CN101962925B - Method for efficiently measuring three-dimensional coordinates of track based on track precise control net - Google Patents
Method for efficiently measuring three-dimensional coordinates of track based on track precise control net Download PDFInfo
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Abstract
The invention belongs to a track parameter detection technology, and in particular relates to a method for efficiently measuring three-dimensional coordinates of a track based on a track precise control net, which comprises the steps of: setting a measuring interval on a track line, setting control pile points of the precise control net at two sides of the track line, installing an intelligent track detection vehicle and a track satellite vehicle on the track, wherein an operation frame of the intelligent track detection vehicle is provided with an automatic leveling platform and a total-station type electronic distance measuring device, and the track satellite vehicle is provided with a measuring prism; in each measuring interval, collimating the control pile points of the precise control net arranged at two sides of the track line by using an automatic collimating function of the total-station type electronic distance measuring device, statically intersecting and measuring three-dimensional coordinates of a measuring point of the total-station type electronic distance measuring device and coordinates of a starting point and an ending point of the track satellite vehicle in the measuring interval; and between the coordinates of the starting point and the ending point of the track satellite vehicle, tracking and measuring the track satellite vehicle by using the total-station type electronic distance measuring device and dynamically tracking the three-dimensional coordinates of the track line. The invention realizes measuring point option, eliminates a track control blind region, and has high operation efficiency by adopting a static intersection and dynamic tracking and measuring manner.
Description
Technical field
The present invention relates to the orbit parameter detection technique, be meant a kind of track three-dimensional coordinate high-efficiency measurement method especially based on the accurate control net of track.
Background technology
Along with the extensive Line for Passenger Transportation construction of China and put into effect, train running speed is fast, and safety, stationarity, punctuality require high, must carry out high-quality maintenance and maintenance, just can guarantee the security of operation and the quality of Line for Passenger Transportation.The maintenance pattern that this need set up tighter operation or work standard, renewal is equipped with high-precision accurate measurement control net, research full geometric parameter precise detection technology of track and equipment.
At foster this focal issue of repairing of raising speed railway, carried out in the prior art absolute geodetic coordinates the existing line track support repair in the research of application, on raising speed railway electric power contact net along the line bar, inlay the observation pile beacon, determine the three-dimensional coordinate of circuit, adopt the accurate positioning track of coordinate method geometric position.The expense that is characterized in is low, precision is high, especially adopts directly to measure flat distance and the discrepancy in elevation of rail to the observation stake, can grasp the three-dimensional coordinate of controlled circuit dynamic change simply and easily.Set up flat, the vertical face optimal design application system of unified circuit completely, use least square fitting linear equation and curve element to carry out real-time optimization to the circuit three-dimensional coordinate and handle, track present situation and service data are provided in real time.Accordingly, build at the accurate control of tracks such as Beijing-Shanghai, Shanghai elder brother's line net at present and have scale, on the electric power bar of the 55 meters spacings in both sides, road along the line all cloth survey control stake point stake (a CP III) arranged.The control point absolute precision of this kind autonomous Design, construction is the full accuracy that can reach at present, and its prism forces the centering function more effectively to guarantee to implement the precision of intersection measurement.
The pattern that the accurate control of prior art middle orbit is generally adopted is to set up the total powerstation matching track to check that dolly carries out orbit coordinate and gauge, superelevation is measured in the road heart or position, curb control point.This kind measurement pattern all is to set up total powerstation observation dolly prism on the circuit or on the curb to determine circuit coordinate, to survey crew technical requirements height, and measure dolly and all adopt the fixed point static measurement, operating efficiency can only reach about 200m/h, and per hour there are big distance in the operating efficiency of tens measuring points and on-the-spot practical application request.
Summary of the invention
The objective of the invention is according to above-mentioned the deficiencies in the prior art part, a kind of track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track is provided, design an intelligent track inspection vehicle, inspection vehicle is provided with fine adjustment stage, by fine adjustment stage and automatic tuning platform, on inspection vehicle, set up total powerstation, total powerstation is sighted the orbiter car that measuring prism is installed in the place ahead, control stake point based on the accurate control net of track, adopt static intersection, the dynamic tracking measurement pattern, the high density high efficiency is gathered the circuit three-dimensional coordinate, gauge, level data such as (superelevation) line data of going forward side by side is handled, and forms the related data form.
Purpose of the present invention realizes being finished by following technical scheme:
A kind of track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track, track circuit is provided with between measurement zone, be provided with accurate control network control system stake point along the track circuit both sides, installation and operation sets up intelligent track inspection vehicle and the orbiter car that measuring prism is installed of automatic tuning platform and total powerstation in orbit; In between each measurement zone, that utilizes total powerstation sights function automatically, sight the precision control network control system stake point that is provided with along the track circuit both sides, static intersection measurement goes out total powerstation survey station point three-dimensional coordinate and the described orbiter car start, end coordinate between measurement zone; Between the coordinate of the start, end of described orbiter car,, dynamically follow the tracks of and detect the track circuit three-dimensional coordinate by total powerstation tracking measurement orbiter car.
