CN109532937B - Vehicle-mounted subway limit detection method and detection system thereof - Google Patents
Vehicle-mounted subway limit detection method and detection system thereof Download PDFInfo
- Publication number
- CN109532937B CN109532937B CN201811386614.2A CN201811386614A CN109532937B CN 109532937 B CN109532937 B CN 109532937B CN 201811386614 A CN201811386614 A CN 201811386614A CN 109532937 B CN109532937 B CN 109532937B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- bogie
- displacement sensor
- offset
- stay wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/02—Profile gauges, e.g. loading gauges
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a vehicle-mounted subway limit detection method and a detection system thereof, belonging to the technical field of rail traffic.A dynamic offset of a wheel relative to a rail plane, an offset of a bogie system relative to a wheel pair and an offset of a vehicle body relative to a bogie are accurately measured under the actual operation working condition of a vehicle, the offsets of a primary spring and a secondary spring are calculated by a displacement and inclination superposition algorithm, the displacement and the inclination offset are used as parameters, a vehicle limit coordinate value in the same coordinate system is calculated, and a vehicle limit contour line is output under a reference coordinate system, so that the vehicle dynamic limit detection based on actual measurement offset data is realized without simulation and emulation; and vehicle-mounted detection can be realized, which is superior to the static limit in the limit standard, and the detection of the dynamic limit of the vehicle is more accurate.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a vehicle-mounted subway limit detection method and a vehicle-mounted subway limit detection system.
Background
The existing vehicle clearance detection mainly takes static clearance detection as a main part, and most of the detection methods adopt methods of sticking an external hanging device on the outer side of a vehicle body, checking whether the external equipment touches or not and simulating, and the detection method adopting the static clearance detection has the defect of low precision.
Based on the defects, the invention name is as follows in the patent number 201310102261. X: the detection method disclosed in the detection method and the detection device for the vehicle clearance comprises the following steps: 11) defining a reference coordinate system; 12) carrying out laser emission scanning on the external contour of the vehicle cross section to obtain coordinate values of detection points on the external contour in the vehicle cross section; 13) and drawing the external contour of the vehicle in the running state according to the coordinate values, wherein a fixed limit detection device for scanning the external contour of the vehicle by using a laser detector is mainly used, and the cost is high.
Under patent number 201410720189.1, the name of the invention is: a detection method disclosed in a vehicle clearance detection method and system is characterized in that when a vehicle is placed at a specific position under a simulated actual road condition, the displacement and the train inclination angle of each detection point of a train are detected, the displacement and the inclination angle are used as parameters, and the coordinate values of the detection points in the same coordinate system are calculated, so that the dynamic clearance detection of the train on a test line can be realized, a computer does not need to perform simulation experiments, the obtained data is more real and reliable, but the defects of complex structure, large volume and inaccurate simulated working condition data mainly exist.
In patent No. 201611121503.X, the name of the invention is: a limit detection device disclosed in a rail vehicle limit detection device and a detection method comprises a gantry frame and a movable frame for mounting a limit gauge; the movable frame can be driven by the driving device to reciprocate along the height direction of the gantry frame, a self-coupling mechanism for locking the movable frame at the top of the gantry frame and a reset element for releasing the locking are arranged between the top of the gantry frame and the movable frame, the gantry frame and a limit gauge are applied to detect a limit, and the defects of complex structure, large volume and low detection precision exist.
Under patent number 201720170036.3, the name of the invention is: a detection device disclosed in a scanning type rail transit vehicle clearance detection device can ensure that each point on a vehicle contour is covered by arranging a plurality of laser contour detectors on a rack, thereby ensuring the accuracy of dynamic contour detection, having a complex structure and a large volume, and simultaneously detecting a fixed position.
In summary, the present domestic vehicle dynamic offset detection method mainly aims at the vehicle body part, and has fewer dynamic offset detection methods and detection systems for the vehicle body part, and in the vehicle dynamic clearance, the offset of the vehicle body part has very important influence on the vehicle clearance.
Disclosure of Invention
In view of the above, in order to solve the above problems in the prior art, the invention provides a vehicle-mounted subway limit detection method and a detection system thereof, which are a set of high-speed train dynamic limit offset tracking detection method and a detection system based on displacement and inclination angle accurate detection technology.
