sequence is determined based on the reverse swing angle peak values ​​of each oscillation cycle continuously collected starting from the stopping time, and is used to determine the rate of decay of the reverse swing of the rotary lifting mechanism in the horizontal direction.

[0012] Furthermore, the inertial overshoot analysis module also includes, An inertial overshoot determination unit is used to determine the inertial overshoot state of the rotary lifting mechanism during lifting or rotation based on the first monotonic change trend and the second monotonic change trend, wherein... The first inertial overshoot state is based on the fact that both the first monotonic change trend and the second monotonic change trend are decreasing, which determines that the energy dissipation of the rotary lifting mechanism in the instant of stillness is normal and there is no inertial overshoot. The second inertial overshoot state is determined based on the first monotonic change trend or the second monotonic change trend being non-decreasing, indicating that the energy dissipation of the rotary lifting mechanism is abnormal in the instant of rest, and that there is inertial overshoot.

[0013] Furthermore, the overshoot control module includes, The overshoot characteristic determination unit is used to determine the first direction of change of the process peak value and the second direction of change of the number of oscillations based on the overshoot peak value and the number of oscillations after the rotary lifting mechanism has completed and stabilized one lifting or rotating action. The overshoot peak value is determined based on the actual position value and the target position value after the rotary lifting mechanism stabilizes, and is used to determine the maximum distance between the actual position and the target position after the action stops. The number of oscillations is determined based on the number of times the height or angle value of the rotary lifting mechanism crosses the target value during the period from the stopping moment to the stabilizing moment, and is used to determine the damping characteristics and energy dissipation rate of the system near the target position.

[0014] Furthermore, the overshoot control module also includes, The control and determination unit is used to determine the speed of increasing the low-speed positioning segment and decreasing the speed of the low-speed positioning segment based on the first change direction and the second change direction.

[0015] Furthermore, the first direction of change is determined to be positive if the overshoot peak value of the current action is greater than the overshoot peak value of the previous action of the same type, otherwise it is negative. The second direction of change is determined by whether the number of oscillations in the previous action is greater than the number of oscillations in the previous action of the same type. If the direction of change is positive, it is negative.

[0016] Furthermore, the overshoot control verification and optimization module includes, The overshoot recovery feature determination unit is used to determine the third monotonic trend based on the second residual oscillation peak sequence of the rotary lifting mechanism under the condition of executing the control strategy, and to determine the fourth monotonic trend based on the second instantaneous reverse swing angle peak sequence. The control verification unit is used to determine that the control effect is not up to standard based on the existence of a non-decreasing trend in the third monotonic change trend or the fourth monotonic change trend.

[0017] Furthermore, the overshoot control verification and optimization module also includes, The optimization strategy determination unit is used to determine, based on the third monotonic change trend and the fourth monotonic change trend, the deceleration speed of the deceleration segment or the starting position of the deceleration segment is advanced. Compared with existing technologies, the advantages of this invention are as follows: This invention provides a stable bearing foundation through an integrated frame and a double-layer rotatable marble platform. It is equipped with a first grating ruler, a high-precision encoder, and standard cylindrical gauge blocks, forming a dual verification system of electronic measurement and physical reference, ensuring the initial accuracy and long-term stability of lifting and tilting. Based on this, the inherent clearance of the electric slewing bearing between the upper and lower marble platforms is utilized to transform the vertical stopping impact into a horizontal reverse swing of the upper marble platform. Peak values ​​from each oscillation cycle after stopping are collected to form a peak sequence in the vertical and horizontal directions. Inertial overshoot is determined based on the monotonicity of the sequence. When overshoot occurs, the change direction of the overshoot peak value and the number of oscillations relative to the previous action is used to select either increasing the low-speed positioning segment or decreasing the low-speed positioning speed for graded control. After control, the peak sequence is extracted again to determine the effect. If the target is not met, graded optimization is performed based on the number of dimensions with a non-decreasing trend. This effectively solves the problems of positioning deviation and excessively long waiting time caused by overshoot when lifting and stopping under large inertial loads.

[0018] Furthermore, this invention collects the peak values ​​of each oscillation cycle after the action stops, forming peak sequences in the vertical and horizontal directions. Based on the monotonicity of the sequences, it determines inertial overshoot. When the peak sequences in both directions show a decreasing trend, it indicates that the energy dissipation is normal and the system is stabilizing. When the peak value in either sequence is flat or increases, overshoot occurs. This invention can determine the inertial overshoot of the rotating lifting mechanism in a very short time after stopping, avoiding the accumulation of subsequent positioning deviations due to the failure to detect overshoot in time. This effectively improves the accuracy and response speed of the automated judgment of the detection device.

