Apparatus and method for measuring irregularity of permanent magnet track

Abstract

An apparatus and method for measuring an irregularity of a permanent magnet track, which relate to the technical field of permanent magnet track detection. The apparatus comprises: a superconducting levitator; a Hall detection apparatus, which is disposed on the superconducting levitator, wherein one end of the Hall detection apparatus extends toward the permanent magnet track to form a positioning end, the positioning end is provided with a plurality of Hall sensors uniformly arranged at equal intervals along the direction of width of the permanent magnet track, and the plurality of Hall sensors are all located on the same horizontal plane as the bottom of a superconductor inside the superconducting levitator; and an acceleration detection apparatus, which is disposed on the superconducting levitator, wherein the acceleration detection apparatus is disposed along the direction of length of the permanent magnet track, one end of the acceleration detection apparatus extends toward the permanent magnet track to form a measurement end, and the height of the measurement end of the acceleration detection apparatus is consistent with the height of the center of mass of the superconducting levitator. The apparatus and method solve the problem in the prior art of measurement data failing to meet high-precision requirements, resulting in an inability to assess the health condition of the permanent magnet track.

Description

A measuring device and method for measuring the irregularity of permanent magnet tracks. Technical Field

[0001] This invention relates to the field of permanent magnet track detection technology, and more specifically, to a measuring device and method for measuring the unevenness of permanent magnet tracks. Background Technology

[0002] In the field of permanent magnet track testing technology, a typical setup includes a chassis and testing equipment. The testing equipment is usually fixed to the chassis and moves along the permanent magnet track with the chassis to perform testing. However, current designs are limited by the installation position and angle of the testing equipment, resulting in limitations. They cannot comprehensively cover all testing positions, leading to measurement data that lacks high precision and hindering accurate assessment of the permanent magnet track's health. Therefore, there is an urgent need for a measuring device and method for permanent magnet track irregularities, which would solve the problem of existing technologies failing to comprehensively cover all testing positions, resulting in measurement data that lacks high precision and hindering accurate assessment of the permanent magnet track's health. Summary of the Invention

[0003] The purpose of this invention is to provide a measuring device and method for measuring the unevenness of permanent magnet tracks, thereby improving the aforementioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0004] In a first aspect, this application provides a measuring device for permanent magnet track irregularities, comprising:

[0005] A superconducting levitation device is provided. A Hall effect sensor is mounted on the superconducting levitation device, with one end extending towards the permanent magnet track to form a positioning end. Multiple Hall sensors are uniformly arranged at equal intervals along the width direction of the permanent magnet track on the positioning end. All Hall sensors are located on the same horizontal plane as the bottom of the superconductor within the superconducting levitation device. An acceleration detection device is also mounted on the superconducting levitation device, positioned along the length direction of the permanent magnet track. One end of the acceleration detection device extends towards the permanent magnet track to form a measuring end. The height of the measuring end of the acceleration detection device is consistent with the center of mass height of the superconducting levitation device.

[0006] Secondly, this application also provides a method for measuring the irregularity of a permanent magnet track, comprising: acquiring time-domain signals of a superconducting levitation device during operation based on a Hall effect detection device, an acceleration detection device, and a photoelectric sensor, wherein the time-domain signals include photoelectric signals, acceleration time-domain signals, and magnetic field time-domain signals;

[0007] The photoelectric signal is processed based on a preset peak-finding method to obtain the time history information of peaks and troughs.

[0008] The real-time velocity of the superconducting levitation device 1 is obtained by fitting the time history information of the peaks and troughs.

[0009] The acceleration time-domain signal and the magnetic field time-domain signal are converted according to the real-time velocity of the superconducting levitation device to obtain the spatial domain signal;

[0010] The spatial domain signal and the preset magnetic position signal are constructed according to the preset Fourier integral method to obtain the equivalent geometric irregularity signal.

