Track geometric parameter measurement system based on three-point laser collimation model

Abstract

A track geometric parameter measuring system based on a three-point laser collimation model comprises a transmitting vehicle (1), a 1 # receiving vehicle (2) and a 2 # receiving vehicle (3), the transmitting vehicle (1), the 1 # receiving vehicle (2) and the 2 # receiving vehicle (3) all adopt T-shaped vehicle frames, a laser transmitter is installed on the transmitting vehicle (1), laser receivers are installed on the 1 # receiving vehicle (2) and the 2 # receiving vehicle (3), the 1 # receiving vehicle (2) and the 2 # receiving vehicle (3) automatically follow the transmitting vehicle (1) to walk, and the transmitting vehicle (1) is provided with a laser receiver. And the transmitting vehicle (1) communicates with the 1 # receiving vehicle (2) and the 2 # receiving vehicle (3) in a wireless mode. Precise positioning and automatic following functions of the frame are achieved through the high-precision positioning technology and the frame walking automatic control technology, measurement errors caused by mileage errors are reduced, meanwhile, the complexity of manual operation is reduced, the track detection precision is improved through the digital and intelligent fine adjustment technical scheme, and the production efficiency is improved. And medium-long wave irregularity of the circuit is eliminated.

Description

Technical Field

[0001] The utility model relates to the technical field of track measurement, and in particular to a track geometric parameter measurement system based on a three-point laser alignment model. Background Art

[0002] At present, the front-end deviation measurement device of the domestic tamping vehicle mainly adopts the measurement principle of laser alignment, which mainly includes one-dimensional laser alignment system, two-dimensional laser alignment system and curved laser alignment system, which can solve the long-wave unevenness of the line through laser strings on straight lines and curves. However, the traditional laser alignment system adopts the "one receive and one send" mode. When the length of the laser string is long, errors will occur due to laser jitter, and there is a deviation between the absolute position of the laser emission point and the laser receiving point provided by the manual measurement method. The mode of guiding the tamping vehicle to perform absolute construction has the disadvantages of low efficiency and high cost.

[0003] At present, the measurement of ballasted track of high-speed railways has gradually shifted from relative measurement to absolute measurement. The common method adopted abroad is to establish a fixed point reference system by installing track reference points to achieve absolute measurement of the track. my country's high-speed railways and passenger dedicated lines have established a precision control network based on the CPIII coordinate system, and some lines have established a side pile control network to achieve absolute positioning of the track line. The absolute measurement method mainly relies on the total station with a prism to carry out absolute measurement of the track line and guide manual treatment of track line defects, but its measurement efficiency is only 300 meters / window point (4 hours), which cannot meet the efficiency requirements of tamping operations, seriously restricting the daily maintenance efficiency of railway lines, and causing certain impacts on the normal operation and maintenance of high-speed railways. In addition, some conventional lines do not have a track control network and cannot use this solution for measurement.

[0004] Therefore, on the basis of the existing laser alignment system, it is urgent to carry out research on orbital geometric parameter measurement technology based on the three-point laser alignment principle. Utility Model Content

[0005] In order to solve the defects in the prior art, the utility model provides a track geometry parameter measurement system based on a three-point laser alignment model. The utility model adopts advanced three-point photoelectric measurement technology to solve the problem of zero-point drift of long-distance laser long chords, and realizes the functions of real-time measurement of internal track geometry parameters such as track height and track direction and medium- and long-wave chord smoothness detection, which meets the application conditions in the turnout area, realizes the precise positioning and automatic following functions of the frame through high-precision positioning technology and frame running automatic control technology, reduces the measurement error caused by mileage error, and reduces the complexity of manual operation at the same time, and improves the track detection accuracy through digital and intelligent fine-tuning technical solutions, and eliminates the medium- and long-wave unevenness of the line.

[0006] To achieve the above-mentioned purpose, the utility model provides a track geometry parameter measurement system based on a three-point laser alignment model, including a transmitting vehicle, a 1# receiving vehicle and a 2# receiving vehicle. The transmitting vehicle, the 1# receiving vehicle and the 2# receiving vehicle all adopt a T-shaped frame. A laser transmitter is installed on the transmitting vehicle, and a laser receiver is installed on the 1# receiving vehicle and the 2# receiving vehicle. The 1# receiving vehicle and the 2# receiving vehicle automatically follow the transmitting vehicle, and the transmitting vehicle communicates with the 1# receiving vehicle and the 2# receiving vehicle through a wireless mode.