[0019] Furthermore, this invention directly quantifies the position deviation amplitude through the overshoot peak value, reflects the system damping characteristics through the number of oscillations, and selects a control strategy based on the changing direction of the overshoot peak value and the number of oscillations. When at least one changing direction is negative, a low-speed positioning segment is added and the speed is appropriately reduced to effectively reduce the overshoot peak value and the number of oscillations with minimal efficiency loss. When both changing directions are positive, the deceleration speed of the positioning stage is further reduced to fully consume inertial energy with a longer buffer distance, effectively suppressing overshoot and oscillation problems during load operation.

[0020] Furthermore, this invention determines whether the control effect meets the standard by comparing the monotonicity judgment results of the peak sequence output by the inertial overshoot analysis module before and after control. If the peak sequences in both directions show a decreasing trend after control, the control effect is determined to be satisfactory; otherwise, it is not satisfactory. If it is not satisfactory, it performs graded optimization by comparing the severity of the non-decreasing trend before and after control. If one monotonic trend is a non-decreasing trend, only the deceleration speed needs to be finely adjusted; if both are non-decreasing trends, the starting point of the low-speed segment is advanced, and the running speed of the rapid approach segment is reduced at the same time. By using a longer deceleration distance and full-range deceleration to forcibly consume inertial energy, the inertial energy accumulated in the rapid approach stage is avoided from acting on the deceleration segment and the low-speed positioning segment. This ensures that the overshoot peak value after each rise and fall is suppressed to a range that does not affect the detection accuracy, while significantly shortening the stabilization waiting time and significantly improving the positioning consistency and detection efficiency of the track inspection robot detection device. Attached Figure Description

[0021] Figure 1 This is an isometric schematic diagram of the double-layer rotatable device according to an embodiment of the present invention; Figure 2 This is an isometric schematic diagram of an integrated frame according to an embodiment of the present invention; Figure 3 This is an isometric schematic diagram of the marble platform component according to an embodiment of the present invention; Figure 4 This is an isometric schematic diagram of the marble platform component according to an embodiment of the present invention; Figure 5 This is an isometric schematic diagram of the precision lifting assembly according to an embodiment of the present invention; Figure 6This is a cross-sectional schematic diagram of the double-layer rotatable device according to an embodiment of the present invention; Figure 7 This is a top view schematic diagram of an embedded splicing and combination electrical control box according to an embodiment of the present invention; Figure 8 This is a block diagram showing the module connection of the track detection device of the present invention; Figure 9 This is a schematic diagram of the placement of the railway track inspection robot according to an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the working state of track gauge detection and superelevation detection according to an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating the working state of track alignment detection and elevation detection according to an embodiment of the present invention; In the diagram, 1 – Upper marble platform assembly; 2 – Lower marble platform assembly; 3 – Precision lifting assembly; 4 – Tilting height calibration unit; 5 – Integrated frame; 6 – Electrical control box; 7 – Long column; 8 – Short column; 9 – Perforated side panel; 10 – Crossbeam; 11 – Universal foot; 12 – Disc handwheel; 13 – First grating ruler; 14 – Sliding measuring head; 15 – Marble platform; 16 – Straightedge track; 17 – Electric translation stage; 18 – Metal positioning plate; 19 – Cross-shaped marble platform; 20 – Contact positioning sensor; 21 – Electromagnet; 22 – Electric slewing bearing; 23 – Lift mounting base plate; 24 – Horizontal load-bearing tray; 25 – Holding 26-Linear sliding bearing; 27-Double-link lifting machine; 28-First stepper motor; 29-Assembled housing; 30-Industrial control computer; 31-Control board; 32-Display screen; 33-Power module; 34-Terminal block; 35-Signal conditioning module; 36-Left side panel; 37-Right side panel; 38-Electrical control box bottom plate; 39-Top plate; 40-Back panel; 41-Front panel; 42-Cylindrical gauge block; 43-Tilting height measuring axis; 44-Lifting support axis; 45-Rotating support axis; 46-Second stepper motor; 47-Second grating ruler; 48-Precision guide rail slider; 49-L-shaped connecting plate; 50-Railway inspection robot. Detailed Implementation

[0022] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0023] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0024] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0025] Please see Figure 1 and Figure 2 As shown, Figure 1 This is an isometric schematic diagram of the double-layer rotatable device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an integrated frame isometric projection according to an embodiment of the present invention. The track detection device according to an embodiment of the present invention includes: The integrated frame 5 is used to support the track inspection robot 50.