[0011] The equivalent geometric irregularity signal is density-fitted using a preset Fourier transform method to obtain the equivalent geometric irregularity fitting parameters of the permanent magnet track.

[0012] Thirdly, this application also provides a measuring device for permanent magnet track irregularities, comprising:

[0013] Memory, used to store computer programs;

[0014] A processor is used to implement the steps of the method for measuring the irregularities of the permanent magnet track when executing the computer program.

[0015] Fourthly, this application also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described measurement method based on the irregularity of a permanent magnet track.

[0016] The beneficial effects of this invention are as follows:

[0017] This invention introduces a Hall effect sensor and an acceleration sensor, both mounted on a superconducting levitation device. The Hall sensor acquires the magnetic field time-domain signal, solving the problem of limited coverage and inability to perform two-dimensional positioning in existing technologies. The acceleration sensor's measuring end is aligned with the center of mass of the superconducting levitation device, acquiring the acceleration time-domain signal, thus addressing the influence of roll and yaw motion on the acceleration time-domain signal in existing technologies. The combined use of the Hall effect sensor, acceleration sensor, and superconducting levitation device overcomes the limitations of existing technologies in comprehensively covering all detection directions, resulting in measurement data that lacks high precision and hinders accurate assessment of the permanent magnet track's health.

[0018] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a schematic front view of the measuring device for permanent magnet track irregularities described in an embodiment of the present invention;

[0021] Figure 2 is a perspective view of the measuring device for permanent magnet track irregularities described in an embodiment of the present invention;

[0022] Figure 3 is a right-side view schematic diagram of the measuring device for permanent magnet track irregularities described in an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the measurement method for permanent magnet track irregularities in an embodiment of the present invention;

[0024] Figure 5 shows the peak and valley values ​​identified by the photoelectric sensor measurement signal and the peak-finding algorithm in the embodiment of the present invention.

[0025] Figure 6 is a schematic diagram of the structure of the measuring device for uneven permanent magnet track described in this embodiment of the invention.

[0026] The diagram is labeled as follows: 1. Superconducting levitation device; 2. Permanent magnet track; 3. Hall effect detection device; 4. Acceleration detection device; 5. Photoelectric sensor; 6. Data acquisition card; 41. First accelerometer; 42. Second accelerometer; 800. Measurement device for irregularities in the permanent magnet track; 801. Processor; 802. Memory; 803. Multimedia component; 804. I / O interface; 805. Communication component. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Example 1:

[0030] As shown in Figures 1 and 2, this embodiment provides a measuring device for uneven permanent magnet track. The device includes a superconducting levitation device 1; a Hall effect sensor 3 is disposed on the superconducting levitation device 1, one end of which extends toward the permanent magnet track 2 to form a positioning end. Multiple Hall effect sensors 31 are uniformly arranged at equal intervals along the width direction of the permanent magnet track 2 on the positioning end. All Hall effect sensors 31 are located on the same horizontal plane as the bottom of the superconductor within the superconducting levitation device 1; an acceleration detection device 4 is disposed on the superconducting levitation device 1, extending along the length direction of the permanent magnet track 2. One end of the acceleration detection device 4 extends toward the permanent magnet track 2 to form a measuring end, and the height of the measuring end of the acceleration detection device 4 is consistent with the height of the center of mass of the superconducting levitation device 1.

[0031] The specific process of this device is as follows: an optical target is laid on the permanent magnet track 2, the superconducting levitation device 1 is set on the permanent magnet track 2 through a pad, nitrogen liquid is injected into the superconducting levitation device 1, and after the superconductor inside the superconducting levitation device 1 is completely cooled to the superconducting state, the pad is removed, allowing the superconducting levitation device 1 to be in a free suspension state. The suspension height of the superconducting levitation device 1 is adjusted by the pads of different corresponding thicknesses. The Hall detection device 3 and the acceleration detection device 4 measure the specific parameters of the permanent magnet track 2 through the different suspension heights of the superconducting levitation device 1.