The technical scheme adopted by the invention is as follows: a vehicle-mounted subway limit detection method comprises the following steps:
(1) defining a reference coordinate system: the reference coordinate system is used for defining the vehicle limit position coordinates of the vehicle detection section and drawing a dynamic limit outline;
(2) detecting an offset: respectively detecting the dynamic offset of a wheel set of a vehicle relative to a track plane, the offset of a bogie relative to the wheel set, the offset of the bogie relative to a vehicle body and the offset of the vehicle body;
(3) detecting the direction of the dip angle: detecting the inclination angle directions of the vehicle body and the bogie;
(4) obtaining a vehicle limit contour line: and calculating the dynamic limit coordinate value of the vehicle in the same coordinate system, and outputting the limit contour line of the vehicle under the established reference coordinate system.
Further, the reference coordinate system in the step (1) is a two-dimensional rectangular plane coordinate system perpendicular to the plane of the rail, the abscissa of the two-dimensional rectangular plane coordinate system is the X axis and is tangent to the top plane of the rail, the ordinate is the Y axis and is perpendicular to the top plane of the rail, and the origin is the center point of the rail gauge.
Further, the vehicle body offset in the step (2) adopts the following detection method:
a1) installing a first laser phase scanner on the vehicle head and scanning the top plane of the track;
a2) calibrating the first laser phase scanner under a static condition, and establishing a first coordinate system;
a3) and in the dynamic running process of the vehicle body, the vehicle body offset is obtained through coordinate data obtained by the first laser phase scanner.
Further, the following detection method is adopted for the offset of the bogie relative to the vehicle body in the step (2):
b1) a first stay wire displacement sensor and a second stay wire displacement sensor are respectively arranged on the trolley body;
b2) the stay wire measuring end of the first stay wire displacement sensor is connected to the bogie, and the measuring direction of the stay wire measuring end is vertical to the top plane of the track; the stay wire measuring end of the second stay wire displacement sensor is connected to the bogie, and the measuring direction of the stay wire measuring end is parallel to the top plane of the track;
b3) the first stay wire displacement sensor measures the vertical offset of the bogie relative to the vehicle body, and the second stay wire displacement sensor measures the transverse offset of the bogie relative to the vehicle body.
Further, the offset of the bogie relative to the wheel set in the step (2) adopts the following detection method:
c1) a third stay wire displacement sensor and a laser displacement sensor are arranged on the bogie;
c2) the bracing wire measuring end of the third bracing wire displacement sensor is connected to the wheel pair, and the measuring direction of the bracing wire measuring end is vertical to the top plane of the track; the installation direction of the laser displacement sensor is the horizontal direction;
c3) the third stay wire displacement sensor measures the vertical offset of the bogie relative to the wheel set, and the laser displacement sensor measures the transverse offset of the bogie relative to the wheel set.
Further, in the step (2), an indirect measurement method is adopted to measure the dynamic offset of the wheel pair relative to the plane of the track, and the indirect measurement method comprises the following specific steps:
d1) mounting a second laser phase scanner on the bogie to measure the lateral offset L of the bogie relative to the plane of the trackbrtAnd the vertical offset L of the bogie relative to the rail surfacebrv；
d2) Acquiring transverse offset L of bogie relative to wheel set through laser displacement sensorbwtAnd acquiring the vertical offset L of the bogie relative to the wheel set through a third stay wire displacement sensorbwv；
d3) The transverse displacement L of the wheelset relative to the rail plane is indirectly detected by the offset of the bogie relative to the rail plane and the wheelsetwrtVertical displacement L of the wheel set relative to the plane of the railwrvThe derivation formula is shown as follows:
Lwrt＝Lbrt-Lbwt
Lwrv＝Lbrv-Lbwv。
further, the specific steps of the step (3) are as follows:
3.1) a first inclination angle sensor and a second inclination angle sensor which are parallel to the advancing direction of the vehicle body are respectively arranged on the bogie and the vehicle body;
and 3.2) respectively measuring the horizontal inclination angles of the bogie and the vehicle body through the first inclination angle sensor and the second inclination angle sensor so as to measure the inclination direction of the vehicle.
Further, in the step (4), the processor performs signal processing and calculation, and finally outputs a specific offset value and a limit coordinate value, and outputs a vehicle limit contour line under the established reference coordinate system.