[0026] In this embodiment, the integrated frame 5 is integrally formed by welding one long column 7, three short columns 8, two hollow side plates 9 and five crossbeams 10. The bottom surfaces of the long column 7 and the three short columns 8 together form the four horizontal support points of the frame. Each horizontal support point is equipped with an adjustable height universal foot 11. A disc handwheel 12 is welded to the universal foot 11. The long column 7 is welded to the left side of the frame, and a first grating ruler 13 is fixedly installed on its vertical side. The sliding measuring head 14 of the first grating ruler 13 is mechanically connected to the tilt height measuring shaft 43 fixed on the bottom surface of the left side of the lower marble table assembly 2, and can slide vertically to provide real-time feedback on the height sequence of the left side of the lower marble table.

[0027] Please see Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, Figure 3 This is an isometric schematic diagram of the marble platform component according to an embodiment of the present invention. Figure 4 This is an isometric schematic diagram of the marble countertop assembly according to an embodiment of the present invention. Figure 5 This is an isometric schematic diagram of a precision lifting assembly. Figure 6 This is a cross-sectional schematic diagram of the double-layer rotatable device according to an embodiment of the present invention. In this embodiment of the present invention, the rotating lifting mechanism includes an upper marble platform assembly 1, a lower marble platform assembly 2, and a precision lifting assembly 3 disposed on the upper part of the integrated frame 5.

[0028] In this embodiment, the marble platform assembly 1 includes a marble platform 15, a displacement calibration unit disposed on the upper part of the marble platform 15 for calibrating the displacement of the track detection device, an inclination height calibration unit 4 disposed on one side of the integrated frame 5 for calibrating the inclination height of the track detection device, and two metal positioning plates 18 disposed at the bottom of the marble platform 15 for limiting the rotation position of the marble platform.

[0029] In this embodiment, the lower marble platform assembly 2 includes a cross-shaped marble platform 19, an electric rotary support bearing 22 disposed in the middle of the lower marble platform assembly 2 for driving the upper marble platform assembly 1 to rotate, two contact positioning sensors 20 and two electromagnets 21 disposed on the upper part of the lower marble platform assembly 2 for positioning and locking the upper marble platform assembly 1 at 0° and 90° positions, a lifting support shaft 44 disposed at the bottom of the cross-shaped marble platform 19 for providing vertical support force for the upper marble platform assembly 1 and the lower marble platform assembly 2, and a rotary support shaft 45 disposed at the bottom of the lower marble platform assembly 2 for forming a stable rotary support with the integrated frame 5.

[0030] In this embodiment, the precision lifting assembly 3 includes a lifting platform mounting base plate 23 disposed at the bottom of the integrated frame 5, a support unit disposed on the upper part of the lifting platform mounting base plate 23 for supporting the lifting platform, and a drive unit disposed on the upper part of the lifting platform mounting base plate 23 in cooperation with the support unit for providing driving force.

[0031] The displacement calibration unit includes a straight track 16, an electric translation stage 17, a precision guide rail slider 48, an L-shaped connecting plate 49, a second stepper motor 46, and a second grating ruler 47. The straight track 16 is set parallel to both sides of the marble platform 15. The right side is a fixed reference track, and the left side is fixedly connected to the table surface of the electric translation stage 17 through the L-shaped connecting plate 49. The top height is kept consistent, and the parallel interval distance can be steplessly adjusted within the range of 1385mm to 1485mm to adapt to various standard and non-standard track gauge simulation requirements. The electric translation stage 17 is located below the left side of the marble platform 15. It has a built-in second stepper motor 46 and a second grating ruler 47 to provide power to the left side straight track 16 and to provide real-time feedback on the displacement. The precision guide rail slider 48 is located on the upper and lower edges of the left side of the marble platform 15 and is connected to the left side straight rail 16. It can slide laterally along the short side of the platform. The L-shaped connecting plate 49 is located in the middle of the left-side straight track 16.

[0032] The tilt height calibration unit 4 includes a set of cylindrical gauge blocks 42 with different precise standard lengths and a tilt height measuring axis 43, which are set on the left side of the integrated frame 5, as a physical reference for the tilt height of the lower marble platform assembly 2. The cylindrical gauge block 42 is made of metrologically calibrated high-carbon chromium bearing steel, and the standard lengths include ten specifications: 5mm, 10mm, 15mm, 20mm, 30mm, 50mm, 80mm, 100mm, 120mm and 150mm. The tilt height measuring axis 43 overlaps the top plane of the cylindrical gauge block 42.