[0032] The Hall effect sensor 3 is used to acquire the time-domain signal of the magnetic field. The Hall effect sensor 3 performs two-dimensional positioning of the permanent magnet track 2, accurately measuring the positional information changes corresponding to actual magnetic field variations. The acceleration detection device 4 solves the problem of the influence of the side-rolling and head-shaking motions of superconducting levitation vehicles on the acceleration time-domain signal in existing technologies.

[0033] As shown in Figure 3, the plurality of acceleration detection devices 4 include a first acceleration sensor 41 and a second acceleration sensor 42. The first acceleration sensor 41 and the second acceleration sensor 42 are both mounted on the side of the superconducting levitation device 1 by a clamp. The first acceleration sensor 41 is positioned opposite to the second acceleration sensor 42 along the width direction of the permanent magnet track 2.

[0034] In this structure, the first accelerometer 41 and the second accelerometer 42 are used to acquire acceleration time-domain signals; preferably, the first accelerometer 41 and the second accelerometer 42 are both triaxial accelerometers.

[0035] To clarify the specific structure of the superconducting levitation device 1, the superconducting levitation device 1 is equipped with a photoelectric sensor 5. The photoelectric sensor 5 is mounted on the side of the superconducting levitation device 1 away from the plurality of Hall detection devices 3 by means of a clamp. The photoelectric sensor 5 is arranged opposite to the plurality of Hall detection devices 3 along the length direction of the permanent magnet track 2.

[0036] The photoelectric sensor 5 is used to acquire photoelectric signals. The photoelectric sensor 5 uses an optical target method to measure the speed and position of the superconducting levitation device 1 and the permanent magnet track 2. Preferably, the photoelectric sensor 5 is a diffuse reflection photoelectric sensor.

[0037] In this structure, a data acquisition card 6 is disposed on the top of the superconducting levitation device 1. The data acquisition card 6 is electrically connected to the first accelerometer 41, the second accelerometer 42, the plurality of Hall effect sensors 3, and the photoelectric sensor 5. The data acquisition card 6 is used to synchronize the photoelectric signal, the acceleration time-domain signal, and the magnetic field time-domain signal.

[0038] It should be noted that the specific manner in which each module performs its operation in the apparatus described in the above embodiments has been described in detail in the embodiments of the method, and will not be elaborated here.

[0039] Example 2:

[0040] This embodiment provides a method for measuring the unevenness of permanent magnet tracks.

[0041] Referring to Figure 4, the figure shows that the method includes steps S1 to S6, including:

[0042] S1: The time-domain signals of the superconducting levitation device 1 during operation are collected based on the Hall detection device 3, the acceleration detection device 4 and the photoelectric sensor 5. The time-domain signals include photoelectric signals, acceleration time-domain signals and magnetic field time-domain signals.

[0043] S2: The photoelectric signal is processed based on a preset peak-finding method to obtain the time history information of peaks and troughs;

[0044] To clarify the specific method for obtaining the time history information of peaks and troughs, step S2 includes S21 to S23, specifically:

[0045] S21: Perform low-pass filtering noise reduction on the photoelectric signal to obtain a noise-reduced photoelectric signal;

[0046] S22: Based on a preset multi-window peak identification algorithm, the denoised photoelectric signal is subjected to peak-finding processing to obtain multiple highest peak values ​​and multiple lowest peak values;

[0047] In this step, refer to Figure 5 to view the multiple highest peak values ​​and multiple lowest peak values.

[0048] S23: Construct time history information for each peak and trough based on multiple highest peak values ​​and multiple lowest peak values.

[0049] S3: Fit the time history information of the peaks and troughs to obtain the real-time speed of the superconducting levitation device 1.