[0007] Preferably, the transmitting vehicle is also provided with a locking device and a dedicated computer; the 1# receiving vehicle and the 2# receiving vehicle are also both provided with a Wifi module, a hub motor and a locking device.

[0008] In any of the above schemes, preferably, the dedicated computer of the transmitting vehicle transmits data with the 1# receiving vehicle and the 2# receiving vehicle through the Wifi module, and sends a braking command to the 1# receiving vehicle and the 2# receiving vehicle to brake the wheel hub motor.

[0009] In any of the above solutions, preferably, after the No. 1 receiving vehicle and the No. 2 receiving vehicle stop, their locking devices are automatically locked and measurement begins, and the laser receiver transmits the measurement data back to the software of the dedicated computer.

[0010] In any of the above schemes, it is preferred that the transmitting vehicle, the 1# receiving vehicle and the 2# receiving vehicle have the functions of mileage measurement, inclination measurement and mechanism tensioning.

[0011] In any of the above schemes, it is preferred that the laser beam emitted by the laser transmitter of the transmitting vehicle simultaneously irradiates the laser receivers of the 1# receiving vehicle and the 2# receiving vehicle.

[0012] In any of the above schemes, it is preferred that two running wheels are set on both sides of the longitudinal beam of the T-shaped frame of the 1# receiving car and the 2# receiving car, which are driven by hub motors, and an mileage measuring wheel is installed under the frame on one side of the running wheel, and a pulse encoder is used to measure the mileage of the 1# receiving car and the 2# receiving car.

[0013] In any of the above schemes, it is preferred that after the launch vehicle moves, the 1# receiving vehicle and the 2# receiving vehicle automatically follow the movement according to the measured chord length set in the dedicated computer of the launch vehicle.

[0014] In any of the above schemes, it is preferred that the transmitting vehicle, No. 1 receiving vehicle and No. 2 receiving vehicle adopt a multi-speed running mode, and a high-speed running distance threshold is set in a dedicated computer.

[0015] In any of the above schemes, it is preferred that the system uses a laser long chord to detect medium and long wave irregularities of 30m chord and 60m chord of the track; uses high-precision GPS and high-precision odometer to achieve T-type frame positioning, and the laser receiver uses a high-speed image sensor.

[0016] This utility model adopts a long laser chord, and on the basis of the smoothness index of 10m chord and 20m chord, adopts a direct measurement method to detect the medium and long wave unevenness of the 30m chord and 60m chord of the track. On the basis of the traditional laser trolley "transmitter-receiver", it is proposed to adopt the "transmitter-receiver-receiver" "one launch and two receive" mode to construct a three-point laser alignment model.

[0017] Beneficial effects of the utility model:

[0018] 1. The utility model adopts advanced three-point photoelectric measurement technology to solve the problem of zero-point drift of long-distance laser long chords, realizes the function of real-time measurement of internal track geometric parameters such as track height and track direction and detection of medium and long wave chord smoothness, meets the application conditions of turnout areas, realizes precise positioning and automatic following functions of the frame through high-precision positioning technology and frame running automatic control technology, reduces the measurement error caused by mileage error, and reduces the complexity of manual operation. Through digital and intelligent fine-tuning technical solutions, the track detection accuracy is improved and the medium and long wave unevenness of the line is eliminated.

[0019] 2. Based on the three-point laser alignment measurement model, combined with the sensor data such as gauge, superelevation, odometer, etc., after importing the design line data, the track direction, height, superelevation (horizontal), gauge, distortion, gauge change rate and other smoothness indicators are measured. The laser receiver uses a high-speed image sensor to increase the measurement speed, eliminate the influence of stray light such as background light on the laser beam, and improve the measurement accuracy and response speed; build a three-point laser alignment detection model for small radius curves, adjust the frame mechanical structure and internal parameters, and meet the measurement needs of small radius curves.

[0020] 3. Use high-precision GPS and high-precision odometer to achieve precise positioning of the frame, and use the frame motor automatic control technology to achieve automatic frame following function, while realizing the mileage automatic correction function, reducing the measurement error caused by mileage error, while reducing the complexity of manual operation, and realizing the simplification and intelligence of track detection.