[0033] The support unit includes four retaining rods 25 mounted on the upper part of the elevator mounting base plate 23, and a horizontal load-bearing tray 24 mounted on the upper part of the four retaining rods 25. The horizontal load-bearing tray 24 overlaps with the lifting support shaft 44. The drive unit includes linear sliding bearings 26 located at the four corners of the horizontal weighing pallet 24 and fitted onto the retaining rod frame 25, a double-bar lift 27 located on the upper part of the lift mounting base plate 23, and a first stepper motor 28 that is connected to the input shaft of the double-bar lift 27 to drive the double-bar lift 27 to rotate and lift, thereby causing the horizontal weighing pallet 24 to slide up and down under the guidance of the retaining rod frame 25.

[0034] Please see Figure 7 and Figure 8 As shown, Figure 7 This is a top view of the electrical control box according to an embodiment of the present invention. Figure 8 The diagram shows the module connection of the track detection device according to an embodiment of the present invention. In this embodiment, the electrical control box 6 is located on the right side of the integrated frame 5 and includes a splicing shell 29, an industrial computer 30, a control board 31, a display screen 32, a power module 33, a terminal block 34, and a signal conditioning module 35, which are used to control the operation process of the track detection device.

[0035] In this embodiment, the splicing housing 29 is spliced ​​together by a left side plate 36, a right side plate 37, an electrical control box bottom plate 38, a top plate 39, a back plate 40, and a front panel 41. The back plate 40 and the side plates of the splicing housing 29 are provided with mounting holes for cable connectors to pass through. In this embodiment, the control board 31 communicates with the industrial computer 30 via an industrial bus and integrates a digital input / output module, an analog input module, and a stepper motor drive module. It is connected via shielded cables to the first stepper motor 28, the second stepper motor 46, the electric slewing bearing 22, the electric translation stage 17, the electromagnet 21, the contact positioning sensor 20, the first grating ruler 13, the second grating ruler 47, and a high-precision encoder, respectively, for receiving sensor signals and issuing control commands. The display screen 32 is embedded on the outside of the door of the splicing housing 29 and is a touch screen. The screen, connected to the industrial computer 30 via a video interface and a USB interface, is used for parameter setting, status display, and manual operation. The power module 33 has an input end connected to an external AC power supply and an output end providing the necessary operating power to the industrial computer 30, control board 31, stepper motor, electromagnet 21, and various sensors. The terminal block 34 is used to collect and distribute all power and signal cables within the device. The signal conditioning module 35 is used to isolate, amplify, and filter the feedback signals from the contact positioning sensor 20, the first grating ruler 13, the second grating ruler 47, and the high-precision encoder 22. In this embodiment, the control board 31 also integrates a data acquisition module, which is used to acquire the dynamic operating characteristics of the rotary lifting mechanism during the load operation process in real time. The dynamic operation features include the real-time feedback of the left side height sequence of the lower marble platform from the first grating ruler, the real-time feedback of the horizontal rotation angle sequence of the upper marble platform from the high-precision encoder, the time when the stop command is issued, and the target height or target angle. The inertial overshoot analysis module, which is connected to the data acquisition module, is used to determine the inertial overshoot of the rotary lifting mechanism during its operation based on the first residual oscillation peak sequence in the vertical direction and the first instantaneous reverse swing angle peak sequence in the horizontal direction when the rotary lifting mechanism is at rest. The overshoot control module is connected to the data acquisition module and the inertial overshoot analysis module respectively. It is used to determine the first change direction of the process peak value and the second change direction of the number of oscillations based on the overshoot peak value and the number of oscillations of the rotary lifting mechanism under the stable condition of completing one lifting or rotating action, so as to determine whether to increase or decrease the speed of the low-speed positioning segment. The overshoot control verification and optimization module is connected to the data acquisition module and the overshoot control module respectively. It is used to determine the control effect of the dynamic control strategy based on the second residual oscillation peak sequence and the second instantaneous reverse swing angle peak sequence of the rotary lifting mechanism under the condition of executing the control strategy, and to reduce the deceleration speed of the deceleration segment or advance the starting position of the deceleration segment.

