CN107284473B - Track detection system and method - Google Patents
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Abstract
The invention provides a track detection system and a method, wherein the detection system is applied to an operating train and comprises an image acquisition module, an inertia module, an encoder and a processing module; the image acquisition modules are arranged on two sides of a detection beam of the operating train and used for acquiring a steel rail section image; the inertia module is arranged in the center of the detection beam and used for measuring attitude parameter information of the detection beam relative to the steel rail when the operation train runs; the encoder is arranged on a wheel shaft of the operating train and used for obtaining displacement information of the operating train; the processing module is respectively in communication connection with the image acquisition module, the inertia module and the encoder, and is used for calculating and obtaining a track irregularity geometric parameter according to the steel rail section image, the attitude parameter information and the displacement information, and obtaining track maintenance information according to the track irregularity geometric parameter.
Description
Technical Field
The invention relates to the field of rail detection, in particular to a rail detection system and a rail detection method.
Background
The development of the rail detection technology is long, particularly, various advanced rail detection technologies are researched in succession in many developed countries such as Europe, America, Japan and the like since the last 70 th century, a new measurement principle is adopted, a rail inspection vehicle applying the modern high and new technology is developed, the detection precision and speed are improved, and the detection function is increased. In order to meet the requirements of line speed increasing and high-speed development, the further developed high-speed rail inspection vehicle plays an important role in improving the smoothness of the rail and ensuring the safety and comfort of train operation. After years of research and development, four kinds of detection equipment, namely GJ-3, GJ-4, GJ-5 and GJ-6, are developed by the foundation facility detection research institute of the China railway science research institute, represent the development level of rail detection technology in different periods of China, and more than fifty detection equipment of various types are matched in the whole road at present.
At present, the rail detection equipment in China is a GJ-6 type rail detection system which is independently researched and developed, a mode of combining hardware and software is adopted for signal processing, and the mode has a plurality of discrete components and relatively complex hardware composition and is not suitable for being installed on an operating motor train unit. The existing track detection system has a complex structure and is mainly represented as follows: 1. the device is more on-board and off-board, has large volume, needs to be arranged on a special detection vehicle, and can be only arranged on a high-speed comprehensive detection train motor train unit and a common rail detection vehicle. The high-speed comprehensive detection train motor train unit is expensive in manufacturing cost, an operation diagram is compiled and reported to a head office according to a line during each operation, and the train is often operated in a night skylight time of a high-speed railway line, so that detection personnel are easy to fatigue. The common rail inspection vehicle is an independent single unpowered carriage, needs to be mounted behind a passenger train of a corresponding inspection line, and can finish inspection work only by applying for a trailer plan to a head office dispatching department during each operation. 2. When the track detection system for analog signal transmission detects that a train passes through a phase separation point, the system is often interfered by train electricity to influence a detection data result. 3. The existing track detection system takes a vehicle body as an inertia reference, the structure determines that the sensor layout is dispersed, the system has more discrete hardware units and hardware signal processing units, the number of fault points is more, the reliability of the system is reduced, and the workload of system overhaul and maintenance is increased.
Disclosure of Invention
The invention aims to provide a track detection system and a track detection method which have the advantages of strong anti-electromagnetic interference capability, simple structure, small occupied space and convenience in use.
In order to achieve the above object, the track detection system provided by the present invention specifically comprises an image acquisition module, an inertia module, an encoder and a processing module; the image acquisition modules are arranged on two sides of a detection beam of the operating train and used for acquiring a steel rail section image; the inertia module is arranged in the center of the detection beam and used for measuring attitude parameter information of the detection beam relative to the steel rail when the operation train runs; the encoder is arranged on a wheel shaft of the operating train and used for obtaining displacement information of the operating train; the processing module is respectively in communication connection with the image acquisition module, the inertia module and the encoder, and is used for calculating and obtaining a track irregularity geometric parameter according to the steel rail section image, the attitude parameter information and the displacement information, and obtaining track maintenance information according to the track irregularity geometric parameter.
In the above track detection system, preferably, the image acquisition module includes a laser and a camera, and the laser is used for emitting laser to irradiate the cross section of the steel rail; the camera is used for shooting the rail section image under laser irradiation according to a preset frequency.
In the above orbit detection system, preferably, the inertial module includes a triaxial gyro and an accelerometer; the triaxial gyroscope is used for obtaining rolling angular acceleration, shaking angular acceleration and nodding angular acceleration; and the accelerometer obtains the transverse acceleration, the vertical acceleration and the longitudinal acceleration of the operating train according to the direction data.
