LKJ high-precision positioning range finder

Abstract

The utility model relates to an LKJ high-precision positioning distance measuring instrument, which comprises a single-rail walking vehicle frame, a motor control unit and a positioning distance measuring unit, a magnetic attraction device, a driving wheel and a driven wheel are arranged on the single-rail walking vehicle frame, and the motor control unit is arranged on the single-rail walking vehicle frame and is in transmission connection with the driving wheel. The single-rail walking frame walks on the steel rail in a single rail mode through a driving wheel and a driven wheel and forms limiting with the steel rail through a magnetic attraction device. The positioning and distance measuring unit is mounted on the monorail traveling frame and comprises an encoder and a Beidou positioning instrument, the encoder is coaxially connected and fixed with the driving wheel to measure the number of rotation turns of the driving wheel, and the Beidou positioning instrument is used for performing Beidou positioning. The utility model has the advantages that the magnetic monorail vehicle is used as a measurement reference platform, and positioning and distance measurement are carried out by adopting a motor-controlled automatic walking mode, so that the measurement efficiency is high; a multi-sensor fusion algorithm of the angle encoder and the Beidou positioning instrument is adopted, and the method is reasonable, accurate, high in precision and good in repeatability.

Description

Technical Field

[0001] The utility model relates to the technical field of railway LKJ positioning and distance measurement, in particular to an LKJ high-precision positioning and distance measuring instrument. Background Art

[0002] Original measurement data for LKJ ground mileage basic data is mostly calculated and recorded manually, with management personnel using numerous Excel spreadsheets for maintenance and management. New signal devices or relocations within railway sections and stations require re-measurement or revision of LKJ and train control ground data. Currently, manual measurement with a ruler and a cart is used for measurement and manual recording, which introduces errors that affect data accuracy, increases time and efficiency, and is labor-intensive, posing potential safety risks.

[0003] The current cart-based navigation system is subject to errors caused by wheel slippage, idling, and falling. Satellite navigation technology has been widely used in geodesy, resource exploration, crustal movement, and other measurement fields. Compared with traditional methods, satellite navigation applications offer significant advantages, including high measurement accuracy, ease of operation, compact instrument size, portability, and all-weather operation. However, satellite navigation can fail or cause significant errors when signal quality is poor or interference is present. Research on multi-sensor information fusion technology based on satellite navigation and encoders can effectively overcome their respective shortcomings and ensure measurement accuracy. Summary of the Invention

[0004] The purpose of this utility model is to provide an LKJ high-precision positioning and ranging instrument based on the above-mentioned deficiencies in the existing technology. It uses a magnetic monorail vehicle as a measurement reference platform and adopts a motor-controlled automatic walking method to perform multi-sensor fusion positioning and ranging, thereby improving work efficiency and measurement accuracy, reducing labor intensity, and reducing operational safety hazards, making LKJ data more accurate and ensuring driving safety.

[0005] The purpose of this utility model is achieved by the following technical solutions:

[0006] An LKJ high-precision positioning and ranging instrument, characterized in that it includes a monorail running frame, a motor control unit and a positioning and ranging unit, wherein the monorail running frame is provided with a magnetic device, a driving wheel and a driven wheel, the motor control unit is installed on the monorail running frame and is transmission-connected to the driving wheel, the monorail running frame runs on a single track on a steel rail through the driving wheel and the driven wheel and forms a limit with the steel rail through the magnetic device; the positioning and ranging unit is installed on the monorail running frame, and includes an encoder and a Beidou locator, the encoder is coaxially connected and fixed to the driving wheel to measure the number of rotations of the driving wheel, and the Beidou locator is used to perform Beidou positioning.

[0007] The motor control unit consists of a motor, a transmission structure, a motor drive controller, and an industrial control computer. The motor is fixed on the single-rail walking vehicle frame. The motor is connected to the driving wheel through the transmission structure via a belt. The motor drive controller provides drive for the motor. The industrial control computer is connected to control the motor drive controller and collect signals from the positioning and ranging unit.

[0008] The magnetic attraction device includes a number of magnets arranged at intervals on the single-rail walking vehicle frame.