The detailed process of above-mentioned measuring method is as follows:
1) installation and operation sets up intelligent track inspection vehicle and the orbiter car that measuring prism is installed of automatic tuning platform and total powerstation in orbit;
2) between a measurement zone, that utilizes total powerstation sights function automatically, sights the precision control network control system stake point that both sides, road along the line are provided with, total powerstation survey station point three-dimensional coordinate in static intersection measurement goes out between this measurement zone;
3) the static intersection measurement of intelligent track inspection vehicle goes out the starting point coordinate of track satellite car between this measurement zone;
4) orbiter car forward impelling between this measurement zone in this process, by total powerstation automatic tracing and measuring orbiter car, adopts dynamic tracking measurement pattern high-density acquisition track circuit three-dimensional coordinate;
5) orbiter car forward impelling is stopped behind terminal point between measurement zone, and the static intersection measurement of intelligent track inspection vehicle goes out the terminal point coordinate of track satellite car between this measurement zone;
6) be loaded with the intelligent track inspection vehicle forward impelling of total powerstation, still adopt the tracking measurement pattern to make the total powerstation aiming measure the orbiter car, arrive near the position of satellite car and stop, automatically extrapolate near the precision control network control system stake point of this survey station point, utilize these control stake points, static intersection measurement goes out the location point three-dimensional coordinate that described intelligent track inspection vehicle stops, as the total powerstation survey station point three-dimensional coordinate between next measurement zone;
7) repeating step 3 is to step 6, and the terminal point between the above measurement zone of orbiter car is the starting point between this measurement zone, forward impelling, and the realization track circuit is measured completely;
8) after measurement is finished,, obtain track circuit high density high-precision three-dimensional coordinate completely with measured survey data regression fit.
Above-mentioned measurement is carried out in orbit continuously; During by total powerstation tracking measurement orbiter car, track three-dimensional coordinate point position is selected arbitrarily.
Ultimate range between above-mentioned intelligent track inspection vehicle and the orbiter car can reach 250 meters.
This method is when measuring the track three-dimensional coordinate, and described intelligent track inspection vehicle synchro measure is gathered the gauge and the superelevation data message of described track.
Advantage of the present invention is, the inventive method has realized that measuring point is optional, eliminated track control blind area, and the high accuracy that intersection is measured utilizes the regression fit technology can make the overall precision of track control be greatly improved again.In addition, adopt static intersection, dynamic tracking measurement pattern, the operating efficiency height, the 5-6 that can reach prior art product operating efficiency of the same type doubly satisfies high-efficiency high-accuracy and measures demand.
The specific embodiment
By the following examples feature of the present invention and other correlated characteristic are described in further detail, so that technician's of the same trade understanding:
The inventive method is based on a kind of track three-dimensional coordinate high-efficiency measurement method of the accurate control net of track.In the accurate control net of existing track, comprise track plan control net (CPI, CP II), second-class, level vertical control networks such as five and track control net (CP III) etc., accurate control network control system stake point is set along the track circuit both sides in the track control net (CP III).The inventive method principle is to utilize track control net (CP III) that flat, the vertical face of existing line is carried out present situation and measure generation existing line plane coordinates and height above rail surface basic data.That develops can precisely measure the simple laser special tool of CP III point (containing rail pile) to the flat distance of rail level and the discrepancy in elevation, by measuring the CP III point (containing rail pile) that has accurate coordinates and the flat distance and the discrepancy in elevation of circuit rail level, calculate the accurate orbit coordinate that just can obtain through program with respect to CP III control point.
In the present embodiment, CPIII is netted the control point be embedded on the track electric power contact net bar or on the barricade, about the about 50m of control point spacing, guaranteed the firm stable of some position.The CPIII survey mark adopts screw rod and nut type external member; all adopt stainless steel to make; electric power contact net bar along the line is imbedded in the boring of nut external member; bridge and tunnel be laid on the retaining quarrel wall or cable trench along on the top; field, station, part station is laid in the inboard of high platform, and field by using white nylon cap carries out the protection of nut external member.Adopt special tool to unload white nylon cap during use, screw in screw rod and socket prism and get final product, the control point bit number adopts corresponding bar number.The just corresponding orbit coordinate in CP III control point that adopts simple laser equipment to measure.The intelligent track inspection vehicle that development, construction orbit is sighted observation CP III control point and the continuous measuring point of track automatically, obtains track three-dimensional coordinate and gauge, superelevation data.