[0021] 4. Through the analysis of the turnout type and structure, combined with the characteristics of the three-point laser alignment model, the mechanical structure and related parameters of the transmitting and receiving vehicles are adjusted to meet the applicability of the turnout area. A turnout area smoothness analysis model is constructed to truly meet the smoothness detection of the turnout area.

[0022] 5. Realize the function of medium and long wave smoothness detection. According to the selected smoothness index, write software to optimize the line deviation, ensure that the adjustment is based on the original deviation, automatically correct the line unevenness according to the "peak clipping" or "valley filling" adjustment method, standardize the adjustable range, add adjacent deviation difference constraints, further improve the "broken bend" phenomenon of the remaining deviation, and obtain the tamping vehicle starting and shifting operation volume that meets the line smoothness requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a track geometric parameter measurement system based on a three-point laser alignment model according to the utility model;

[0024] Figure 2 It is a schematic diagram of a transmitting vehicle and a receiving vehicle of a track geometry parameter measurement system based on a three-point laser alignment model according to the utility model;

[0025] Figure 3 It is a schematic diagram of the functional modules of the transmitting vehicle and the receiving vehicle of the track geometry parameter measurement system based on the three-point laser alignment model according to the utility model;

[0026] Figure 4 The schematic diagram of the running wheels of the transmitting vehicle and the receiving vehicle;

[0027] Figure 5 It is a schematic diagram of a three-point chord after adding laser disturbance during measurement by a track geometric parameter measurement system based on a three-point laser alignment model according to the utility model;

[0028] Figure 6 This is the self-propelled control flow chart of the receiving vehicle. DETAILED DESCRIPTION

[0029] The technical solution of the present application will be described in detail below in conjunction with the drawings and specific implementation methods of the present application. However, the following embodiments are only for understanding the present utility model. The embodiments and features in the embodiments of the present application can be combined with each other. The present application can be implemented in a variety of different ways as defined and covered by the claims.

[0030] See also Figure 1-4 , adopting the laser long-chord technology solution, on the basis of the traditional laser vehicle "transmitter vehicle-receiver vehicle", a "one-transmitter-two-receiver" mode of "transmitter vehicle-receiver vehicle-receiver vehicle" is proposed, forming a track geometry parameter measurement system based on the three-point laser alignment model, including transmitter vehicle 1, 1# receiving vehicle 2 and 2# receiving vehicle 3. Transmitter vehicle 1, 1# receiving vehicle 2 and 2# receiving vehicle 3 all adopt T-shaped frames. Transmitter vehicle 1 is equipped with a laser transmitter, and 1# receiving vehicle 2 and 2# receiving vehicle 3 are equipped with laser receivers. 1# receiving vehicle 2 and 2# receiving vehicle 3 automatically follow the transmitter vehicle 1, and the transmitter vehicle 1 communicates with 1# receiving vehicle 2 and 2# receiving vehicle 3 through wireless mode.

[0031] The transmitting vehicle 1 is also provided with a locking device and a dedicated computer; the 1# receiving vehicle 2 and the 2# receiving vehicle 3 are also provided with a Wifi module, a hub motor and a locking device.

[0032] The dedicated computer of the transmitting vehicle 1 transmits data with the 1# receiving vehicle 2 and the 2# receiving vehicle 3 through the Wifi module, and sends a braking command to the 1# receiving vehicle 2 and the 2# receiving vehicle 3 to brake the wheel hub motor.

[0033] The two receiving vehicles transmit information such as the receiving vehicle's speed and mileage location back to the software on the dedicated computer through the wireless Wifi module. When arriving at the designated measurement location, the software will send a braking command through the wireless Wifi, the hub motor will brake, and the locking device will automatically lock after parking, and the measurement will begin. The receiver's measurement data will be transmitted back to the software.

[0034] The transmitting vehicle 1, the 1# receiving vehicle 2 and the 2# receiving vehicle 3 have the functions of mileage measurement, inclination measurement and mechanism tensioning.

[0035] The laser beam emitted by the laser transmitter of the transmitting vehicle 1 irradiates the laser receivers of the 1# receiving vehicle 2 and the 2# receiving vehicle 3 simultaneously.

