CN103061219B - Method and device for automatically checking fastening states of railway fasteners and spring fasteners - Google Patents
Method and device for automatically checking fastening states of railway fasteners and spring fasteners Download PDFInfo
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- CN103061219B CN103061219B CN201310012873.XA CN201310012873A CN103061219B CN 103061219 B CN103061219 B CN 103061219B CN 201310012873 A CN201310012873 A CN 201310012873A CN 103061219 B CN103061219 B CN 103061219B
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Abstract
The invention relates to a method and a device for automatically checking fastening states of railway fasteners and spring fasteners. The method includes steps of acquiring positioning data of the railway fasteners, acquiring fastening state judgment data of the spring fasteners, combining the positioning data of the railway fasteners and the fastening state judgment data of the spring fasteners to complete checking the fastening states of the railway fasteners and the spring fasteners. The device comprises a railway bogie, a linear structure laser sensor, a photoelectric coder, a GPS (global positioning system) receiver, a synchronous control circuit, an embedded computer and a power source device, wherein the linear structure laser sensor, the photoelectric coder, the GPS receiver, the synchronous control circuit, the embedded computer and the power source device are arranged on the railway bogie. The method and the device for automatically checking the fastening states of the railway fasteners and the spring fasteners have the advantages that accurate positioning of the railway fasteners can be realized, completeness in checking of the railway fasteners and the spring fasteners is realized, the fastening states of the railway fasteners and the spring fasteners can be automatically checked, detail information of the railway fasteners can be recorded, and alarm for the fastening states of the railway fasteners and the spring fasteners is realized.
Description
Technical field
The invention belongs to Instrument Science and Technology field, relate to a kind of method of checking railway spring-fastener tightening state and relevant device, particularly a kind of railway spring-fastener tightening state based on multiple-sensor integration technology and Laser Measuring microtechnology carries out method and the device of self-verifying.
Background technology
Rail clip system is the critical component of track structure, primarily of compositions such as bolt, nut, plain washer, spring, collets, iron chair, insulated buffer plate, railway rail pad, anchor bolt, heavy-duty spring packing ring, Flat gaskets.The states such as fastener inefficacy main manifestations is fastener disappearance, spring ruptures, fastening bolt loosens, spring elastic break-down.The basic function of rail clip system comprises: keep gauge, prevent rail creeping, increase rigidity of track panel, provide elasticity, provide track insulation, ensures that track circuit normally works and adjusts location of rail.Fastener lost efficacy and will change elasticity and the rigidity of rail, changed track gauge, smooth degree, improved Train Dynamic derailment coefficients.
The states such as fastener inefficacy main manifestations is fastener disappearance, spring ruptures, fastening bolt loosens, spring elastic break-down.Wherein fastener disappearance and spring fracture are easy to artificial discovery, and existing rail polling train possesses this audit function.Fastening bolt loosens that to cause spring tightening state lax be the modal disease of fastener system, and the probability of generation is very high.Wherein, fastener disappearance and spring fracture are manually very easy to find, and existing rail polling train all possesses this audit function.And fastening bolt loosens that to cause spring tightening state lax be the modal fault of fastener system, the probability of generation is higher and not easily find.
At present, the investigation of Railway Bureau's track division contacting piece spring tightening state adopts the mode of manual detection substantially.Testing staff, using clearance gauge as testing tool, checks the state of rail clip one by one.The shortcoming of this detection mode is:
1) labour intensity intensity is large; Fastener position is lower, and manually must bend over to bend, physical demands is larger; Each fastener adopts artificial clearance gauge to detect, and testing staff is easily tired, and the precision detecting data is difficult to ensure;
2) Detection task amount is large; According to railway rule, every kilometer of selective examination 50 continuously, for the wide high ferro of force 1087 kilometers, annual selective examination quantity is 1087 × 2 × 50=108700, according to 100/people/hour calculating, needs 1087 people hour;
3) spot-check detection and cannot ensure safety; Every kilometer of sampling rate spot-check 50 is continuously on the low side, and according to construction criteria, every kilometer of 1667 sleepers, each sleeper 4 overlaps rail clip, totally 6668 fasteners, and selective examination sampling rate is 50/6668=0.75%, can not represent the state of whole rail clip.
Therefore, improve the sampling rate of fastener inspection, efficiency and accuracy, traditional hand inspection mode must can not be completed task.
Particularly as the inspection of line and the maintenance of high-speed railway and city underground, can only carry out at night, visual fatigue, undetected false drop rate are high, operating environment is severe, the limited time of track examination and maintenance.Therefore, existing manual detection mode can not complete the detection of fastening elastic rod tightening state quickly and accurately.