A vehicle-mounted subway limit detection system comprises a track and a vehicle body running on the track, wherein the vehicle body comprises a vehicle body, a bogie for bearing the vehicle body and a wheel pair assembled on the bogie, and a first laser phase scanner is mounted on the head of the vehicle body; the vehicle body is respectively provided with a first stay wire displacement sensor and a second stay wire displacement sensor, and the stay wire measuring ends of the first stay wire displacement sensor and the second stay wire displacement sensor are connected to the bogie; a third stay wire displacement sensor and a laser displacement sensor are arranged on the bogie, and the stay wire measuring end of the third stay wire displacement sensor is connected to the wheel pair; the middle part of the bogie is provided with a second laser phase scanner; a first inclination angle sensor and a second inclination angle sensor which are parallel to the advancing direction of the vehicle body are respectively arranged on the bogie and the vehicle body; the first laser phase scanner, the first stay wire displacement sensor, the second stay wire displacement sensor, the third stay wire displacement sensor, the laser displacement sensor, the second laser phase scanner, the first inclination angle sensor and the second inclination angle sensor are all electrically connected with the processor.
Furthermore, the measuring directions of the first stay wire displacement sensor and the second stay wire displacement sensor are respectively perpendicular to and parallel to the plane of the track, and the measuring direction of the third stay wire displacement sensor is perpendicular to the plane of the track.
The invention has the beneficial effects that:
1. by adopting the vehicle-mounted subway clearance detection method provided by the invention, the dynamic clearance detection of the vehicle based on the actually measured deviation data is realized without simulation and emulation by respectively detecting the dynamic deviation of the wheel set of the vehicle relative to the rail plane, the deviation of the bogie relative to the wheel set, the deviation of the bogie relative to the vehicle body and the deviation of the vehicle body, and detecting the inclination angle directions of the vehicle body and the bogie to compensate; and vehicle-mounted detection can be realized, which is superior to the static limit in the limit standard, and the detection of the dynamic limit of the vehicle is more accurate.
2. The vehicle-mounted subway clearance detection method provided by the invention not only can accurately measure the offset of the outline of the vehicle body in motion relative to the plane of the track, but also can accurately measure the dynamic offset of the bogie and the wheel pair in motion, and provides a detection method of the displacement of the lower part of the vehicle, thereby providing a research basis and a method for clearance research.
Drawings
FIG. 1 is a flow chart of the work of the method for detecting the boundary of the vehicle-mounted subway provided by the invention;
FIG. 2 is a schematic diagram of solving the vehicle body offset in the vehicle-mounted subway limit detection method provided by the invention;
FIG. 3 is a schematic view of the installation of a first laser phase scanner in the vehicle-mounted subway limit detection system provided by the invention;
FIG. 4 is a schematic view of the installation front view of the lower detection of the vehicle in the vehicle-mounted subway limit detection system provided by the present invention;
FIG. 5 is a schematic view of the side view of the installation of the vehicle lower detection in the vehicle-mounted subway limit detection system provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that the indication of the orientation or the positional relationship is based on the orientation or the positional relationship shown in the drawings, or the orientation or the positional relationship which is usually placed when the product of the present invention is used, or the orientation or the positional relationship which is usually understood by those skilled in the art, or the orientation or the positional relationship which is usually placed when the product of the present invention is used, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, cannot be understood as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, in this embodiment, a vehicle-mounted subway limit detection method is disclosed, which includes the following steps:
(1) defining a reference coordinate system: the reference coordinate system is used for defining the vehicle limit position coordinates of the vehicle detection section and drawing a dynamic limit outline; setting the reference coordinate system as a two-dimensional plane rectangular coordinate system vertical to the track plane 1, wherein the abscissa of the two-dimensional plane rectangular coordinate system is an X axis and is tangent to the top plane of the track, the ordinate of the two-dimensional plane rectangular coordinate system is a Y axis and is vertical to the top plane of the track, and the origin of the two-dimensional plane rectangular coordinate system is a track gauge central point; the track is applied to vehicles running on the track.
(2) Detecting an offset: respectively detecting the dynamic offset of a wheel set 3 of the vehicle relative to a track plane 1, the offset of a bogie 4 relative to the wheel set 3, the offset of the bogie 4 relative to a vehicle body and the offset of the vehicle body;
wherein: a. the vehicle body offset adopts the following detection method:
a1) a first laser phase scanner 17 is arranged on the locomotive and scans the top plane of the rail and the top plane of the rail, and the first laser phase scanner 17 is used for measuring the transverse and vertical displacement of the vehicle body 10 relative to the rail plane 1;
a2) before data acquisition of the vehicle body offset, the first laser phase scanner 17 needs to be calibrated under a static condition, and a first coordinate system is established;
a3) the data of each point of the vehicle body 10 under the dynamic condition is referred to by a reference coordinate system, and the vehicle body offset is obtained through coordinate data obtained by the first laser phase scanner 17 in the dynamic running process of the vehicle body 10.