[0036] Two running wheels 4 are arranged on both sides of the longitudinal beam of the T-shaped frame of the 1# receiving car 2 and the 2# receiving car 3, which are driven by a hub motor. An mileage measuring wheel 5 is installed under the frame on one side of the running wheel 4, and a pulse encoder is used to measure the mileage of the 1# receiving car 2 and the 2# receiving car 3.

[0037] After the launch vehicle 1 moves, the 1# receiving vehicle 2 and the 2# receiving vehicle 3 automatically follow according to the measured chord length set in the dedicated computer of the launch vehicle 1.

[0038] Transmitter vehicle 1, 1# receiving vehicle 2 and 2# receiving vehicle 3 adopt a multi-level speed running mode, and the high-speed running distance threshold is set in a dedicated computer.

[0039] That is, when measuring, enter the specified measurement chord length in the software interface. When the transmitting vehicle moves, the two receiving vehicles will automatically follow the input chord length. Figure 6 In order to improve the measurement efficiency, a multi-speed running mode is adopted, and the high-speed running distance threshold is set in the software. According to the position of the trolley, it is judged in real time whether to slow down and brake, and closed-loop feedback control is realized to ensure the accuracy of the measured mileage, taking into account both the measurement efficiency and the measurement accuracy.

[0040] The system uses a laser long chord to detect medium and long wave irregularities of 30m and 60m chords of the track; uses high-precision GPS and high-precision odometer to achieve T-shaped frame positioning, and the laser receiver uses a high-speed image sensor.

[0041] During the measurement process, the utility model Figure 1 , point O is the laser emission point, and the line laser hits point A and point B of the 1# receiving car 2 and 2# receiving car 3 respectively, forming a three-point chord with a chord length of 2L. Then the measured positive vector distance h is

[0042] h = (X a + L a ) - (L o + L b + X b ) / 2 (1)

[0043] Where: X a , X b are the positions of the lasers on the 1# receiving vehicle and the 2# receiving vehicle respectively, and L o , L a , L b are the fixed parameters of the transmitting vehicle, the 1# receiving vehicle 2, and the 2# receiving vehicle 3 respectively.

[0044] When the laser beam is disturbed by factors such as frame vibration and wind speed, resulting in laser long chord disturbance, as Figure 5 shown, a deviation △A is generated at point A and a deviation △B is generated at point B. At this time, the actual three-point chord is OA”B”. Since the laser jitter is extremely small and satisfies BB” << OB, it can be considered that OB = OB”. Then there is BB” = 2AA”. At this time, the formula for the sagitta distance is:

[0045] h = (X a + AA' + L a ) - (L o + L b + X b + BB') / 2

[0046] = (X a + L a ) - (L o + L b + X b ) / 2 + AA' - BB' / 2

[0047] = (X a + L a ) - (L o + L b + X b ) / 2 (2)

[0048] It can be seen from equations (1) and (2) that the three-point laser collimation model eliminates the influence of laser jitter and improves the measurement accuracy.

[0049] The utility model adopts advanced three-point photoelectric measurement technology to solve the problem of zero-point drift of long-distance laser long chord, realizes the function of real-time measurement of internal track geometric parameters such as track height and track direction and detection of medium and long wave chord smoothness, meets the application conditions in the turnout area, realizes precise positioning and automatic following functions of the frame through high-precision positioning technology and frame running automatic control technology, reduces the measurement error caused by mileage error, and reduces the complexity of manual operation at the same time, and improves the track detection accuracy and eliminates the medium and long wave unevenness of the line through digital and intelligent fine-tuning technical solutions.

[0050] Based on the three-point laser alignment measurement model, combined with the sensor data such as gauge, superelevation, odometer, etc., after importing the design line data, the track direction, height, superelevation (horizontal), gauge, distortion, gauge change rate and other smoothness indicators are measured. The laser receiver uses a high-speed image sensor to increase the measurement speed, eliminate the influence of stray light such as background light on the laser beam, and improve the measurement accuracy and response speed; a three-point laser alignment detection model for small radius curves is constructed, and the mechanical structure and internal parameters of the frame are adjusted to meet the measurement needs of small radius curves.