[0036] Specifically, this invention provides a stable load-bearing foundation through an integrated frame and a double-layer rotatable marble platform. It is equipped with a first grating ruler, a high-precision encoder, and standard cylindrical gauge blocks, forming a dual verification system of electronic measurement and physical reference to ensure the initial accuracy and long-term stability of lifting and tilting. Based on this, the inherent clearance of the electric slewing bearing between the upper and lower marble platforms is utilized to transform the vertical stopping impact into a horizontal reverse swing of the upper marble platform. Peak values ​​from each oscillation cycle after stopping are collected to form a peak sequence in both the vertical and horizontal directions. Inertial overshoot is determined based on the monotonicity of the sequence. When overshoot occurs, the change direction of the overshoot peak value and the number of oscillations relative to the previous action is used to select either increasing or decreasing the low-speed positioning segment for graded control. After control, the peak sequence is extracted again to determine the effect. If the target is not met, graded optimization is performed based on the number of dimensions with a non-decreasing trend. This effectively solves the problems of positioning deviation and excessive waiting time caused by overshoot when lifting and stopping under large inertial loads.

[0037] In this embodiment, the inertial overshoot analysis module includes, An inertial overshoot characteristic determination unit, connected to a data acquisition module, is used to determine the first monotonic change trend of the vertical peak sequence based on the first residual oscillation peak sequence in the vertical direction when the rotary lifting mechanism is at rest, and to determine the second monotonic change trend of the horizontal peak sequence based on the first instantaneous reverse swing angle peak sequence in the horizontal direction.

[0038] The first residual oscillation peak sequence is determined based on the peak values ​​of each oscillation cycle continuously collected from the stopping time. It is used to determine the rate of energy dissipation of the rotary lifting mechanism in the vertical direction. The peak values ​​in this sequence decrease sequentially, indicating normal energy dissipation. The first instantaneous reverse swing angle peak sequence is determined based on the reverse swing angle peak values ​​of each oscillation cycle continuously collected from the stopping moment. It is used to determine the rate of decay of the reverse swing of the rotary lifting mechanism in the horizontal direction. The peak values ​​in this sequence decrease sequentially, and the reverse swing tends to converge.

[0039] An inertial overshoot determination unit, connected to an inertial overshoot characteristic determination unit, is used to determine the inertial overshoot state of the rotary lifting mechanism during lifting or rotation based on a first monotonic change trend and a second monotonic change trend. If the first inertial overshoot state is based on the fact that both the first monotonic change trend and the second monotonic change trend are decreasing, then it is determined that the energy dissipation of the rotary lifting mechanism in the instant of rest is normal and there is no inertial overshoot. If the second inertial overshoot state is based on the first monotonic change trend or the second monotonic change trend being non-decreasing, then it is determined that the energy dissipation of the rotary lifting mechanism is abnormal in the instant of rest, and inertial overshoot exists.

[0040] Specifically, this invention collects the peak values ​​of each oscillation cycle after the action stops, forming peak sequences in the vertical and horizontal directions. Based on the monotonicity of the sequences, it determines inertial overshoot. When the peak sequences in both directions show a decreasing trend, it indicates that the energy dissipation is normal and the system is stabilizing. When the peak value in either sequence is flat or increases, overshoot occurs. This invention can determine the inertial overshoot of the rotating lifting mechanism in a very short time after stopping, avoiding the accumulation of subsequent positioning deviations due to the failure to detect overshoot in time, and effectively improving the accuracy and response speed of the automated judgment of the detection device.

[0041] In this embodiment, the first residual oscillation peak sequence is formed by identifying the peak values ​​of each oscillation period of the feedback quantity relative to the target value, starting from the stopping time, and arranging them in chronological order. In the lifting action, the feedback quantity is the height value, and in the rotation action, the feedback quantity is the angle value.

[0042] In this embodiment, the first instantaneous reverse swing angle peak sequence is formed by identifying the maximum value of the reverse swing angle in each oscillation cycle, starting from the stopping time, and arranging them in chronological order.

[0043] In this embodiment, the monotonic trend is determined by comparing the size relationship of adjacent peaks in the peak sequence in chronological order. If the subsequent peak in each adjacent pair is smaller than the previous peak, the sequence is determined to be a decreasing trend; otherwise, it is a non-decreasing trend.

[0044] In this embodiment, the oscillation period is the interval between two adjacent extreme points in the same direction in the oscillation waveform of the feedback quantity relative to the target height or target angle, and each oscillation period contains a peak value.

[0045] In this embodiment, the overshoot control module includes, The overshoot characteristic determination unit, which is connected to the inertial overshoot determination unit, is used to determine the first change direction of the process peak value and the second change direction of the number of oscillations based on the overshoot peak value and the number of oscillations after the rotary lifting mechanism has completed and stabilized a lifting or rotating action.

[0046] The overshoot peak value is determined based on the absolute difference between the actual position value of the rotary lifting mechanism after stabilization and the target height or target angle. It is used to determine the maximum distance that the actual position deviates from the target position after the action stops. For the lifting and lowering action, the actual position value is the height of the lower marble platform.