[0050] To clarify the specific method for obtaining the real-time velocity of the superconducting levitation device 1, step S3 includes S31 to S34, specifically:

[0051] S31: Set up multiple ground optical targets on the permanent magnet track 2, measure the distance between the multiple ground optical targets, and obtain the distance value of the ground optical targets;

[0052] The spacing value of the ground optical target is Δx; preferably, Δx = 8.75cm.

[0053] S32: Extract the time history information of each peak and trough to obtain the running distance corresponding to the peak point;

[0054] In this step, the running distance nΔx corresponds to the peak point.

[0055] S33: Based on the spacing values ​​of the ground optical targets and the running distance corresponding to the peak points, a fitting process is performed to obtain a polynomial fitting function;

[0056] In this step, the polynomial fitting function is: s = At 3 +Bt 2 +Ct (1)

[0057] In equation (1) above, s represents the distance, A, B and C are all fitting parameters, and t represents time.

[0058] S34: Differentiate the polynomial fitting function to obtain the real-time velocity of the superconducting levitation device 1.

[0059] In this step, the real-time velocity of the superconducting levitation device 1 is: v = 3At 2 +2Bt+C (2)

[0060] In equation (2) above, v represents velocity, A, B and C are all fitting parameters, and t represents time.

[0061] S4: Based on the real-time velocity of the superconducting levitation device 1, the acceleration time-domain signal and the magnetic field time-domain signal are converted to obtain the spatial domain signal;

[0062] S5: Construct the spatial domain signal and the preset magnetic position signal according to the preset Fourier integral method to obtain the equivalent geometric irregularity signal;

[0063] In this step, the magnetic position signal is the position information obtained by detecting changes in the magnetic field; the preset magnetic position signal is a preset magnetic position signal in different directions.

[0064] To clarify the specific method for obtaining the equivalent geometric irregularity signal, step S5 includes S51 to S55, specifically:

[0065] S51: The superconducting levitation device 1 is detected based on the first acceleration sensor 41 and the second acceleration sensor 42 to obtain the first vector signal and the second vector signal;

[0066] In this step, the first vector signal is a1, and the second vector signal is a2.

[0067] S52: Based on the first vector signal and the second vector signal, a centroid acceleration signal expression is obtained;

[0068] In this step, the expression for the centroid acceleration signal is: ac=a1+a2 (3)

[0069] In equation (3) above, ac represents the centroid acceleration signal, a1 represents the first vector signal, and a2 represents the second vector signal.

[0070] S53: The superconducting levitation device 1 is detected by Hall sensor 31 to obtain the magnetic field signal value;

[0071] In this step, the magnetic field signal value is M. 测 .

[0072] S54: Based on the magnetic field signal value and preset magnetic position signals in different directions, an absolute displacement signal is constructed to obtain the absolute displacement signal;

[0073] To clarify the specific method for acquiring the absolute displacement signal, step S54 includes S541 to S543, specifically:

[0074] S541: Based on the magnetic field signal value and the preset theoretical magnetic field value, a magnetic field variance expression is obtained;

[0075] In this step, the expression for the magnetic field variance is: ∑(M 测 -M 计(y,z)) 2 (4)

[0076] In equation (4) above: M 测 M represents the magnetic field signal value. 计 (y, z) represents the theoretical magnetic field value, and (y, z) represents the magnetic position signal.

[0077] S542: Extract the magnetic field variance expression based on a preset constraint threshold to obtain magnetic position signals in different directions;

[0078] In this step, the preset magnetic position signals in different directions include lateral magnetic position and vertical magnetic position; preferably, the lateral magnetic position is y = [-15:0.1:15] mm, and the vertical magnetic position is z = [0:0.1:20] mm.

[0079] S543: Based on the preset Fourier integral method, the expression of the centroid acceleration signal and the magnetic position signals in different directions are constructed to obtain the absolute displacement signal.

[0080] S55: Based on the absolute displacement signal and the spatial domain signal, construct magnetic position signals in different preset directions to obtain equivalent geometric irregularity signals.