[0009] Positioning wheels are provided on the side of the single-rail walking vehicle frame, and the positioning wheels are adjacent to the outer side of the rail.

[0010] A lithium battery is provided on the single-rail walking vehicle frame. The lithium battery provides power for the motor control unit and provides power for the industrial control computer after being stepped down by a voltage stabilizing module.

[0011] The advantages of the present utility model are as follows: taking the magnetic attraction single-rail vehicle as the measurement reference platform, adopting the method of automatic walking controlled by the motor for positioning and ranging, with high measurement efficiency; adopting the multi-sensor fusion algorithm of the angle encoder and the Beidou positioning instrument, being reasonable, accurate, with high precision and good repeatability; having an integrated structure design, being convenient for transportation and carrying, simple in operation, and high in cost performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic layout structure diagram of the present utility model;

[0013] Figure 2 is a side view schematic diagram of the present utility model;

[0014] Figure 3 is a front view schematic diagram of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The following further details the features of the present utility model and other related features through embodiments in conjunction with the drawings for the understanding of those skilled in the same industry:

[0016] As Figures 1-3 shown, the markings 1 - 15 in the figure respectively represent: single-rail walking vehicle frame 1, motor 2, driving wheel 3, driven wheel 4, Beidou positioning instrument 5, angle encoder 6, motor drive controller 7, lithium battery 8, voltage stabilizing module 9, industrial control computer 10, rail 11, transmission structure 12, magnetic attraction structure 13, belt 14, positioning wheel 15.

[0017] Embodiment: As Figures 1 to 3As shown in the figure, the main body of the LKJ high-precision positioning and ranging instrument in this embodiment includes a single-rail traveling frame 1. One end of the single-rail traveling frame 1 is provided with a driving wheel 3, and the other end is provided with a driven wheel 4. Both the driving wheel 3 and the driven wheel 4 are mounted on a single rail 11, so that the single-rail traveling frame 1 can travel on the rail 11. Among them, the driving wheel 3 and the motor 2 are in transmission cooperation through a transmission structure 12 and a belt 1, so that the driving wheel 3 can rotate under the drive of the motor 2, thereby driving the single-rail traveling frame 1 to travel. The motor 2 is connected to a motor drive controller 7 to provide drive for the motor 2. In order to further ensure the stability of the single-rail traveling frame 1 during traveling, combined with Figure 1 and Figure 3 As shown, a positioning wheel 15 is provided on one side of the bottom of the single-rail traveling frame 1. The positioning wheel 15 abuts against the side of the rail head of the rail 11 to position the position of the single-rail traveling frame 1 and ensure its smoothness during single-rail traveling.

[0018] A magnetic attraction structure 13 is provided on the single-rail traveling frame 1. The magnetic attraction structure 13 is a number of long strip magnets installed inside the single-rail traveling frame 1 regularly. The long strip magnets have a certain magnetic attraction effect on the rail 11, which can ensure the stable walking of the single-rail traveling frame 1 on the single rail. During actual use, the magnetic attraction force between the magnetic attraction structure 13 and the rail 11 should not be too large to ensure that the driving force of the single-rail traveling frame 1 can overcome the action of the magnetic attraction force and freely travel on the single rail 11. At this time, the magnetic attraction force only plays a certain limiting role on the single-rail traveling frame 1 to prevent it from tipping over from the single rail 11.

[0019] In this embodiment, the measurement sensor is mainly composed of a Beidou positioning instrument 5 and an encoder 6. Among them, the Beidou positioning instrument 5 is installed on the top of the single-rail traveling frame 1; the angle encoder 6 is installed on one side of the driving wheel 3 and is coaxially connected to the transmission structure 12. The angle encoder 6 is used to measure the number of turns of the driving wheel 3.

[0020] In this embodiment, an industrial computer 10 is installed on the single-rail traveling frame 1, which is located below the motor drive controller 7 and serves as a control unit to collect sensor information and send control instructions.

[0021] A large-capacity rechargeable lithium battery 8 is provided on the single-rail traveling frame 1, and a power display device is configured. The lithium battery 8 provides power for the motor 2 and the motor drive controller 7, and provides power for the industrial computer 10 after being stepped down by a voltage stabilizing module 9.