As shown in fig. 2, α and L respectively represent a deflection angle and an offset distance of a mounting point of the first laser phase scanner 17 with respect to a rail distance center point, an origin O of a coordinate axis is a mounting center point of the first laser phase scanner 17 after calibration is performed statically, and an origin O1 of the coordinate axis is a mounting center point of the first laser phase scanner 17 in the current posture; the deflection angle α can be calculated from the coordinate point data of the first laser scanner, after α is solved, the magnitude of L can be solved according to a trigonometric function, and then the vehicle body offset and the vehicle attitude are solved, in fig. 2, α is an included angle between a track center line 14 and a vehicle center line 15, the vehicle dynamic limit is denoted by reference numeral 13, and the vehicle contour line is denoted by reference numeral 16.
b. The following detection method is adopted for the amount of deviation of the bogie 4 relative to the vehicle body:
b1) a first stay wire displacement sensor 5 and a second stay wire displacement sensor 6 are respectively arranged on the vehicle body 10;
b2) the bracing wire measuring end of the first bracing wire displacement sensor 5 is connected to the bogie 4, the measuring direction of the bracing wire measuring end is vertical to the top plane of the track, namely parallel to the axial direction of the secondary spring, and when the vehicle body 10 generates vertical displacement relative to the bogie 4, the first bracing wire displacement sensor 5 can measure vertical offset in real time; the stay wire measuring end of the second stay wire displacement sensor 6 is connected to the bogie 4, the measuring direction of the stay wire measuring end is parallel to the top plane of the track, namely, the measuring direction is vertical to the circumferential line direction of the secondary spring, and when the vehicle body 10 generates transverse displacement relative to the bogie 4, the second stay wire displacement sensor 6 can measure the transverse offset in real time;
b3) the first wire displacement sensor 5 measures the vertical offset of the bogie 4 relative to the vehicle body 10 and the second wire displacement sensor 6 measures the lateral offset of the bogie 4 relative to the vehicle body 10.
c. The following detection method is adopted for the offset of the wheel set 3 relative to the bogie 4:
c1) a third stay wire displacement sensor 7 and a laser displacement sensor 8 are arranged on the bogie 4;
c2) the bracing wire measuring end of the third bracing wire displacement sensor 7 is connected to the wheel pair 3 (the bracing wire measuring end is fixed on the bearing seat of the wheel pair 3 to measure the displacement of the wheel pair 3 relative to the bogie 4), and the measuring direction of the bracing wire measuring end is vertical to the top plane of the track, namely parallel to the axial direction of a series of springs; the installation direction of the laser displacement sensor 8 is the horizontal direction, namely the direction parallel to the track plane 1, and the laser displacement sensor is used for measuring the transverse displacement of the wheel set 3 relative to the vehicle body 10;
c3) the third stay wire displacement sensor 7 measures the vertical offset of the wheel set 3 relative to the bogie 4, and the laser displacement sensor measures the lateral offset of the wheel set 3 relative to the bogie 4.
d. Since the measurement of the offset of the wheelset 3 relative to the rail plane 1 is relatively complicated, and the wheelset 3 is in direct contact with the rail and the wheelset 3 is in motion, the measurement of the offset of the wheelset 3 relative to the rail plane is relatively complicated, in this embodiment, the dynamic offset of the wheelset 3 relative to the rail plane 1 is measured by using an indirect measurement method, which specifically includes the following steps:
d1) the second laser phase scanner 9 is arranged on the bogie 4 to measure the transverse offset Lbrt of the bogie 4 relative to the track plane 1 and the vertical offset L of the bogie 4 relative to the track planebrv；
d2) The transverse offset L of the bogie 4 relative to the wheel set 3 is obtained through the laser displacement sensor 8bwtAnd the vertical offset L of the bogie 4 relative to the wheel set 3 is obtained through a third stay wire displacement sensor 7bwv；
d3) The transverse displacement L of the wheelset 3 relative to the rail plane 1 is indirectly detected by the offset of the bogie 4 relative to the rail plane 1 and of the bogie 4 relative to the wheelset 3wrtThe vertical displacement L of the wheel set 3 relative to the rail plane 1wrvThe derivation formula is shown as follows:
Lwrt＝Lbrt-Lbwt
Lwrv＝Lbrv-Lbwv。
(3) detecting the direction of the dip angle: detecting the inclination angle directions of the vehicle body 10 and the bogie 4; the method comprises the following specific steps:
3.1) a first inclination angle sensor 12 and a second inclination angle sensor 11 which are parallel to the advancing direction of the vehicle body 10 are respectively arranged on the bogie 4 and the vehicle body 10;
and 3.2) measuring the horizontal inclination angles of the bogie 4 and the vehicle body 10 through the first inclination angle sensor 12 and the second inclination angle sensor 11 respectively, measuring the inclination direction of the vehicle, and calculating the offset on the primary spring and the secondary spring through a displacement and inclination angle superposition algorithm.