[0047] For rotational motion, the actual position value is the angle value of the marble platform.

[0048] The number of oscillations is determined based on the number of times the height or angle value of the rotary lifting mechanism crosses the target height or target angle during the period from the stopping moment to the stabilizing moment. It is used to determine the damping characteristics and energy dissipation rate of the system near the target position.

[0049] The control determination unit, connected to the overshoot characteristic determination unit, is used to determine the control strategy for a single lifting or rotating process of the rotary lifting mechanism based on the first and second change directions. The first control strategy, based on the first or second direction of change being negative, determines to add a low-speed positioning segment to the rapid approach and deceleration segments of a single lifting or rotating motion of the rotary lifting mechanism. This is done by slowing down the feed speed so that the platform releases some inertial energy before stopping, thereby reducing overshoot peaks and the number of oscillations.

[0050] The second control strategy is based on the fact that both the first and second change directions are positive. It determines to reduce the deceleration speed of the low-speed positioning segment in order to fully consume inertial energy through a lower positioning speed and suppress overshoot peaks and oscillations.

[0051] Specifically, this invention directly quantifies the position deviation amplitude through the overshoot peak value, reflects the system damping characteristics through the number of oscillations, and selects a control strategy based on the changing direction of the overshoot peak value and the number of oscillations. When at least one changing direction is negative, a low-speed positioning segment is added and the speed is appropriately reduced to effectively reduce the overshoot peak value and the number of oscillations with minimal efficiency loss. When both changing directions are positive, the deceleration speed of the positioning stage is further reduced to fully consume inertial energy with a longer buffer distance, effectively suppressing overshoot and oscillation problems during load operation.

[0052] In this embodiment, the first direction of change is determined by comparing the overshoot peak value of the current action with the overshoot peak value of the previous action of the same type. If the current value is greater than the previous value, the direction of change is positive; otherwise, it is negative.

[0053] In this embodiment, the second direction of change is determined by comparing the number of oscillations of the current action with the number of oscillations of the previous action of the same type. If the current value is greater than the previous value, the direction of change is positive; otherwise, it is negative.

[0054] In this embodiment, if the current action is the first action after the device is calibrated and there is no previous action data of the same type for comparison, then both the first change direction and the second change direction are defaulted to negative changes, and the first control strategy is executed.

[0055] In this embodiment, the overshoot control verification and optimization module includes, The overshoot recovery feature determination unit, which is connected to the overshoot control module and the inertial overshoot analysis module, is used to determine the third monotonic change trend based on the vertical peak sequence of the rotary lifting mechanism in the next action after the overshoot control module has executed the control strategy, and to determine the fourth monotonic change trend based on the horizontal peak sequence.

[0056] The vertical peak sequence is the second residual oscillation peak sequence in the vertical direction of the rotary lifting mechanism at the instant of rest. The horizontal peak sequence is the second instantaneous reverse swing angle peak sequence in the horizontal direction of the rotary lifting mechanism at a moment of rest.

[0057] The control verification unit, which is connected to the overshoot recovery characteristic determination unit, is used to determine whether the control effect is not up to standard based on the existence of a non-decreasing trend in the third monotonic trend or the fourth monotonic trend; otherwise, the control effect is up to standard.

[0058] The optimization strategy determination unit, connected to the control verification unit, is used to determine the optimization strategy for the upward or rotational movement of the rotary lifting mechanism based on the third and fourth monotonic trends. The first optimization strategy is based on the fact that only one of the third or fourth monotonic trends is a non-decreasing trend. It determines to reduce the deceleration speed of the deceleration segment during a single lifting motion, so as to slow down the feed speed before entering the low-speed positioning segment and reduce the inertial energy of entering the low-speed positioning segment.

[0059] The second optimization strategy, based on the fact that both the third and fourth monotonic trends are non-decreasing trends, determines the starting point of the low-speed segment in advance and simultaneously reduces the operating speed of the rapid approach segment. This is done by forcibly consuming inertial energy through a longer deceleration distance and a deceleration throughout the entire process, thus preventing the inertial energy accumulated in the rapid approach phase from acting on the deceleration segment and the low-speed positioning segment.