[0022] When this embodiment is actually used, it includes the following process:

[0023] When used for the first time, it is necessary to set up a calibration platform to calibrate the sensors of the measurement system. The measurement result of the railway LKJ positioning and ranging is the line distance between the trackside equipment on the railway.

[0024] When in use, the positioning and ranging instrument in this embodiment can be further used in conjunction with the upper computer measurement software to facilitate data acquisition, processing and storage. Specifically, place the positioning and ranging instrument of this embodiment on the rail 11, make the positioning wheel 15 on one side of the single-rail walking vehicle frame 1 closely adhere to the side of the rail 11, and at the same time, the magnetic adsorption structure 13 is adsorbed on the rail 11. Then turn on the power of the positioning and ranging instrument, turn on the upper computer measurement software, and wait for the WIFI connection to be successful and the Beidou positioning instrument 5 to complete positioning to start the measurement. Set the measurement start point parameters on the upper computer measurement software, click to start the measurement, the positioning and ranging instrument automatically walks on the rail 11 driven by the motor 2 through the drive of the driving wheel 3, click to pause after the ranging instrument reaches the target point, the upper computer reads the sensor data, and completes the positioning measurement of the line distance of this section through the multi-sensor fusion algorithm. [[ID=z]]

[0025] Repeat the above operations to complete all position measurements.

[0026] In the specific implementation of this embodiment: different running speeds can be adjusted, which is suitable for high-precision LKJ positioning and ranging measurement, and can measure the line distance between the trackside equipment at the positions it passes through.

[0027] It is powered by an internal large-capacity lithium battery pack, with a maximum continuous working time of 6h, which is suitable for the measurement requirements of LKJ positioning and ranging in various environments. It has a reliable electrical protection device, the whole machine has a simple structure, the measurement process is convenient and fast, the work is safe and reliable, and the cost performance is high.

[0028] Although the above embodiments have detailed the concept and implementation of the purpose of the present invention with reference to the drawings, those of ordinary skill in the art can recognize that various improvements and transformations can still be made to the present invention without departing from the scope defined by the claims, so they will not be elaborated here one by one.

Claims

1. A high-precision LKJ positioning and ranging device, characterized in that: It includes a single-rail traveling vehicle frame, a motor control unit and a positioning and ranging unit. A magnetic attraction device, a driving wheel and a driven wheel are arranged on the single-rail traveling vehicle frame. The motor control unit is installed on the single-rail traveling vehicle frame and is in transmission connection with the driving wheel. The single-rail traveling vehicle frame travels on a single rail through the driving wheel and the driven wheel and forms a limit with the rail through the magnetic attraction device. The positioning and ranging unit is installed on the single-rail traveling vehicle frame and includes an encoder and a Beidou positioning device. The encoder is coaxially connected and fixed to the driving wheel to measure the number of rotation turns of the driving wheel, and the Beidou positioning device is used for Beidou positioning.

2. The LKJ high-precision positioning and ranging instrument according to claim 1, wherein: The motor control unit is composed of a motor, a transmission structure, a motor drive controller and an industrial computer. The motor is fixed on the single-rail traveling vehicle frame. The motor is connected to the driving wheel through the transmission structure via a belt. The motor drive controller provides drive for the motor. The industrial computer is connected to control the motor drive controller and collect signals of the positioning and ranging unit.

3. The LKJ high-precision positioning and ranging instrument according to claim 1, characterized in that: The magnetic attraction device includes a plurality of magnets arranged at intervals on the single-rail traveling vehicle frame.

4. A high-precision LKJ positioning and ranging device according to claim 1, characterized in that: A positioning wheel is arranged on the side of the single-rail traveling vehicle frame, and the positioning wheel is adjacent to the outer side of the rail.

5. A high-precision positioning and ranging instrument for LKJ according to claim 1, characterized in that: A lithium battery is arranged on the single-rail traveling vehicle frame. The lithium battery provides power for the motor control unit and provides power for the industrial computer after being stepped down by a voltage stabilizing module.

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