In the above track detection system, preferably, the processing module includes a data processing unit and an image processing unit; the image processing unit is used for obtaining transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the steel rail section image; the data processing unit is used for obtaining the geometric parameters of the track irregularity according to the transverse and vertical unilateral displacement data on the two sides of the detection beam, the attitude parameter information of the detection beam relative to the steel rail and the displacement information of the operation train.
In the above track detection system, preferably, the processing module further includes a comparing unit, and the comparing unit is configured to compare the track irregularity geometric parameter with a preset maintenance threshold, and obtain track maintenance information in a predetermined maintenance guide according to a comparison result.
The invention also provides a track detection method, which is applied to an operating train and comprises the following steps: acquiring a steel rail section image, displacement information of an operating train and attitude parameter information of a detection beam relative to a steel rail when the operating train operates; acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the steel rail section image; acquiring the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train according to the attitude parameter information of the detection beam relative to the steel rail and the displacement information of the operating train when the operating train operates; and acquiring track irregularity geometric parameters according to the transverse displacement data and the vertical unilateral displacement data on the two sides of the detection beam and the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operation train, and acquiring track maintenance information according to the track irregularity geometric parameters.
In the above track detection method, preferably, the obtaining of the lateral displacement data and the vertical unilateral displacement data of both sides of the detection beam according to the rail section image includes: measuring the section of the steel rail in a laser camera mode to obtain a steel rail section image; obtaining the geometric parameters of the steel rail section by utilizing the relation among the global coordinate system, the camera coordinate system and the image coordinate system and the steel rail section image; and acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the geometric parameters of the steel rail section.
In the above track detection method, preferably, obtaining the geometric parameters of the track irregularity according to the lateral displacement data and the vertical unilateral displacement data of the two sides of the detection beam and the lateral acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operation train comprises: respectively calculating height data, rail direction data, rail distance data, horizontal data and triangular pit data of the operating train according to the transverse displacement data and the vertical unilateral displacement data on the two sides of the detection beam and the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train; and respectively comparing the height data, the track direction data, the track gauge data, the horizontal data and the triangular pit data with a preset threshold value, and obtaining the geometric parameters of the track irregularity according to the comparison result.
In the above track detection method, preferably, the calculating of the height data of the operating train according to the lateral displacement data and the vertical unilateral displacement data of both sides of the detection beam and the lateral acceleration, the vertical acceleration, the roll angular acceleration and the yaw angular acceleration of the operating train includes: and comparing the vertical unilateral displacement data of the two sides of the detection beam with the vertical acceleration respectively to obtain the height data of the two sides of the operation vehicle.
In the above track detection method, preferably, calculating the track direction data of the operating train according to the lateral displacement data and the vertical unilateral displacement data on both sides of the detection beam and the lateral acceleration, the vertical acceleration, the roll angular acceleration and the yaw angular acceleration of the operating train includes: and comparing the transverse displacement data of the two sides of the detection beam with the transverse acceleration respectively to obtain the rail direction data of the operation vehicle.
In the above track detection method, preferably, calculating the track direction data of the operating train according to the lateral displacement data and the vertical unilateral displacement data on both sides of the detection beam and the lateral acceleration, the vertical acceleration, the roll angular acceleration and the yaw angular acceleration of the operating train includes: taking the rolling angular velocity and the shaking angular acceleration as correction values of the transverse acceleration, and obtaining the inclination angle of the detection beam according to the correction values and the transverse acceleration; acquiring the inclination angle of the detection beam relative to the track through the vertical unilateral displacement data on the two sides of the detection beam; and acquiring the inclination angle of the track by using vector superposition according to the inclination angle of the detection beam and the inclination angle of the detection beam relative to the track, and acquiring the ultrahigh data of the operating vehicle according to the inclination angle of the track.