[0060] Specifically, this invention determines whether the control effect meets the standard by comparing the monotonicity judgment results of the peak sequence output by the inertial overshoot analysis module before and after control. If the peak sequences in both directions show a decreasing trend after control, the control effect is considered to meet the standard; otherwise, it does not meet the standard. If it does not meet the standard, it performs graded optimization by comparing the severity of the non-decreasing trend before and after control. If one monotonic trend is a non-decreasing trend, only the deceleration speed needs to be finely adjusted; if both are non-decreasing trends, the starting point of the low-speed segment is advanced, and the running speed of the rapid approach segment is reduced at the same time. By using a longer deceleration distance and full-range deceleration to forcibly consume inertial energy, the inertial energy accumulated in the rapid approach stage is avoided from acting on the deceleration segment and the low-speed positioning segment. This ensures that the overshoot peak value after each rise and fall is suppressed to a range that does not affect the detection accuracy, while significantly shortening the stabilization waiting time and significantly improving the positioning consistency and detection efficiency of the track inspection robot detection device.

[0061] In this embodiment, the determination method of the second residual oscillation peak sequence and the second instantaneous reverse swing angle peak sequence is the same as the determination method of the first residual oscillation peak sequence and the first instantaneous reverse swing angle peak sequence.

[0062] In this embodiment, the methods for determining the third and fourth monotonic trends are the same as those for determining the first and second monotonic trends.

[0063] Please see Figure 9 , Figure 10 and Figure 11 As shown, Figure 9 This is a schematic diagram of the placement of the railway track inspection robot according to an embodiment of the present invention. Figure 10 This is a schematic diagram illustrating the working state of track gauge detection and superelevation detection according to an embodiment of the present invention. Figure 11 This is a schematic diagram illustrating the working state of track alignment detection and elevation detection according to an embodiment of the present invention. The detection method of the track detection device in this embodiment includes: Device calibration and track inspection robot in place Adjust the omnidirectional feet to level the frame, and use the touchscreen to calibrate the displacement calibration component and precision lifting mechanism to the zero position; place the track inspection robot on the flat track of the marble platform component.

[0064] Track gauge inspection Input the target track gauge value, the electric translation stage moves the left straightedge track to the corresponding position, reads the track gauge detection value, and calculates the difference between the value and the target value to obtain the error.

[0065] Ultra-high detection The target over-height value is input, and the precision lifting mechanism drives the marble platform to tilt to the corresponding height. During the lifting process, the data acquisition module, inertial overshoot analysis module, overshoot control module, and overshoot control verification and optimization module suppress overshoot in real time to ensure positioning accuracy. The over-height detection value is read and the error is calculated. After detection, the lifting mechanism resets.

[0066] Track orientation detection Input the target trajectory value, rotate the marble platform horizontally to the corresponding angle, read the trajectory detection value and calculate the error.

[0067] High and low detection The marble platform is rotated 90° horizontally to switch operating modes. The target elevation and elevation values ​​are input, and the precision lifting mechanism tilts again. The elevation and elevation detection values ​​are read and the error is calculated. After the inspection, all components are reset, and the track inspection robot is removed.

[0068] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A track detection device for a patrol robot, characterized by, include: Integrated frame; The rotating lifting mechanism includes an upper marble platform assembly, a lower marble platform assembly, and a precision lifting assembly disposed on the upper part of the integrated frame. The electrical control box contains an industrial computer and a control board for controlling the operation of the track detection device. The control board integrates: The data acquisition module is used to acquire the dynamic operating characteristics of the rotary lifting mechanism in real time during the load operation process; The inertial overshoot analysis module is used to determine the inertial overshoot of the rotary lifting mechanism during its operation based on the first residual oscillation peak sequence in the vertical direction and the first instantaneous reverse swing angle peak sequence in the horizontal direction when the rotary lifting mechanism is at rest. The overshoot control module is used to determine the first direction of change of the process peak value and the second direction of change of the number of oscillations based on the overshoot peak value and the number of oscillations of the rotary lifting mechanism under stable conditions after one lifting or rotating action, so as to determine the speed of increasing the low-speed positioning segment and decreasing the speed of the low-speed positioning segment. The overshoot control verification and optimization module is used to determine the control effect of the dynamic control strategy based on the second residual oscillation peak sequence and the second instantaneous reverse swing angle peak sequence of the rotary lifting mechanism under the condition of executing the control strategy, and to reduce the deceleration speed of the deceleration segment or advance the starting position of the deceleration segment when the effect is not up to standard.