In order to improve the certainty of measurement of circuit coordinate, and improve the measurement efficient of detector as much as possible, the inventive method adopts static intersection, the dynamic tracking measurement pattern, on the intelligent track inspection vehicle, set up total powerstation, that utilizes total powerstation sights function automatically, sight the precision control network control system stake point (CPIII) that both sides, road along the line are provided with, static intersection measurement goes out the survey station three-dimensional coordinate and the accurately measuring track satellite car rises, terminal point coordinate, adopt dynamic tracking measurement pattern high-density acquisition circuit gauge between two static intersection measuring points, level data such as (superelevation) are carried out data and are handled and form the related data form.
In the present embodiment, track circuit is provided with between a plurality of measurement zones, installation and operation sets up an intelligent track inspection vehicle of automatic tuning platform and total powerstation in orbit, has and sights function automatically, and its performance measurement effect separately that do not influence is shirked in assembling easily.Intelligent track inspection vehicle the place ahead is equipped with measuring prism on the orbiter car that orbits equally.In between each measurement zone, that utilizes total powerstation sights function automatically, sights the precision control network control system stake point that is provided with along the track circuit both sides, and static intersection measurement goes out total powerstation survey station point three-dimensional coordinate and the orbiter car start, end coordinate between measurement zone; Between the coordinate of the start, end of orbiter car,, dynamically follow the tracks of high density and detect the track circuit three-dimensional coordinate by total powerstation tracking measurement orbiter car.
During concrete enforcement, between a measurement zone, that utilizes total powerstation sights function automatically, sights the precision control network control system stake point that both sides, road along the line are provided with, total powerstation survey station point three-dimensional coordinate in static intersection measurement goes out between this measurement zone.Subsequently, the static intersection measurement of intelligent track inspection vehicle goes out the starting point coordinate of track satellite car between this measurement zone.Then, the orbiter car along the track forward impelling, in this process, is sighted tracking measurement orbiter car by total powerstation between this measurement zone automatically, adopts dynamic tracking measurement pattern high-density acquisition track circuit three-dimensional coordinate.At this moment and since total powerstation sight tracking automatically, orbiter car moving continuously between measurement zone, track three-dimensional coordinate point position can be realized any selection.
Orbiter car forward impelling is stopped behind terminal point between measurement zone, and the static intersection measurement of intelligent track inspection vehicle goes out the terminal point coordinate of track satellite car between this measurement zone.At this moment, the intelligent track inspection vehicle that is loaded with total powerstation begins forward impelling, still adopt the tracking measurement pattern to make the total powerstation aiming measure the orbiter car, arrive near the position of satellite car and stop, automatically extrapolate near the precision control network control system stake point of this survey station point, utilize these control stake points, static intersection measurement goes out total powerstation survey station point three-dimensional coordinate this moment, as the total powerstation survey station point three-dimensional coordinate between next measurement zone.
Between next measurement zone, repeat above-mentioned concrete implementation step, the terminal point between the above measurement zone of orbiter car is the starting point between this measurement zone, forward impelling, the realization track circuit is measured completely.After measurement is finished,, obtain track circuit high density high-precision three-dimensional coordinate completely with measured survey data regression fit.Data handling system is carried out data acquisition, the A/D conversion, and data analysis, storage, and form the line related data sheet.
In addition, the intelligent track inspection vehicle also comprises the track geometry status measuring system, promptly pass through gauge and the longitudinal and transverse inclination angle and the mileage of displacement transducer, dynamic double-shaft tilt angle sensor and rotary encoder accurately measuring track, and generate gauge difference, level variation, superelevation numerical value and circuit mileage.
In the measurement, the setting when between a plurality of measurement zones is continuous, then measure and carry out continuously in orbit, and because total powerstation tracking measurement orbiter car, track three-dimensional coordinate point position can be realized any selection.
Guaranteeing that the ultimate range in the present embodiment between intelligent track inspection vehicle and the orbiter car can reach 250 meters under the certainty of measurement situation.
In the present embodiment, the intelligent track inspection vehicle need provide the total station survey platform, in the measuring process, each measurement is built a station and is all required the intelligent track inspection vehicle to provide reliable measuring table for total powerstation when being total powerstation collection CPIII point coordinates, therefore must have fast automatic levelling function, build a station the time with shortening, improve and measure efficient.In addition, the intelligent track inspection vehicle is the acquisition trajectory parameter accurately, in the process of advancing automatically the continuous acquisition orbit geometry parameter comprise gauge, the discrepancy in elevation, rail to etc. and corresponding with mileage, the data of collection must be accurately and reliably, handling for the data in later stage provides the accurate orbit initial data.The intelligent track inspection vehicle also provides data communication interface and power supply etc., information via single-chip microcomputers such as track geometry status parameter that detector is gathered and mileage handle the back by Bluetooth transmission to handbook, can the immediate observation data cases, when exceeding standard, sends numerical value caution sound.Vehicle-mounted rechargeable battery provides power supply for whole system simultaneously, requires continuous operation to be not less than 8 hours.