The track detection system and the method provided by the invention take the detection beam as an inertia reference, and establish a mathematical computation model to calculate the geometrical parameters of the track through real-time digital signal transmission, thereby having the characteristics of miniaturization, integration and digitization; the requirement on the vehicle is reduced, the installation range of the detection equipment is expanded, the detection equipment is installed on the operating vehicle, and the detection function is realized along with the operating vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a track detection system provided in the present invention;
FIG. 2A is a schematic flow chart of a track detection method according to the present invention;
FIG. 2B is a flowchart illustrating a track detection method according to a preferred embodiment of the present invention;
FIG. 3 is a flow chart illustrating high and low data processing according to a preferred embodiment of the present invention;
FIG. 4 is a flow chart illustrating the processing of the track data according to a preferred embodiment of the present invention;
FIG. 5 is a flow chart of the ultra-high data processing according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is described in further detail below with reference to the embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
Referring to fig. 1, the track detection system provided by the present invention specifically includes an image acquisition module 1, an inertia module 2, an encoder 3 and a processing module; the image acquisition module 1 is arranged on two sides of a detection beam of an operating train and used for acquiring a steel rail section image; the inertia module 2 is arranged in the center of the detection beam and used for measuring attitude parameter information of the detection beam relative to the steel rail when the operation train runs; the encoder 3 is arranged on a wheel axle of the operating train and used for obtaining displacement information of the operating train; the processing module is respectively in communication connection with the image acquisition module, the inertia module and the encoder, and is used for calculating and obtaining a track irregularity geometric parameter according to the steel rail section image, the attitude parameter information and the displacement information, and obtaining track maintenance information according to the track irregularity geometric parameter.
In the above embodiment, the image acquisition module 1 includes a laser and a camera, and the laser is used for emitting laser to irradiate the section of the steel rail; the camera is used for shooting the rail section image under laser irradiation according to a preset frequency. In actual work, the image acquisition module 1 can be composed of the whole laser camera shooting assembly, the laser camera shooting assembly is installed on the left side and the right side of the detection beam, laser emitted by a laser device irradiates the cross sections of the left steel rail and the right steel rail respectively, a high-speed camera shoots the cross section images of the steel rails according to a certain frequency, and the images are transmitted to an image processing computer through an optical fiber line or other communication modes for further processing. The inertial module comprises a triaxial gyroscope and an accelerometer; the triaxial gyroscope is used for obtaining rolling angular acceleration, shaking angular acceleration and nodding angular acceleration; the accelerometer obtains the transverse acceleration, the vertical acceleration and the longitudinal acceleration of the operating train according to the direction data; in actual work, in order to reduce the volume of the assembly as much as possible, an integrated inertia assembly CAN be adopted and is arranged in the middle of the detection beam, an xyz triaxial gyroscope and an accelerometer are integrated in the integrated assembly and used for measuring attitude parameters of the detection beam relative to the steel rail during movement and used as an inertia reference, and the inertia assembly CAN be directly input into a data processing computer through a digital signal transmission mode such as a digital CAN bus or a serial port 422/232/485.
In a preferred embodiment of the invention, the processing module comprises a data processing unit 4, i.e. a data processing computer and an image processing unit 5; the image processing unit, namely an image processing computer 5, is used for obtaining transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the steel rail section image; the data processing unit 4 is used for obtaining the geometric parameters of the track irregularity according to the transverse and vertical unilateral displacement data at the two sides of the detection beam, the attitude parameter information of the detection beam relative to the steel rail and the displacement information of the operation train. The image processing unit 5 is mainly used for processing the acquired rail section image, calculating to obtain the lateral and vertical unilateral displacement of the rail relative to the detection beam, and inputting the displacement into the data processing computer 4 in a digital signal transmission mode, wherein the data processing computer 4 collects displacement signals provided by the inertia device and the image processing unit 5 according to a certain frequency, and obtains the geometric parameters of the track irregularity through mathematical calculation and filtering compensation, such as: the track irregularity data waveform obtained by network transmission calculation can be displayed, and meanwhile, irregularity overrun data can be compared and stored in a database statistical report form and the like; certainly, for convenience of operation, the processing module provided in the present invention may further include a comparing unit, where the comparing unit is configured to compare the track irregularity geometric parameter with a preset maintenance threshold, and obtain track maintenance information in a predetermined maintenance guide according to a comparison result; in actual operation, railway workers can guide track maintenance and repair according to the comparison result and the detection result to ensure the running safety of the train, the preset maintenance threshold value can adopt dynamic detection and assessment of track geometric state (TB/T3355) and 2014 to provide the overrun attribute of each parameter, and report statistics is provided as reference according to information such as grade, numerical value, position and the like.