In the vehicle clearance calculation, the deviation of the vehicle body 10 is related to the direction of the generated inclination angle, different calculation methods and calculation formulas are provided according to the condition that the deviation of the vehicle body 10 is the same as or opposite to the direction of the generated inclination angle, therefore, the inclination angles of the bogie 4 and the vehicle body 10 are measured by the first inclination angle sensor 12 and the second inclination angle sensor 11 respectively while the deviation is detected, and the transverse and vertical relative displacement of the primary spring and the transverse and vertical relative displacement of the secondary spring are compensated. A first inclination sensor 12 and a second inclination sensor 11 are mounted at the horizontal positions of the bogie 4 and the vehicle body 10, respectively, in parallel with the advancing direction of the vehicle, and measure the horizontal inclination angle of the bogie 4 and the vehicle body 10, respectively, and the vehicle inclination direction.
(4) Obtaining a vehicle limit contour line: calculating the dynamic limit coordinate value of the vehicle in the same coordinate system, outputting the limit contour line of the vehicle under the established reference coordinate system, in the step, the processor receives the signals of the first laser phase scanner 17, the first stay wire displacement sensor 5, the second stay wire displacement sensor 6, the third stay wire displacement sensor 7, the laser displacement sensor 8, the second laser phase scanner 9, the first tilt angle sensor 12 and the second tilt angle sensor 11 in real time, to obtain the signals detected by each detection position, and to process and calculate the signals, and finally to output the specific offset value and limit coordinate value, and outputting the vehicle clearance contour line under the established reference coordinate system, and calculating the vehicle clearance coordinate value in the same coordinate system by taking the measured displacement offset and inclination offset as parameters, so that the detection of the actual dynamic clearance of the vehicle can be realized.
In the present embodiment, the adopted vehicle-mounted subway limit detection method can be applied to a vehicle-mounted subway limit detection system, as shown in fig. 3-5, the vehicle-mounted subway limit detection system comprises a track and a vehicle body 2 capable of running on the track, wherein the vehicle body 2 comprises a vehicle body 10, a bogie 4 for carrying the vehicle body 10 and a wheel pair 3 assembled on the bogie 4.
In order to realize offset detection of each position, a first laser phase scanner 17 is arranged on the head of the vehicle body 10; the vehicle body 10 is respectively provided with a first stay wire displacement sensor 5 and a second stay wire displacement sensor 6, the stay wire measuring ends of the first stay wire displacement sensor 5 and the second stay wire displacement sensor 6 are both connected to the bogie 4, and the measuring directions of the first stay wire displacement sensor 5 and the second stay wire displacement sensor 6 are respectively vertical to and parallel to the plane of the track;
a third stay wire displacement sensor 7 and a laser displacement sensor 8 are arranged on the bogie 4, the stay wire measuring end of the third stay wire displacement sensor 7 is connected to the wheel pair 3, and the measuring direction of the third stay wire displacement sensor 7 is vertical to the plane of the track; the laser displacement sensor 8 and the third stay wire displacement sensor 7 are respectively used for measuring the transverse offset and the vertical offset of the bogie 4 relative to the wheel pair 3.
A second laser phase scanner 9 is arranged in the middle of the bogie 4; a first inclination angle sensor 12 and a second inclination angle sensor 11 which are parallel to the advancing direction of the vehicle body 10 are respectively arranged on the bogie 4 and the vehicle body 10; the first tilt sensor 12 and the second tilt sensor 11 measure the horizontal tilt angle of the bogie 4 and the vehicle body 10, respectively.