It should be noted that during measurement to go to before on-the-spot the detection in computer design data (horizontal curve, vertical curve, superelevation) checked and be input in the software systems after errorless.After reaching the spot the control point is checked, guaranteed that control point data (plane coordinates and elevation) are correct, check whether the control point is damaged.Need 3 above CPIII control points during the free intersection of total powerstation between each measurement zone, to guarantee the linear accuracy of detection of track.Carry out correct measurement setting, elevation and plan-position are benchmark with curb side rail.Track detection car all will be calibrated the superelevation sensor before measuring operation at every turn.After measurement was finished, reply track geometry data were exported, and further handled, and output report is optionally exported orbital position, gauge, level, rail to (long wave and shortwave), geometric parameters such as (long wave and shortwave), height above rail surface just.All parameters all get form output with design data, measured data and deviate.
The advantage of the inventive method is, adopt the optional pattern of measuring point, eliminated track control blind area, and adopted intersection and regression fit technology can make the overall precision of track control reach a new height, specially needs are measured, checked to accurate measurement, accurate adjustment and existing railway in operation to satisfy the visitor fully.Detector adopts the high density data acquisition method, and the storage data volume is big, and the measuring point data of circuit arbitrfary point spacing can be provided according to user's needs.The detector data processing software has compatibility, can have the total powerstation of sighting function automatically by compatible many moneys.Adopt static intersection, dynamic tracking measurement pattern, the operating efficiency height, be ad eundem product operating efficiency 5-6 doubly, reach 1.2km/h.
Claims (5)
1. track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track, track circuit is provided with between measurement zone, be provided with accurate control network control system stake point along the track circuit both sides, it is characterized in that installation and operation in orbit sets up intelligent track inspection vehicle and the orbiter car that measuring prism is installed of automatic tuning platform and total powerstation; In between each measurement zone, that utilizes total powerstation sights function automatically, sight the precision control network control system stake point that is provided with along the track circuit both sides, static intersection measurement goes out total powerstation survey station point three-dimensional coordinate and the described orbiter car start, end coordinate between measurement zone; Between the coordinate of the start, end of described orbiter car, by total powerstation tracking measurement orbiter car, dynamically to follow the tracks of and detect the track circuit three-dimensional coordinate, measuring process is as follows:
(1) installation and operation sets up intelligent track inspection vehicle and the orbiter car that measuring prism is installed of automatic tuning platform and total powerstation in orbit;
(2) between a measurement zone, that utilizes total powerstation sights function automatically, sights the precision control network control system stake point that both sides, road along the line are provided with, total powerstation survey station point three-dimensional coordinate in static intersection measurement goes out between this measurement zone;
(3) the static intersection measurement of intelligent track inspection vehicle goes out the starting point coordinate of track satellite car between this measurement zone;
(4) orbiter car forward impelling between this measurement zone in this process, by total powerstation automatic tracing and measuring orbiter car, adopts dynamic tracking measurement pattern high-density acquisition track circuit three-dimensional coordinate;
(5) orbiter car forward impelling is stopped behind terminal point between measurement zone, and the static intersection measurement of intelligent track inspection vehicle goes out the terminal point coordinate of track satellite car between this measurement zone;
(6) be loaded with the intelligent track inspection vehicle forward impelling of total powerstation, still adopt the tracking measurement pattern to make the total powerstation aiming measure the orbiter car, arrive near the position of satellite car and stop, automatically extrapolate near the precision control network control system stake point of this survey station point, utilize these control stake points, static intersection measurement goes out the location point three-dimensional coordinate that described intelligent track inspection vehicle stops, as the total powerstation survey station point three-dimensional coordinate between next measurement zone;
(7) repeating step 3 is to step 6, and the terminal point between the above measurement zone of orbiter car is the starting point between this measurement zone, forward impelling, and the realization track circuit is measured completely;
(8) after measurement is finished,, obtain track circuit high density high-precision three-dimensional coordinate completely with measured survey data regression fit.
2. a kind of track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track as claimed in claim 1 is characterized in that described measurement carries out in orbit continuously.
3. a kind of track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track as claimed in claim 1, when it is characterized in that by total powerstation tracking measurement orbiter car, track three-dimensional coordinate point position is selected arbitrarily.
4. a kind of track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track as claimed in claim 1 is characterized in that the ultimate range between described intelligent track inspection vehicle and the orbiter car can reach 250 meters.
5. a kind of track three-dimensional coordinate high-efficiency measurement method based on the accurate control net of track as claimed in claim 1 is characterized in that described intelligent track inspection vehicle synchro measure is gathered the gauge and the superelevation data message of described track when measuring the track three-dimensional coordinate.
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