[0051] High-precision GPS and high-precision odometer are used to achieve precise positioning of the frame, and the frame automatic following function is realized through the frame motor automatic control technology. At the same time, the mileage automatic correction function is realized to reduce the measurement error caused by mileage error, while reducing the complexity of manual operation, and realizing the simplification and intelligence of track detection.

[0052] By analyzing the type and structure of the turnout, combined with the characteristics of the three-point laser alignment model, the mechanical structure and related parameters of the transmitting and receiving vehicles are adjusted to meet the applicability of the turnout area. A turnout area smoothness analysis model is constructed to truly meet the smoothness detection of the turnout area.

[0053] Realize the function of medium and long wave smoothness detection, write software to optimize the line deviation according to the selected smoothness index, ensure that the adjustment is based on the original deviation, automatically correct the line unevenness according to the "peak clipping" or "valley filling" adjustment method, standardize the adjustable range, add adjacent deviation difference constraints, further improve the "broken bend" phenomenon of the remaining deviation, and obtain the tamping vehicle starting and shifting operation volume that meets the line smoothness requirements.

[0054] The above is only the preferred embodiment of the utility model, and does not limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.

Claims

1. A track geometry parameter measurement system based on a three-point laser alignment model, characterized in that: The invention comprises a transmitting vehicle (1), a No. 1 receiving vehicle (2) and a No. 2 receiving vehicle (3). The transmitting vehicle (1), the No. 1 receiving vehicle (2) and the No. 2 receiving vehicle (3) all adopt T-shaped vehicle frames. A laser transmitter is installed on the transmitting vehicle (1), and laser receivers are installed on the No. 1 receiving vehicle (2) and the No. 2 receiving vehicle (3). The No. 1 receiving vehicle (2) and the No. 2 receiving vehicle (3) automatically follow the transmitting vehicle (1) in movement. The transmitting vehicle (1) communicates with the No. 1 receiving vehicle (2) and the No. 2 receiving vehicle (3) in a wireless mode.

2. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 1, characterized in that: The transmitting vehicle (1) is also provided with a locking device and a dedicated computer; the 1# receiving vehicle (2) and the 2# receiving vehicle (3) are also both provided with a Wifi module, a wheel hub motor and a locking device.

3. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 1 or 2, characterized in that: The dedicated computer of the transmitting vehicle (1) transmits data to the first receiving vehicle (2) and the second receiving vehicle (3) via a Wifi module, and sends a braking command to the first receiving vehicle (2) and the second receiving vehicle (3) to brake the wheel hub motor.

4. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 3 is characterized in that: After the 1# receiving vehicle (2) and the 2# receiving vehicle (3) stop, their locking devices are automatically locked and measurement begins. The laser receiver transmits the measurement data back to the software of the dedicated computer.

5. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 4, characterized in that: The transmitting vehicle (1), the 1# receiving vehicle (2) and the 2# receiving vehicle (3) have the functions of mileage measurement, inclination measurement and mechanism tensioning.

6. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 4 or 5, characterized in that: The laser beam emitted by the laser transmitter of the transmitting vehicle (1) is simultaneously irradiated on the laser receivers of the first receiving vehicle (2) and the second receiving vehicle (3).

7. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 6, characterized in that: Two running wheels (4) are arranged on both sides of the longitudinal beam of the T-shaped frame of the 1# receiving car (2) and the 2# receiving car (3), and are driven by a wheel hub motor. A mileage measuring wheel (5) is installed under the frame on one side of the running wheel (4), and a pulse encoder is used to measure the mileage of the 1# receiving car (2) and the 2# receiving car (3).

8. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 7, characterized in that: After the launch vehicle (1) moves, the 1# receiving vehicle (2) and the 2# receiving vehicle (3) automatically follow the movement according to the measured chord length set in the dedicated computer of the launch vehicle (1).

9. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 8, characterized in that: The transmitting vehicle (1), the 1# receiving vehicle (2) and the 2# receiving vehicle (3) adopt a multi-level speed running mode, and a high-speed running distance threshold is set in a dedicated computer.

10. The track geometry parameter measurement system based on the three-point laser alignment model according to claim 9, characterized in that: The system uses a laser long chord to detect medium and long wave irregularities of 30m and 60m chords of the track; uses high-precision GPS and high-precision odometer to achieve T-shaped frame positioning, and the laser receiver uses a high-speed image sensor.

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