[0081] To clarify the specific method for obtaining the equivalent geometric irregularity signal, step S55 includes S551 to S553, specifically:

[0082] S551: Construct the transverse magnetic position based on the absolute displacement signal and the spatial domain signal to obtain the transverse irregularity signal expression;

[0083] In this step, the expression for the lateral irregularity signal is: S y =X y -y (5)

[0084] In equation (5) above, S y Indicates lateral irregularity signal, X y y represents the target value for the lateral position, and y represents the lateral magnetic position.

[0085] S552: Construct the vertical magnetic position based on the absolute displacement signal and the spatial domain signal to obtain the vertical irregularity signal expression;

[0086] In this step, the expression for the vertical irregularity signal is: S z =X z -z (6)

[0087] In equation (6) above, S z Indicates vertical irregularity signal, X zThe target value represents the vertical position, and z represents the vertical magnetic position.

[0088] S553: ​​Construct an equivalent geometric irregularity signal based on the lateral irregularity signal expression and the vertical irregularity signal expression.

[0089] S6: Perform density fitting on the equivalent geometric irregularity signal according to the preset Fourier transform method to obtain the equivalent geometric irregularity fitting parameters of the permanent magnet track 2.

[0090] To clarify the specific method for obtaining the fitting parameters of the equivalent geometric irregularity of the permanent magnet track 2, step S6 includes S61 to S64, specifically:

[0091] S61: Perform a Fourier transform on the transverse irregularity signal expression to obtain the transverse equivalent geometric irregularity power spectral density;

[0092] S62: Perform a Fourier transform on the vertical irregularity signal expression to obtain the vertical equivalent geometric irregularity power spectral density;

[0093] S63: Based on a preset polynomial algorithm, the power spectral density of the transverse equivalent geometric irregularity and the power spectral density of the vertical equivalent geometric irregularity are converted to obtain the power spectral density fitting function of the equivalent geometric irregularity spatial domain.

[0094] In this step, the equivalent geometrically irregular spatial domain power spectral density fitting function is:

[0095] In equation (7) above, S v Let F represent the power spectral density in the non-uniform spatial domain, F represent the spatial frequency, and A, B, and C represent the fitting parameters.

[0096] S64: Fit the equivalent geometric irregularity spatial domain power spectral density fitting function according to the preset orthogonal distance regression method to obtain the equivalent geometric irregularity fitting parameters of permanent magnet track 2.

[0097] As shown in Table 1, in this step, the equivalent geometric irregularity fitting parameters of the vertical permanent magnet track 2 are A = 14.45, B = -23.62, and C = 14.07.

[0098] The equivalent geometric irregularity fitting parameters for the lateral permanent magnet track 2 are A = 3.89, B = -20.86, and C = 151.17.

[0099] Table 1. Fitting parameters for equivalent geometric irregularities of permanent magnet tracks.

[0100] Example 3:

[0101] Corresponding to the above method embodiments, this embodiment also provides a measuring device for permanent magnet track irregularities. The measuring device for permanent magnet track irregularities described below and the measuring method for permanent magnet track irregularities described above can be referred to in correspondence.

[0102] Figure 6 is a block diagram illustrating a permanent magnet track irregularity measuring device 800 according to an exemplary embodiment. As shown in Figure 6, the permanent magnet track irregularity measuring device 800 may include a processor 801 and a memory 802. The permanent magnet track irregularity measuring device 800 may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0103] The processor 801 controls the overall operation of the permanent magnet track irregularity measuring device 800 to complete all or part of the steps in the aforementioned permanent magnet track irregularity measurement method. The memory 802 stores various types of data to support the operation of the permanent magnet track irregularity measuring device 800. This data may include, for example, instructions for any application or method operating on the permanent magnet track irregularity measuring device 800, as well as application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 802 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as keyboards, mice, and buttons. These buttons can be virtual or physical. Communication component 805 is used for wired or wireless communication between the permanent magnet track unevenness measuring device 800 and other devices. Wireless communication includes Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 805 may include a Wi-Fi module, a Bluetooth module, or an NFC module.