In use, truck-mounted computer has been mainly used in record and the analysis of track and fastener image to traditional vehicular orbital image inspection tour system, judges whether fastener is intact, whether spring fractures and displacement etc., and can not detect the tightening state of fastening elastic rod; Again, in use, the location of contacting piece combines mainly through odometer and track circuit transponder data traditional vehicular orbital image inspection tour system, and positioning precision is generally 5-15 rice, can not navigate to concrete sleeper; Finally, traditional vehicular orbital image inspection tour system, need adopt natural lighting or high-power lamp illumination, make gather image be subject to sunshine serious interference or system power dissipation excessive, the reliability of database preparation is difficult to ensure, greatly reduces efficiency and the accuracy of track inspection.
In today that track traffic is day by day flourishing, the mode of traditional hand inspection fastening elastic rod tightening state cannot meet the needs of track management, particularly to high-speed railway and city underground, therefore in the urgent need to one can fast, efficiently, rail clip spring tightening state automatic inspection system accurately.
Summary of the invention
The technical problem to be solved in the present invention is to provide one and accurately can locates railway spring-fastener, and to the method that the tightening state of the railway spring-fastener of location checks.
Corresponding therewith, another technical matters that will solve of the present invention is to provide one can obtain the pinpoint data of railway spring-fastener, and to the device that the railway spring-fastener tightening state of location checks.
With regard to the method that railway spring-fastener tightening state checks, railway spring-fastener tightening state automatic check method disclosed by the invention, the method comprises the following steps:
Step one: the locator data obtaining rail fastener;
Step 2: the judgement data obtaining elastic bar fastener tightening state; Comprise following step:
Steps A: gather complete rail fastener three-dimensional space data;
Step B: be separated rail fastener three-dimensional space data, identify, extracts the three-dimensional space data of rail fastener all parts, sets up the three-dimensional model of rail fastener;
Step C: on the basis of rail fastener three-dimensional model, the gap size of analytical calculation spring and backing plate, insulcrete, and in conjunction with railway coherence check rule, judge whether elastic bar fastener tightening state satisfies the demands, the judgement data of acquisition elastic bar fastener tightening state;
Step 3: rail fastener locator data is combined with the judgement data of elastic bar fastener tightening state, completes the inspection of railway spring-fastener tightening state.
Preferably, the rail fastener locator data obtained in described step one comprises the absolute location coordinates of rail fastener, linear reference coordinate and sleeper numbering, wherein:
(1) GPS location obtains the absolute location coordinates of rail fastener;
(2) reference rail dolly reference position obtains small rail car linear reference coordinate;
(3) to rail fastener counting, according to sleeper coding rule in railway line, the sleeper in conjunction with initial position is numbered, and calculates that current sleeper is numbered, positions the fastener of sleeper, obtains the sleeper numbering of rail fastener.
Preferably, described steps A adopts linear structural laser sensor to carry out the collection of rail fastener three-dimensional space data, comprises the following steps:
Step a: in the single profile data that line structure laser sensor exports, by arranging rail fastener detection zone, determine whether that the laser spots of rail fastener is distributed in detection zone; If had, using the alternate data that this section detects as rail fastener;
Step b: multiple for continuous print rail fastener is detected alternate data and combine the alternative three-dimensional space data of formation rail fastener, analyze the longitudinal length of alternate data; If meet the length of actual rail fastener, be judged as a complete rail fastener three-dimensional space data.
Again preferably, described detection zone is rectangular area.
Preferably, described method also comprises step 4: the raw data of all rail fasteners and the data after processing preserved in record.
In method disclosed by the invention, three kinds of locator meams: GPS location, reference location and sleeper numbering location are employed to the location of rail fastener, and obtain the absolute location coordinates of rail fastener, linear reference coordinate and sleeper numbering, make each rail clip be checked through have three locator datas, thus achieve the accurate location of rail fastener; Complete rail fastener three-dimensional space data due to what gather in the present invention, and establish the three-dimensional model of rail fastener, therefore accurately can obtain the judgement data of railway spring-fastener tightening state, thus achieve the self-verifying of the railway spring-fastener tightening state to location.
With regard to the device that railway spring-fastener tightening state checks, railway spring-fastener tightening state self-verifying dolly disclosed by the invention, is characterized in that: comprise small rail car, linear structural laser sensor, photoelectric encoder, GPS, synchronization control circuit, embedded computer and supply unit;
Wherein, small rail car comprises crossbeam, left longeron, right vertical beam and wheel; Described left longeron is connected with the left and right two ends of crossbeam respectively with the center of right vertical beam; At least 4 described wheels are arranged at the two ends, bottom of left longeron and right vertical beam respectively;
Described linear structural laser sensor has 4, i.e. First Line structure laser sensor, the second linear structural laser sensor, three wire configuration laser sensor and the 4th linear structural laser sensor; Described linear structural laser sensor is for obtaining rail fastener three-dimensional space data;
Described photoelectric encoder for obtaining the distance travelled of small rail car and travelling speed, thus obtains the linear reference coordinate of small rail car;
Described GPS comprises antenna and receiver; Described GPS is for obtaining the absolute location coordinates of rail fastener;
The signal that described synchronization control circuit inputs for the treatment of GPS and photoelectric encoder, and according to the data output pulse signal control line structure laser sensor image data after process;
Described embedded computer is used for the rail fastener three-dimensional space data that acceptance line structure laser sensor collects, and through data processing, obtains the judgement data of railway spring-fastener tightening state;
Its annexation is: the crossbeam of described small rail car is across on the rail of both sides; Described First Line structure laser sensor and the second linear structural laser sensor are symmetricly set in the inside and outside both sides of left longeron center and are positioned at above the rail rail fastener of left side; Three wire configuration laser sensor and the 4th linear structural laser sensor are symmetricly set in the inside and outside both sides of right vertical beam center and are positioned at above the rail rail fastener of right side; Described photoelectric encoder is arranged on the central shaft of small rail car wheel; The antenna of described GPS is arranged on the crossbeam of small rail car, receiver is arranged in synchronization control circuit; Described synchronization control circuit, embedded computer and supply unit are arranged in the crossbeam of small rail car successively.
Preferably, described supply unit comprises lithium ion battery and power supply and becomes and send and control module; The direct supply that lithium ion battery produces, becomes through power supply and send and after control module, be transported to synchronization control circuit and embedded computer respectively; Synchronization control circuit provides power supply to photoelectric encoder, GPS.
Again preferably, described photoelectric encoder also can be rotary encoder.
Preferably, described dolly also comprises the hand-pushing handle be arranged on crossbeam, and is arranged on touch display and the acoustic-optic alarm of hand-pushing handle end; Synchronization control circuit provides power supply to touch display and acoustic-optic alarm; The judgement data of railway spring-fastener tightening state are transferred to touch display with embedded computer and acoustic-optic alarm carries out showing and reporting to the police.
Preferably, described embedded computer is also for recording the data after the raw data of preserving all rail fasteners and process, these data comprise synchronization control circuit and are sent to the absolute location coordinates of the small rail car of embedded computer, distance travelled and travelling speed, the rail fastener three-dimensional space data that linear structural laser sensor obtains, and the judgement data of the railway spring-fastener tightening state of embedded computer acquisition.
Adopt the equipment of said structure, the present invention:
(1) the accurate location of rail fastener is achieved;
(2) integrity checking of railway spring-fastener is achieved;
(3) the automatic detection of railway spring-fastener tightening state is achieved;
(4) establish the three-dimensional model of rail fastener, have recorded the details of rail fastener;
(5) warning of railway spring-fastener tightening state is achieved.
Detailed content of the present invention obtains by explanation described later and institute's accompanying drawing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the operating diagram of supply unit of the present invention;
In figure, 1-small rail car, 2-First Line structure laser sensor, 3-second linear structural laser sensor, 4-three wire configuration laser sensor, 5-the 4th linear structural laser sensor, 6-photoelectric encoder, 7-GPS receiver, 8-synchronization control circuit, 9-embedded computer, 10-supply unit, 11-touch display, 12-acoustic-optic alarm, 13-hand-pushing handle.
Embodiment
Be further described the specific embodiment of the present invention below in conjunction with drawings and Examples, following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
Railway spring-fastener tightening state automatic check method of the present invention comprises the following steps:
Step one: the locator data obtaining rail fastener; Described rail fastener locator data comprises the absolute location coordinates of rail fastener, linear reference coordinate and sleeper numbering, wherein:
(1) GPS location obtains the absolute location coordinates of rail fastener;
(2) reference rail dolly reference position obtains small rail car linear reference coordinate;
(3) to rail fastener counting, according to sleeper coding rule in railway line, the sleeper in conjunction with initial position is numbered, and calculates that current sleeper is numbered, positions the fastener of sleeper, obtains the sleeper numbering of rail fastener;
Step 2: the judgement data obtaining elastic bar fastener tightening state; Comprise following step:
Steps A: gather complete rail fastener three-dimensional space data; Rail fastener three-dimensional space data complete in this step adopts linear structural laser sensor to carry out, and comprises the following steps:
Step a: in the single profile data that line structure laser sensor exports, by arranging rail fastener detection zone, determine whether that the laser spots of rail fastener is distributed in detection zone; If had, using the alternate data that this section detects as rail fastener; Described detection zone is preferably rectangular area;
Step b: multiple for continuous print rail fastener is detected alternate data and combine the alternative three-dimensional space data of formation rail fastener, analyze the longitudinal length of alternate data; If meet the length of actual rail fastener, be judged as a complete rail fastener three-dimensional space data;
Step B: be separated rail fastener three-dimensional space data, identify, extracts the three-dimensional space data of rail fastener all parts, sets up the three-dimensional model of rail fastener;
Step C: on the basis of rail fastener three-dimensional model, the gap size of analytical calculation spring and backing plate, insulcrete, and in conjunction with railway coherence check rule, judge whether elastic bar fastener tightening state satisfies the demands, the judgement data of acquisition elastic bar fastener tightening state;
Step 3: rail fastener locator data is combined with the judgement data of elastic bar fastener tightening state, completes the inspection of railway spring-fastener tightening state.
Preferably also step 4 is comprised: the raw data of all rail fasteners and the data after processing preserved in record as this method.
As shown in Figure 1, railway spring-fastener tightening state self-verifying dolly of the present invention, comprises small rail car 1, linear structural laser sensor, photoelectric encoder 6, GPS 7, synchronization control circuit 8, embedded computer 9 and supply unit 10;
Wherein, small rail car 1 comprises crossbeam, left longeron, right vertical beam and wheel; Described left longeron is connected with the left and right two ends of crossbeam respectively with the center of right vertical beam; At least 4 described wheels are arranged at the two ends, bottom of left longeron and right vertical beam respectively;
Described linear structural laser sensor has 4, i.e. First Line structure laser sensor 2, second linear structural laser sensor 3, three wire configuration laser sensor 4 and the 4th linear structural laser sensor 5; Described linear structural laser sensor is for obtaining rail fastener three-dimensional space data;
Described photoelectric encoder 6 for obtaining the distance travelled of small rail car 1 and travelling speed, thus obtains the linear reference coordinate of small rail car 1;
Described GPS 7 comprises antenna and receiver; Described GPS 7 is for obtaining the absolute location coordinates of rail fastener;
The signal that described synchronization control circuit 8 inputs for the treatment of GPS 7 and photoelectric encoder 6, and according to the data output pulse signal control line structure laser sensor image data after process;
The rail fastener three-dimensional space data that described embedded computer 9 collects for acceptance line structure laser sensor, through data processing, obtains the judgement data of railway spring-fastener tightening state;
Its annexation is: the crossbeam of described small rail car 1 is across on the rail of both sides; Described First Line structure laser sensor 2 and the second linear structural laser sensor 3 are symmetricly set in the inside and outside both sides of left longeron center and are positioned at above the rail rail fastener of left side; Three wire configuration laser sensor 4 and the 4th linear structural laser sensor 5 are symmetricly set in the inside and outside both sides of right vertical beam center and are positioned at above the rail rail fastener of right side; Described photoelectric encoder 6 is arranged on the central shaft of small rail car 1 wheel; The antenna of described GPS 7 is arranged on the crossbeam of small rail car 1, receiver is arranged in synchronization control circuit 8; Described synchronization control circuit 8, embedded computer 9 and supply unit 10 are arranged in the crossbeam of small rail car 1 successively.
As shown in Figure 2, described supply unit 10 comprises lithium ion battery and power supply and becomes and send and control module; The direct supply that lithium ion battery produces, becomes through power supply and send and after control module, be transported to synchronization control circuit 8 and embedded computer 9 respectively; Synchronization control circuit 8 provides power supply to photoelectric encoder 6, GPS 7.
Wherein, described photoelectric encoder 6 also can be rotary encoder.
Again as shown in Figure 1, described railway spring-fastener tightening state self-verifying dolly also comprises the hand-pushing handle 13 be arranged on crossbeam, and is arranged on touch display 11 and the acoustic-optic alarm 12 of hand-pushing handle 13 end; Synchronization control circuit 8 provides power supply to touch display 11 and acoustic-optic alarm 12; The judgement data of railway spring-fastener tightening state are transferred to touch display 11 with embedded computer 9 and acoustic-optic alarm 12 carries out showing and reporting to the police.
Wherein, described embedded computer 9 is also for recording the data after the raw data of preserving all rail fasteners and process, these data comprise synchronization control circuit 8 and are sent to the absolute location coordinates of the small rail car 1 of embedded computer 9, distance travelled and travelling speed, the rail fastener three-dimensional space data that linear structural laser sensor obtains, and the judgement data of the railway spring-fastener tightening state of embedded computer 9 acquisition.
The above is only preferred embodiments of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. railway spring-fastener tightening state automatic check method, the method comprises the following steps:
Step one: the locator data obtaining rail fastener;
Step 2: the judgement data obtaining elastic bar fastener tightening state; Comprise following step:
Steps A: adopt linear structural laser sensor to gather complete rail fastener three-dimensional space data, it comprises following step a and step b:
Step a: in the single profile data that line structure laser sensor exports, by arranging rail fastener detection zone, determine whether that the laser spots of rail fastener is distributed in detection zone; If had, using the alternate data that this section detects as rail fastener;
Step b: multiple for continuous print rail fastener is detected alternate data and combine the alternative three-dimensional space data of formation rail fastener, analyze the longitudinal length of alternate data; If meet the length of actual rail fastener, be judged as a complete rail fastener three-dimensional space data;
Step B: be separated rail fastener three-dimensional space data, identify, extracts the three-dimensional space data of rail fastener all parts, sets up the three-dimensional model of rail fastener;
Step C: on the basis of rail fastener three-dimensional model, the gap size of analytical calculation spring and backing plate, insulcrete, and in conjunction with railway coherence check rule, judge whether elastic bar fastener tightening state satisfies the demands, the judgement data of acquisition elastic bar fastener tightening state;
Step 3: rail fastener locator data is combined with the judgement data of elastic bar fastener tightening state, completes the inspection of railway spring-fastener tightening state.
2. railway spring-fastener tightening state automatic check method according to claim 1, is characterized in that: the rail fastener locator data obtained in described step one comprises the absolute location coordinates of rail fastener, linear reference coordinate and sleeper numbering, wherein:
(1) GPS location obtains the absolute location coordinates of rail fastener;
(2) reference rail dolly reference position obtains small rail car linear reference coordinate;
(3) to rail fastener counting, according to sleeper coding rule in railway line, the sleeper in conjunction with initial position is numbered, and calculates that current sleeper is numbered, positions the fastener of sleeper, obtains the sleeper numbering of rail fastener.
3. railway spring-fastener tightening state automatic check method according to claim 1, is characterized in that: described detection zone is rectangular area.
4. railway spring-fastener tightening state automatic check method according to claim 1, is characterized in that: described method also comprises step 4: the raw data of all rail fasteners and the data after processing preserved in record.
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| CN201310012873.XA CN103061219B (en) | 2013-01-14 | 2013-01-14 | Method and device for automatically checking fastening states of railway fasteners and spring fasteners |
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| CN201310012873.XA CN103061219B (en) | 2013-01-14 | 2013-01-14 | Method and device for automatically checking fastening states of railway fasteners and spring fasteners |
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| CN104359921B (en) * | 2014-11-20 | 2016-11-23 | 中南大学 | A kind of fastener based on structure light disappearance detection method and device thereof |
| CN105716848B (en) * | 2016-02-04 | 2018-12-25 | 北京交通大学 | A kind of measuring device for rail fastener screw spike and rubber mat plate |
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| CN107421445A (en) * | 2017-07-12 | 2017-12-01 | 武汉理工大学 | A kind of device and method for detecting the elastic state of rail fastener |
| CN107299569B (en) * | 2017-08-15 | 2019-03-05 | 武汉汉宁轨道交通技术有限公司 | Rail fastener measurement method and device |
| CN108596968B (en) * | 2018-04-02 | 2022-04-19 | 成都精工华耀科技有限公司 | Sleeper counting method based on track 3D depth image |
| CN110567397B (en) * | 2018-06-05 | 2021-07-27 | 成都精工华耀科技有限公司 | Fastener spring tongue separation detection method |
| CN108867211A (en) * | 2018-07-06 | 2018-11-23 | 中国铁建高新装备股份有限公司 | A kind of high-precision railway spike position detecting device and method |
| CN109631779A (en) * | 2018-11-09 | 2019-04-16 | 四川国软科技发展有限责任公司 | A kind of detection method and system that the superstructure loosening based on 3D rendering processing falls off |
| CN110044281A (en) * | 2019-05-23 | 2019-07-23 | 安徽赛安安全设备有限责任公司 | Devices and methods therefor for the detection of fastener elasticity |
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| CN110481594B (en) * | 2019-09-21 | 2024-07-12 | 武汉拓帆轨道交通科技有限公司 | Rail fastener overhauling equipment and overhauling method thereof |
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