The device further comprises a processor, wherein the first laser phase scanner 17, the first stay wire displacement sensor 5, the second stay wire displacement sensor 6, the third stay wire displacement sensor 7, the laser displacement sensor 8, the second laser phase scanner 9, the first inclination angle sensor 12 and the second inclination angle sensor 11 are electrically connected with the processor.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (9)
1. A vehicle-mounted subway limit detection method is characterized by comprising the following steps:
(1) defining a reference coordinate system: the reference coordinate system is used for defining the vehicle limit position coordinates of the vehicle detection section and drawing a dynamic limit outline;
(2) detecting an offset: respectively detecting the dynamic offset of a wheel set of a vehicle relative to a track plane, the offset of a bogie relative to the wheel set, the offset of the bogie relative to a vehicle body and the offset of the vehicle body;
(3) detecting the direction of the dip angle: detecting the inclination angle directions of the vehicle body and the bogie;
(4) obtaining a vehicle limit contour line: calculating a vehicle dynamic limit coordinate value in the same coordinate system, and outputting a vehicle limit contour line under the established reference coordinate system;
wherein, the following detection method is adopted for the offset of the bogie relative to the vehicle body in the step (2):
b1) a first stay wire displacement sensor and a second stay wire displacement sensor are respectively arranged on the trolley body;
b2) the stay wire measuring end of the first stay wire displacement sensor is connected to the bogie, and the measuring direction of the stay wire measuring end is vertical to the top plane of the track; the stay wire measuring end of the second stay wire displacement sensor is connected to the bogie, and the measuring direction of the stay wire measuring end is parallel to the top plane of the track;
b3) the first stay wire displacement sensor measures the vertical offset of the bogie relative to the vehicle body, and the second stay wire displacement sensor measures the transverse offset of the bogie relative to the vehicle body.
2. A vehicle-mounted subway limit detection method as claimed in claim 1, wherein said reference coordinate system in step (1) is a two-dimensional rectangular plane perpendicular to the plane of the rail, the abscissa of said two-dimensional rectangular plane is X-axis and tangent to the top plane of the rail, the ordinate is Y-axis and perpendicular to the top plane of the rail, and the origin is the center point of the gauge.
3. The vehicle-mounted subway clearance detection method according to claim 1, wherein the vehicle body offset in the step (2) adopts the following detection method:
a1) installing a first laser phase scanner on the vehicle head and scanning the top plane of the track;
a2) calibrating the first laser phase scanner under a static condition, and establishing a first coordinate system;
a3) and in the dynamic running process of the vehicle body, the vehicle body offset is obtained through coordinate data obtained by the first laser phase scanner.
4. The vehicle-mounted subway clearance detection method as claimed in claim 1, wherein the offset of the bogie relative to the wheel set in step (2) adopts the following detection method:
c1) a third stay wire displacement sensor and a laser displacement sensor are arranged on the bogie;
c2) the bracing wire measuring end of the third bracing wire displacement sensor is connected to the wheel pair, and the measuring direction of the bracing wire measuring end is vertical to the top plane of the track; the installation direction of the laser displacement sensor is the horizontal direction;
c3) the third stay wire displacement sensor measures the vertical offset of the bogie relative to the wheel set, and the laser displacement sensor measures the transverse offset of the bogie relative to the wheel set.
5. The vehicle-mounted subway clearance detection method as claimed in claim 4, wherein in said step (2), an indirect measurement method is adopted to measure the dynamic offset of the wheel pair relative to the plane of the rail, and the indirect measurement method comprises the following specific steps:
d1) mounting a second laser phase scanner on the bogie to measure the transverse offset Lbrt of the bogie relative to the rail plane and the vertical offset Lbrv of the bogie relative to the rail plane;
d2) the transverse offset Lbtwt of the bogie relative to the wheel pair is obtained through the laser displacement sensor, and the vertical offset Lbwv of the bogie relative to the wheel pair is obtained through the third stay wire displacement sensor;
d3) the transverse displacement Lwrt of the wheel set relative to the plane of the track is indirectly detected by the offset of the bogie relative to the plane of the track and the bogie relative to the wheel set, and the vertical displacement Lwrv of the wheel set relative to the plane of the track is derived by the following formula:
Lwrt＝Lbrt-Lbwt
Lwrv＝Lbrv-Lbwv。
6. the vehicle-mounted subway clearance detection method according to claim 1, wherein said step (3) comprises the following steps:
3.1) a first inclination angle sensor and a second inclination angle sensor which are parallel to the advancing direction of the vehicle body are respectively arranged on the bogie and the vehicle body;
and 3.2) respectively measuring the horizontal inclination angles of the bogie and the vehicle body through the first inclination angle sensor and the second inclination angle sensor so as to measure the inclination direction of the vehicle.