2. The track detection device for an inspection robot according to claim 1, characterized in that, The marble platform assembly includes a marble platform, a displacement calibration unit disposed on the upper part of the marble platform for calibrating the displacement of the track detection device, an tilt height calibration unit disposed on one side of the integrated frame for calibrating the tilt height of the track detection device, and a metal positioning plate disposed at the bottom of the marble platform for limiting the rotation position of the marble platform. The lower marble platform assembly includes a cross-shaped marble platform, an electric rotary support bearing disposed in the middle of the cross-shaped marble platform for driving the upper marble platform assembly to rotate, a contact positioning sensor and an electromagnet disposed on the upper part of the cross-shaped marble platform for positioning and locking the upper marble platform assembly, a lifting support shaft disposed at the bottom of the cross-shaped marble platform for providing vertical support force for the upper and lower marble platform assemblies, and a rotary support shaft disposed at the bottom of the cross-shaped marble platform for forming stable support with the integrated frame.

3. The track detection device for an inspection robot according to claim 2, characterized in that, The precision lifting assembly includes a base plate disposed at the bottom of the integrated frame, a support unit disposed on the upper part of the base plate for supporting the structure, and a drive unit disposed on the upper part of the base plate in cooperation with the support unit for providing driving force.

4. The track detection device for an inspection robot according to claim 3, characterized in that, The inertial overshoot analysis module includes, An inertial overshoot characteristic determination unit is used to determine a first monotonic variation trend of the vertical peak sequence based on the first residual oscillation peak sequence, and to determine a second monotonic variation trend of the horizontal peak sequence based on the first instantaneous reverse swing angle peak sequence, wherein... The first residual oscillation peak sequence is determined based on the peak values ​​of each oscillation cycle continuously collected from the stopping time, and is used to determine the rate of energy dissipation of the rotary lifting mechanism in the vertical direction. The first instantaneous reverse swing angle peak sequence is determined based on the reverse swing angle peak values ​​of each oscillation cycle continuously collected starting from the stopping time, and is used to determine the rate of decay of the reverse swing of the rotary lifting mechanism in the horizontal direction.

5. The track detection device for an inspection robot according to claim 4, characterized in that, The inertial overshoot analysis module also includes, An inertial overshoot determination unit is used to determine the inertial overshoot state of the rotary lifting mechanism during lifting or rotation based on the first monotonic change trend and the second monotonic change trend, wherein... The first inertial overshoot state is based on the fact that both the first monotonic change trend and the second monotonic change trend are decreasing, which determines that the energy dissipation of the rotary lifting mechanism in the instant of stillness is normal and there is no inertial overshoot. The second inertial overshoot state is determined based on the first monotonic change trend or the second monotonic change trend being non-decreasing, indicating that the energy dissipation of the rotary lifting mechanism is abnormal in the instant of rest, and that there is inertial overshoot.

6. The track detection device for an inspection robot according to claim 5, characterized in that, The overshoot control module includes, The overshoot characteristic determination unit is used to determine the first direction of change of the process peak value and the second direction of change of the number of oscillations based on the overshoot peak value and the number of oscillations after the rotary lifting mechanism has completed and stabilized one lifting or rotating action. The overshoot peak value is determined based on the actual position value and the target position value after the rotary lifting mechanism stabilizes, and is used to determine the maximum distance between the actual position and the target position after the action stops. The number of oscillations is determined based on the number of times the height or angle value of the rotary lifting mechanism crosses the target value during the period from the stopping moment to the stabilizing moment, and is used to determine the damping characteristics and energy dissipation rate of the system near the target position.

7. The track detection device for an inspection robot according to claim 6, characterized in that, The overshoot control module also includes, The control and determination unit is used to determine the speed of increasing the low-speed positioning segment and decreasing the speed of the low-speed positioning segment based on the first change direction and the second change direction.

8. The track detection device for an inspection robot according to claim 7, characterized in that, The first direction of change is determined as a positive change if the overshoot peak value of the current action is greater than the overshoot peak value of the previous action of the same type; otherwise, it is a negative change. The second direction of change is determined by whether the number of oscillations in the previous action is greater than the number of oscillations in the previous action of the same type. If the direction of change is positive, it is negative.

9. The track detection device for an inspection robot according to claim 8, characterized in that, The overshoot control verification and optimization module includes, The overshoot recovery feature determination unit is used to determine the third monotonic change trend based on the second residual oscillation peak sequence of the rotary lifting mechanism under the condition of executing the control strategy, and to determine the fourth monotonic change trend based on the second instantaneous reverse swing angle peak sequence. The control verification unit is used to determine that the control effect is not up to standard based on the existence of a non-decreasing trend in the third monotonic change trend or the fourth monotonic change trend.

10. The track detection device for an inspection robot according to claim 9, characterized in that, The overshoot control verification and optimization module also includes, The optimization strategy determination unit is used to determine, based on the third monotonic change trend and the fourth monotonic change trend, the deceleration speed of the deceleration segment or the starting position of the deceleration segment is advanced.

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