[0104] In an exemplary embodiment, the permanent magnet track irregularity measuring device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the aforementioned permanent magnet track irregularity measuring method.

[0105] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the method for measuring the irregularity of a permanent magnet track described above. For example, the computer-readable storage medium may be the memory 802 including the program instructions described above, which may be executed by the processor 801 of the permanent magnet track irregularity measuring device 800 to complete the method for measuring the irregularity of a permanent magnet track described above.

[0106] Example 4:

[0107] Corresponding to the above method embodiments, this embodiment also provides a readable storage medium. The readable storage medium described below and the method for measuring the irregularity of permanent magnet tracks described above can be referred to in correspondence.

[0108] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for measuring the irregularity of a permanent magnet track as described in the above method embodiments.

[0109] Specifically, the readable storage medium can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other readable storage medium capable of storing program code.

[0110] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0111] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A device for measuring permanent-magnetic track irregularities, characterized in that include: A superconducting levitation device (1) is provided with a photoelectric sensor (5); Hall detection device (3), the Hall detection device (3) is set on the superconducting levitation device (1), one end of the Hall detection device (3) extends towards the permanent magnet track (2) to form a positioning end, the positioning end is provided with a plurality of Hall sensors (31) evenly arranged at the same interval along the width direction of the permanent magnet track (2), the plurality of Hall sensors (31) are all located on the same horizontal plane with the bottom of the superconductor in the superconducting levitation device (1), the photoelectric sensor (5) is set on the side of the superconducting levitation device (1) away from the plurality of Hall detection devices (3) by a clamp, the photoelectric sensor (5) is set opposite to the plurality of Hall detection devices (3) along the length direction of the permanent magnet track (2); An acceleration detection device (4) is installed on the superconducting levitation device (1). The acceleration detection device (4) is installed along the length of the permanent magnet track (2). One end of the acceleration detection device (4) extends toward the permanent magnet track (2) to form a measuring end. The height of the measuring end of the acceleration detection device (4) is consistent with the height of the center of mass of the superconducting levitation device (1).

2. The permanent-magnetic track irregularity measuring device according to claim 1, characterized in that The plurality of acceleration detection devices (4) include a first acceleration sensor (41) and a second acceleration sensor (42). The first acceleration sensor (41) and the second acceleration sensor (42) are both mounted on the side of the superconducting levitation device (1) by a clamp. The first acceleration sensor (41) is positioned opposite to the second acceleration sensor (42) along the width direction of the permanent magnet track (2).

3. The permanent-magnetic track irregularity measuring device according to claim 2, characterized in that The top of the superconducting levitation device (1) is provided with a data acquisition card (6), which is electrically connected to the first acceleration sensor (41), the second acceleration sensor (42), the multiple Hall detection devices (3) and the photoelectric sensor (5).

4. A method of measuring permanent-magnetic track irregularities, characterized in that include: The time-domain signals of the superconducting levitation device (1) during operation are collected based on the Hall detection device (3), the acceleration detection device (4) and the photoelectric sensor (5). The time-domain signals include photoelectric signals, acceleration time-domain signals and magnetic field time-domain signals. The photoelectric signal is processed based on a preset peak-finding method to obtain the time history information of peaks and troughs. The time history information of the peaks and troughs is fitted to obtain the real-time velocity of the superconducting levitation device (1). The acceleration time-domain signal and the magnetic field time-domain signal are converted according to the real-time velocity of the superconducting levitation device (1) to obtain the spatial domain signal; The spatial domain signal and the preset magnetic position signal are constructed according to the preset Fourier integral method to obtain the equivalent geometric irregularity signal. The equivalent geometric irregularity signal is density-fitted according to the preset Fourier transform method to obtain the equivalent geometric irregularity fitting parameters of the permanent magnet track (2).