7. The vehicle-mounted subway clearance detection method as claimed in claim 1, wherein in step (4), the processor performs signal processing and calculation, and finally outputs specific offset value and clearance coordinate value, and vehicle clearance contour line is output under the established reference coordinate system.
8. A vehicle-mounted subway limit detection system comprises a track and a vehicle body running on the track, wherein the vehicle body comprises a vehicle body, a bogie for bearing the vehicle body and a wheel pair assembled on the bogie, and is characterized in that a first laser phase scanner is mounted on the head of the vehicle body; the vehicle body is respectively provided with a first stay wire displacement sensor and a second stay wire displacement sensor, and the stay wire measuring ends of the first stay wire displacement sensor and the second stay wire displacement sensor are connected to the bogie; a third stay wire displacement sensor and a laser displacement sensor are arranged on the bogie, and the stay wire measuring end of the third stay wire displacement sensor is connected to the wheel pair; the middle part of the bogie is provided with a second laser phase scanner; a first inclination angle sensor and a second inclination angle sensor which are parallel to the advancing direction of the vehicle body are respectively arranged on the bogie and the vehicle body; the first laser phase scanner, the first stay wire displacement sensor, the second stay wire displacement sensor, the third stay wire displacement sensor, the laser displacement sensor, the second laser phase scanner, the first inclination angle sensor and the second inclination angle sensor are all electrically connected with the processor.
9. The vehicle-mounted subway clearance detection system as claimed in claim 8, wherein said first and second stay wire displacement sensors have their measuring directions perpendicular and parallel to the plane of the rail, respectively, and said third stay wire displacement sensor has its measuring direction perpendicular to the plane of the rail.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811355637 | 2018-11-14 | ||
| CN2018113556377 | 2018-11-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109532937A CN109532937A (en) | 2019-03-29 |
| CN109532937B true CN109532937B (en) | 2021-01-12 |
Family
ID=65848670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811386614.2A Active CN109532937B (en) | 2018-11-14 | 2018-11-20 | Vehicle-mounted subway limit detection method and detection system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109532937B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112240752B (en) * | 2019-07-17 | 2022-06-07 | 中车长春轨道客车股份有限公司 | Test device and test method for vehicle-mounted inspection of dynamic envelope line of rail vehicle |
| CN112758130A (en) * | 2019-11-01 | 2021-05-07 | 中车株洲电力机车研究所有限公司 | Limit testing method and device of articulated train |
| CN110866309B (en) * | 2019-11-15 | 2023-05-23 | 中车南京浦镇车辆有限公司 | Intelligent calculation method for maximum outline of metro vehicle based on metro limit |
| CN110803198B (en) * | 2019-11-29 | 2021-05-07 | 中车南京浦镇车辆有限公司 | Rail vehicle derailment detection method based on bogie contour line |
| CN110849288B (en) * | 2019-11-29 | 2021-03-26 | 中车南京浦镇车辆有限公司 | Rail vehicle derailment detection method based on vehicle body contour line |
| CN114485511A (en) * | 2020-10-27 | 2022-05-13 | 湖南中车智行科技有限公司 | Method and device for measuring vehicle clearance width |
| CN112678023B (en) * | 2021-01-04 | 2022-08-30 | 天津路安工程咨询有限公司 | Rail transit clearance detection device and detection method |
| CN112829795B (en) * | 2021-02-07 | 2022-06-10 | 中车长春轨道客车股份有限公司 | Bogie instability detection method and system |
| CN113312708B (en) * | 2021-06-18 | 2023-03-24 | 成都大学 | Vehicle clearance calculation method, apparatus, and medium for non-linear suspension system |
| CN114112448B (en) * | 2021-11-24 | 2024-02-09 | 中车长春轨道客车股份有限公司 | F-rail-based test device and test method for dynamic limit of magnetic levitation vehicle |
| CN114970195A (en) * | 2022-06-14 | 2022-08-30 | 中车株洲电力机车有限公司 | Computing method and system for rubber wheel subway train clearance parameters |
| CN115357835A (en) * | 2022-07-15 | 2022-11-18 | 中车株洲电力机车有限公司 | Method for acquiring front-end dynamic limit of railway vehicle and additional anti-collision system |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666716B (en) * | 2009-06-05 | 2010-12-15 | 中南大学 | Railway locomotive running attitude measuring method |