Referring to fig. 2A, the present invention further provides a track detection method, where the track detection method is applied to an operating train, and the track detection method includes: s101, acquiring a steel rail section image, displacement information of an operating train and attitude parameter information of a detection beam relative to a steel rail when the operating train operates; s102, acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the steel rail section image; s103, acquiring the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operation train according to the attitude parameter information of the detection beam relative to the steel rail and the displacement information of the operation train when the operation train operates; s104, acquiring track irregularity geometric parameters according to the transverse displacement data and the vertical unilateral displacement data on the two sides of the detection beam and the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operation train, and acquiring track maintenance information according to the track irregularity geometric parameters. In the step S102, the section of the steel rail is mainly measured in a laser camera shooting mode, and a steel rail section image is obtained; obtaining the geometric parameters of the steel rail section by utilizing the relation among the global coordinate system, the camera coordinate system and the image coordinate system and the steel rail section image; and acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the geometric parameters of the steel rail section. In particular, the global coordinate system (x)w,yw,zw): a three-dimensional space coordinate system arbitrarily defined by a user, which is generally a coordinate system considered by taking a measured object and a camera as a whole; the camera coordinate system (x)c,yc,zc): origin is the optical center of the camera, zcThe axis coincides with the optical axis of the camera, and the shooting direction is taken as the positive direction. x is the number ofc,ycThe axes are generally parallel to the X, Y axes of the image physical coordinate system; the image coordinate system is divided into an image pixel coordinate system and an image physical coordinate system, and the image pixel coordinate system and the image physical coordinate system are respectively as follows: image pixel coordinate system (u, v): and u and v respectively represent the column number and the row number of the pixel in the digital image by using a rectangular coordinate system with the upper left corner of the image as an origin and the pixel as a coordinate unit. Image physical coordinate system (X, Y): using the intersection point of the optical axis and the image plane as the origin point, and using milliA rectangular coordinate system in meters. Its X, Y axis is parallel to the u and v axes of the image pixel coordinate system, respectively; wherein the transformation of points in the global coordinate system to the camera coordinate system can be represented by an orthogonal rotation transformation matrix R and a translation transformation matrix T
In the above formula, r11…r33Is formed by a lateral inclination angle omega and a course inclination angle
A relation matrix composed of trigonometric functions of the rotation angle k; thereafter, the relationship between the image coordinate system and the camera coordinate system, the image physical coordinates and the image pixel coordinates may be described by the internal parameters of the camera; laser emitted by a laser irradiates a steel rail section, a camera shoots a section image, a physical coordinate is transformed to a corresponding image coordinate through three-level coordinate system transformation, required rail parameters are finally extracted through filtering, binaryzation, refinement and coordinate transformation, and finally, a position 16mm below the rail top surface is extracted as a unilateral transverse displacement component, and a position 1/3 of the rail top surface is extracted as a unilateral vertical displacement component.
In a preferred embodiment of the present invention, in step S104, height data, rail direction data, rail gauge data, horizontal data, and triangular pit data of the operating train are respectively calculated according to the lateral displacement data and the vertical single-sided displacement data on both sides of the detection beam and the lateral acceleration, the vertical acceleration, the roll angular acceleration, and the oscillation angular acceleration of the operating train; and respectively comparing the height data, the track direction data, the track gauge data, the horizontal data and the triangular pit data with a preset threshold value, and obtaining the geometric parameters of the track irregularity according to the comparison result.
In the above embodiment, the data processing may be implemented by software after being sampled by a computer, such as mathematical computation, compensation, filtering, image processing, etc., instead of the original data processing function implemented by hardware components, so as to greatly simplify the system structure, and the flow is shown in fig. 2B; the track detection method is briefly described by taking an equidistant sampling method as an example, firstly, pulse counting is carried out according to a pulse signal output by a photoelectric encoder arranged on a certain wheel shaft of an operating train, when the counting reaches a set value, a data processing computer generates sampling pulses, and data of all sensors at the moment are collected. Acquiring signals of the inertia assembly to obtain the transverse acceleration, the vertical acceleration, the rolling angular velocity and the shaking angular velocity of the detection beam at the sampling moment; the sampling pulse excitation image processing host machine collects images shot by the laser camera shooting assembly, and transverse displacement and vertical displacement of the detection beam relative to the steel rail are obtained after the images are collected and processed; by utilizing the 8 sensor signals, the height, the track direction, the track distance, the level, the triangular pits and the like of the geometric parameters of the track irregularity can be calculated through data processing such as mathematical calculation, signal filtering compensation and the like, and meanwhile, according to the track management standard and different grades, the overlimit judgment is carried out on the large value of the geometric parameters of the track irregularity, and the information of the irregularity type, the numerical value, the position and the like exceeding the limit value is provided. All the waveform data and the overrun judgment data can be transmitted and stored through a network, and the functions of data statistics, report printing and the like are achieved.
Referring to fig. 3, in the processing of the height data of the geometric irregularity parameters of the track, it is further required to perform synthetic calculation on the vertical unilateral displacement data on the two sides of the detection beam and the vertical acceleration respectively to obtain the height data on the two sides of the operating vehicle; specifically, the method comprises the steps of firstly carrying out filtering processing on vertical acceleration data installed in a middle inertia assembly of a detection beam, removing signal noise influence, eliminating acceleration generated in the vertical direction by movement in other directions to obtain a required frequency band signal, carrying out integral calculation on the vertical acceleration to obtain displacement, and carrying out parameter synthesis with vertical unilateral displacement data on two sides of the detection beam respectively according to a mathematical calculation method to obtain height data on two sides of an operation vehicle.
Referring to fig. 4, in the process of processing the track-oriented data of the geometric irregularity parameters of the track, the lateral displacement data of the two sides of the detection beam and the lateral acceleration are synthesized and calculated respectively to obtain the track-oriented data of the operating vehicle; specifically, firstly, filtering the transverse acceleration data installed in the middle inertia assembly of the detection beam, removing the influence of signal noise, eliminating the acceleration generated in the transverse direction by the motion in other directions to obtain a required frequency band signal, obtaining the displacement through integral calculation of the transverse acceleration, and then performing parameter synthesis with the transverse displacement data on the two sides of the detection beam respectively according to a mathematical calculation method to obtain the two-side lateral data of the operation vehicle.
Referring to fig. 5, during the processing of the ultra-high (horizontal) data of the track geometric irregularity parameters, the roll angular velocity and the pan angular acceleration are also used as correction amounts of the lateral acceleration, and the tilt angle of the detection beam is obtained according to the correction amounts and the lateral acceleration; acquiring the inclination angle of the detection beam relative to the track through the vertical unilateral displacement data on the two sides of the detection beam; acquiring the inclination angle of the track by using vector superposition according to the inclination angle of the detection beam and the inclination angle of the detection beam relative to the track, and acquiring the ultrahigh data of the operating vehicle according to the inclination angle of the track; specifically, firstly, signal processing is carried out on the transverse acceleration, the rolling gyro and the oscillating gyro, and the rolling gyro and the oscillating gyro are used as correction quantities of the transverse acceleration to be synthesized with the transverse acceleration to obtain the inclination angle of the detection beam when the vehicle moves. Meanwhile, the inclination angle of the detection beam relative to the track can be obtained through unilateral vertical displacement on two sides, the inclination angle of the detection beam and the inclination angle of the detection beam relative to the track are subjected to vector superposition to obtain the track inclination angle, and ultrahigh (horizontal) parameters can be calculated through the track inclination angle.
The track detection system and the method provided by the invention take the detection beam as an inertia reference, and establish a mathematical computation model to calculate the geometrical parameters of the track through real-time digital signal transmission, thereby having the characteristics of miniaturization, integration and digitization; the requirement on the vehicle is reduced, the installation range of the detection equipment is expanded, the detection equipment is installed on the operating vehicle, and the detection function is realized along with the operating vehicle.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A track detection system is characterized in that the detection system is arranged on an operating train and comprises an image acquisition module, an inertia module, an encoder and a processing module;
the image acquisition module comprises cameras, is arranged on two sides of a detection beam of the operating train and is used for acquiring a steel rail section image;
the inertia module is arranged in the center of the detection beam and used for measuring attitude parameter information of the detection beam relative to the steel rail when the operation train runs;
the encoder is arranged on a wheel shaft of the operating train and used for obtaining displacement information of the operating train;
the processing module is respectively in communication connection with the image acquisition module, the inertia module and the encoder and is used for calculating and obtaining track irregularity geometric parameters by taking the detection beam as an inertia reference according to the steel rail section image, the attitude parameter information and the displacement information and obtaining track maintenance information according to the track irregularity geometric parameters; obtaining the geometric parameters of the steel rail section by utilizing the relation among the global coordinate system, the camera coordinate system and the image coordinate system and the steel rail section image; acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the geometric parameters of the section of the steel rail;
the inertial module comprises a triaxial gyroscope and an accelerometer; the triaxial gyroscope is used for obtaining rolling angular acceleration, shaking angular acceleration and nodding angular acceleration; the accelerometer obtains the transverse acceleration, the vertical acceleration and the longitudinal acceleration of the operating train according to the direction data;
the processing module calculates and obtains track irregularity geometric parameters by taking a detection beam as an inertia reference according to the steel rail section image, the attitude parameter information and the displacement information, and obtains track maintenance information according to the track irregularity geometric parameters, wherein the track maintenance information comprises:
respectively calculating height data, rail direction data, rail distance data, horizontal data and triangular pit data of the operating train according to the transverse displacement data and the vertical unilateral displacement data on the two sides of the detection beam and the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train; respectively comparing the high-low data, the track direction data, the track gauge data, the horizontal data and the triangular pit data with a preset threshold value, and obtaining a track irregularity geometric parameter according to a comparison result;
the processing module further comprises a comparison unit, wherein the comparison unit is used for comparing the track irregularity geometric parameters with a preset maintenance threshold value and obtaining track maintenance information in a preset maintenance guide according to a comparison result.
2. The rail detection system of claim 1, wherein the image acquisition module comprises a laser and a camera, the laser being configured to emit laser light to irradiate the rail section; the camera is used for shooting the rail section image under laser irradiation according to a preset frequency.
3. The track detection system of claim 1, wherein the processing module comprises a data processing unit and an image processing unit; the image processing unit is used for obtaining transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the steel rail section image; the data processing unit is used for obtaining the geometric parameters of the track irregularity according to the transverse and vertical unilateral displacement data at the two sides of the detection beam, the attitude parameter information of the detection beam relative to the steel rail and the displacement information of the operation train.
4. A rail detection method is applied to an operating train, and the detection method comprises the following steps:
acquiring a steel rail section image, displacement information of an operating train and attitude parameter information of a detection beam relative to a steel rail when the operating train operates;
acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the steel rail section image;
acquiring the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train according to the attitude parameter information of the detection beam relative to the steel rail and the displacement information of the operating train when the operating train operates;
according to the transverse displacement data and the vertical unilateral displacement data on the two sides of the detection beam and the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operation train, the detection beam is used as an inertia reference to obtain track irregularity geometric parameters, and track maintenance information is obtained according to the track irregularity geometric parameters;
the method for acquiring the transverse displacement data and the vertical unilateral displacement data of the two sides of the detection beam according to the steel rail section image comprises the following steps: measuring the section of the steel rail in a laser camera mode to obtain a steel rail section image; obtaining the geometric parameters of the steel rail section by utilizing the relation among the global coordinate system, the camera coordinate system and the image coordinate system and the steel rail section image; acquiring transverse displacement data and vertical unilateral displacement data of two sides of the detection beam according to the geometric parameters of the section of the steel rail;
according to the lateral displacement data of the two sides of the detection beam and the vertical unilateral displacement data as well as the lateral acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operation train, the obtained track irregularity geometric parameters comprise:
respectively calculating height data, rail direction data, rail distance data, horizontal data and triangular pit data of the operating train according to the transverse displacement data and the vertical unilateral displacement data on the two sides of the detection beam and the transverse acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train;
respectively comparing the high-low data, the track direction data, the track gauge data, the horizontal data and the triangular pit data with a preset threshold value, and obtaining a track irregularity geometric parameter according to a comparison result;
and comparing the track irregularity geometric parameters with a preset maintenance threshold value, and obtaining track maintenance information in a preset maintenance guide according to the comparison result.
5. The rail detection method according to claim 4, wherein calculating the height data of the operating train according to the lateral displacement data and the vertical unilateral displacement data of the two sides of the detection beam and the lateral acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train comprises: and comparing the vertical unilateral displacement data of the two sides of the detection beam with the vertical acceleration respectively to obtain the height data of the two sides of the operation vehicle.
6. The rail detection method according to claim 4, wherein calculating the rail direction data of the operating train according to the lateral displacement data and the vertical unilateral displacement data of the two sides of the detection beam and the lateral acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train comprises: and comparing the transverse displacement data of the two sides of the detection beam with the transverse acceleration respectively to obtain the rail direction data of the operation vehicle.
7. The rail detection method according to claim 4, wherein calculating the rail direction data of the operating train according to the lateral displacement data and the vertical unilateral displacement data of the two sides of the detection beam and the lateral acceleration, the vertical acceleration, the rolling angular acceleration and the shaking angular acceleration of the operating train comprises: taking the rolling angular velocity and the shaking angular acceleration as correction values of the transverse acceleration, and obtaining the inclination angle of the detection beam according to the correction values and the transverse acceleration; acquiring the inclination angle of the detection beam relative to the track through the vertical unilateral displacement data on the two sides of the detection beam; and acquiring the inclination angle of the track by using vector superposition according to the inclination angle of the detection beam and the inclination angle of the detection beam relative to the track, and acquiring the ultrahigh data of the operating vehicle according to the inclination angle of the track.
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