5. The method of claim 4, wherein the permanent magnet track irregularity is measured by a method comprising: The photoelectric signal is processed based on a preset peak-finding method to obtain time history information of peaks and troughs, including: The photoelectric signal is subjected to low-pass filtering and noise reduction processing to obtain the noise-reduced photoelectric signal; The noise-reduced photoelectric signal is processed by a preset multi-window spectral peak identification algorithm to obtain multiple highest peak values ​​and multiple lowest peak values. The time history information of each peak and trough is obtained by constructing a system based on multiple highest and lowest peak values.

6. The method of claim 5, wherein the permanent magnet track irregularity is measured by a method comprising: By fitting the time history information of the peaks and troughs, the real-time velocity of the superconducting levitation device (1) is obtained, including: Multiple ground optical targets are set on the permanent magnet track (2), and the distance between the multiple ground optical targets is measured to obtain the distance value of the ground optical targets; The time history information of each peak and trough is extracted to obtain the running distance corresponding to the peak point; The polynomial fitting function is obtained by fitting the distance between the ground optical targets and the running distance corresponding to the peak point. The real-time velocity of the superconducting levitation device (1) is obtained by differentiating the polynomial fitting function.

7. The method of claim 4, wherein the permanent magnet track irregularity is measured by a method comprising: The preset magnetic position signals are magnetic position signals in different preset directions. The spatial domain signals and the preset magnetic position signals are constructed using a preset Fourier integral method to obtain an equivalent geometric irregularity signal, including: The superconducting levitation device (1) is detected based on the first acceleration sensor (41) and the second acceleration sensor (42) to obtain the first vector signal and the second vector signal; Based on the first vector signal and the second vector signal, the expression for the centroid acceleration signal is obtained; The superconducting levitation device (1) is detected by a Hall sensor (31) to obtain the magnetic field signal value; An absolute displacement signal is obtained by constructing a magnetic field signal based on the magnetic field signal value and preset magnetic position signals in different directions; Based on the absolute displacement signal and the spatial domain signal, magnetic position signals in different preset directions are constructed to obtain equivalent geometric irregularity signals.

8. The method of claim 7, wherein the permanent magnet track irregularity is measured by a method comprising: The preset magnetic position signals in different directions include lateral magnetic position and vertical magnetic position. Based on the absolute displacement signal and the spatial domain signal, the preset magnetic position signals in different directions are constructed to obtain an equivalent geometric irregularity signal, including: The transverse magnetic position is constructed based on the absolute displacement signal and the spatial domain signal to obtain the transverse irregularity signal expression; The vertical magnetic position is constructed based on the absolute displacement signal and the spatial domain signal to obtain the vertical irregularity signal expression; An equivalent geometric irregularity signal is obtained by constructing the expression for the lateral irregularity signal and the expression for the vertical irregularity signal.

9. The method of claim 8, wherein the permanent magnet track irregularity is measured by a method comprising: The equivalent geometric irregularity signal is density-fitted according to a preset Fourier transform method to obtain the equivalent geometric irregularity fitting parameters of the permanent magnet track (2), including: Perform a Fourier transform on the expression of the transverse irregularity signal to obtain the transverse equivalent geometric irregularity power spectral density; Perform a Fourier transform on the vertical irregularity signal expression to obtain the vertical equivalent geometric irregularity power spectral density; Converting the lateral equivalent geometric irregularity power spectrum density and the vertical equivalent geometric irregularity power spectrum density based on a preset polynomial algorithm to obtain an equivalent geometric irregularity spatial domain power spectrum density fitting function; Fitting the equivalent geometric irregularity spatial domain power spectrum density fitting function according to a preset orthogonal distance regression method to obtain equivalent geometric irregularity fitting parameters of the permanent magnet track (2).

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