| CN103075976B (en) * | 2012-12-27 | 2015-06-17 | 天津大学 | Measuring method for dynamic envelope line of high-speed train |
| CN103090863B (en) * | 2013-01-31 | 2015-04-08 | 中国人民解放军国防科学技术大学 | Method for measuring posture and height of dynamic platform |
| CN103223955B (en) * | 2013-03-27 | 2016-05-04 | 南车株洲电力机车有限公司 | A kind of detection method of vehicle gauge and device |
| CN104527722B (en) * | 2014-12-01 | 2017-09-05 | 中车青岛四方机车车辆股份有限公司 | A kind of vehicle gauge detection method and system |
| CN104573397B (en) * | 2015-01-30 | 2017-07-04 | 西南交通大学 | A kind of method for calculating rail truck Dynamic Envelope |
| DE102015215572A1 (en) * | 2015-08-14 | 2017-02-16 | Siemens Aktiengesellschaft | Test device and method for checking a defined profile of a train of vehicles, especially rail vehicles |
| CN106767694B (en) * | 2016-12-30 | 2023-04-07 | 西南交通大学 | Dynamic detection system and detection method for digital boundary of subway |
| CN206537290U (en) * | 2017-02-24 | 2017-10-03 | 广东至合交通科技有限公司 | A kind of scan-type rail traffic vehicles gauge detection means |
| CN107122747B (en) * | 2017-04-28 | 2020-06-09 | 北京理工大学 | Non-contact detection device and method for railway vehicle carriage state |
| CN107273665A (en) * | 2017-05-26 | 2017-10-20 | 中车唐山机车车辆有限公司 | Levitation train dynamic clearance acquisition methods |
| CN207132851U (en) * | 2017-07-07 | 2018-03-23 | 山西省计量科学研究院 | A kind of motor vehicle overall dimension measuring device |
| CN107901946A (en) * | 2017-12-12 | 2018-04-13 | 中铁第四勘察设计院集团有限公司 | A kind of subway train Clearance Detection |
-
2018
- 2018-11-20 CN CN201811386614.2A patent/CN109532937B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109532937A (en) | 2019-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109532937B (en) | Vehicle-mounted subway limit detection method and detection system thereof | |
| CN108106562B (en) | Contact net measuring method and device | |
| CN110030950B (en) | Full-dynamic envelope limit test system for railway vehicle | |
| CN112240752B (en) | Test device and test method for vehicle-mounted inspection of dynamic envelope line of rail vehicle | |
| CN104864827A (en) | Coordinate measuring machine and method for calculating correction matrix by coordinate measuring machine | |
| CN101978240A (en) | Probe for a chassis-measuring system, chassis-measuring system and method for determining the position parameters of probes of a chassis-measuring system | |
| CN105300295B (en) | A kind of contactless contact net geometric parameter detecting system of portable single track and method | |
| CN102749623B (en) | Method for testing ground sampling distance of high-accuracy remote sensing satellite based on target | |
| CN204064198U (en) | A kind of automobile oil filler cap cubing | |
| CN104005324B (en) | A kind of detection system of pavement structure information | |
| CN108801548A (en) | Vehicle centroid survey tool and measurement method | |
| CN109653045A (en) | Gauge measurement method and device | |
| CN109334706A (en) | Satellite positioning and the integrated track detection car of inertial navigation | |
| CN108413918B (en) | Method for measuring geometrical parameters of track at low speed and composite measuring method | |
| CN105136391A (en) | Method of measuring distance between ground force bearing points of plane and system | |
| CN106767421B (en) | Motor-car vehicle body critical size detection system solution based on multi-vision visual | |
| CN109682320A (en) | A kind of wheel hub blank mounting surface device for testing deformation amount | |
| CN111895996A (en) | High-speed track detection system and method | |
| CN103507832B (en) | A kind of Rail inspection detecting device | |
| CN208269868U (en) | The measuring device of high-precision industrial robot repetitive positioning accuracy | |
| CN109238149B (en) | Vehicle body attitude detection device and contact line dynamic offset detection system | |
| CN112344907B (en) | Railway track level measurement method and system, readable storage medium and electronic equipment | |
| CN104048834B (en) | The system and method that lateral sliding for vehicle is tested | |
| CN203511689U (en) | Rail geometric dimension detecting device | |
| CN113251962A (en) | Ultrasonic parking space compensation system based on machine learning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |