CN111207681B - Be used for high-speed railway platform limit double track to rock compensating system - Google Patents
Be used for high-speed railway platform limit double track to rock compensating system Download PDFInfo
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- CN111207681B CN111207681B CN202010014874.8A CN202010014874A CN111207681B CN 111207681 B CN111207681 B CN 111207681B CN 202010014874 A CN202010014874 A CN 202010014874A CN 111207681 B CN111207681 B CN 111207681B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention relates to the technical field of platform clearance measurement, in particular to a double-track shaking compensation system for a high-speed rail platform clearance, which comprises a measuring robot and a robot system carried on the measuring robot, wherein the robot system is preset with a fixed inclination angle, a fixed distance and associated data, and is used for acquiring the measured data and the inclination data of a laser, compensating the fixed distance according to the inclination data and the associated data, and generating clearance data according to the fixed inclination angle, the measured data and the compensated fixed distance. This scheme of adoption can rock at measuring robot and cause under the condition of measuring robot slope, reduce the measuring error who brings because of the robot slope.
Description
Technical Field
The invention relates to the technical field of platform clearance measurement, in particular to a double-track sway compensation system for a high-speed rail platform clearance.
Background
The railway platform limit is the space size required for the safety of vehicle operation, parking and passenger taking and landing within the platform range. At present, the railway platform clearance detection in China still adopts a contact type measuring method, for example, instruments such as a platform ruler, a graduated scale, a plumb bob, a measuring rod and the like are utilized to measure the height of the platform from the upper end surface of a track and the horizontal distance of the platform from the center of a track line. According to the measuring method, the measuring error in the measuring process is large by adopting a manual measuring mode, and meanwhile, the measuring operation is complicated, so that the measuring efficiency is low, and the requirements of measuring and managing the platform limit cannot be met.
Therefore, in order to measure the platform limit quickly and accurately, the applicant develops a high-speed rail platform limit measuring robot, which comprises a robot body, wherein rollers are arranged on two sides of the bottom of the robot body and abut against a rail, and the robot body moves on the rail; the top of robot body is equipped with the measuring apparatu, one side that two track circuit centers were kept away from to the measuring apparatu is equipped with the printing opacity face, the printing opacity face is towards the platform, the measuring apparatu is including the laser instrument that is used for launching range finding laser, the laser instrument swings on vertical plane and forms the swing angle, the laser instrument is used for acquireing the angle of range finding laser and swing angle on vertical plane as measuring angle, and acquire the measuring distance that range finding laser surveyed, can obtain horizontal distance and the vertical distance of laser instrument to platform according to measuring distance and measuring angle, again according to the fixed vertical distance of laser instrument and track up end, and the fixed horizontal distance of laser instrument and two track circuit centers, can obtain the boundary limit data.
The measuring robot can quickly and accurately obtain limit data, but the applicant finds that the measuring robot shakes due to the contact between the roller and the rail in the process of moving on the rail and the radian difference between the two rails when the measuring robot measures the curve of the rail in a test. And the measuring robot shakes, so that the measuring robot can incline when carrying out clearance measurement, and therefore, the fixed vertical distance between the laser and the upper end surface of the rail and the fixed horizontal distance between the laser and the centers of the two rail lines are changed.
Disclosure of Invention
The invention aims to provide a limiting double-rail shaking compensation system for a high-speed rail platform, which can reduce measurement errors caused by the inclination of a measuring robot under the condition that the measuring robot tilts to cause the inclination of the measuring robot.
The basic scheme provided by the invention is as follows: a double-track shaking compensation system for high-speed rail platform clearance comprises a measuring robot and a robot system carried on the measuring robot, wherein a fixed inclination angle, a fixed distance and associated data are preset in the robot system, the robot system is used for acquiring the measured data and the inclined data of a laser, compensating the fixed distance according to the inclined data and the associated data, and generating clearance data according to the fixed inclination angle, the measured data and the compensated fixed distance.
Description of the invention: the fixed inclination angle is an angle between a light transmitting surface of the measuring instrument and a horizontal plane; the fixed distance comprises a fixed vertical distance and a fixed horizontal distance, the fixed vertical distance is the vertical distance from the laser to the upper end face of the track, and the fixed horizontal distance is the horizontal distance from the laser to the center of the two track lines; the measurement data comprises a measurement angle and a measurement distance, the measurement angle is an angle between an angle bisector of a distance measurement laser to the swing angle on the vertical plane, and the measurement distance is a distance from the laser to the station measured by the laser; the inclination data is the detected inclination angle of the laser, a gyroscope can be arranged to be connected with the laser, and the angle detected by the gyroscope is the inclination angle of the laser; the spatial distance of the data laser to a point in space and/or the inclination of the laser to the line connecting the point is correlated.
The basic scheme has the working principle and the beneficial effects that: the inclination state of the corresponding measuring robot when the measuring data is obtained is reflected through the inclination data, so that the fixed distance is compensated according to the inclination data, and the compensated fixed distance is the vertical distance from the laser to the upper end face of the track and the horizontal distance from the laser to the center of the two track lines when the fixed distance is in the current inclination state. And generating limit data according to the compensated fixed distance, so that the shaking compensation of the limit data is realized, the generated limit data is closer to the real situation during measurement, and the measurement error of the platform limit data is further reduced. The inclination state of the measuring robot is detected, and the fixed distance is compensated according to the inclination state of the measuring robot, so that the measuring error caused by the inclination of the measuring robot is reduced under the condition that the measuring robot is shaken up and down to cause the inclination of the measuring robot.
Further, the robot system comprises a distance compensation module, wherein the distance compensation module is used for acquiring a standard point according to the associated data and the fixed distance, constructing a space coordinate system by taking the standard point as a coordinate origin, generating an initial coordinate of the laser according to the associated data and the fixed distance, generating a measurement coordinate of the laser according to the inclination data and the initial coordinate, and generating the compensated fixed distance according to the measurement coordinate.
Description of the drawings: the standard point is a certain point on the set measuring robot.
Has the advantages that: the measuring robot in the inclined state is regarded as the measuring robot which is horizontally placed and is obtained by rotating with the standard point as the original point, so that the coordinate of the position of the laser can be obtained through the distance from the laser to the standard point and the included angle between the connecting line of the laser and the standard point and the horizontal plane when the measuring robot is horizontally placed, and the coordinate is the initial coordinate. Therefore, the rotation angle of the measuring robot is obtained, and the position of the laser in the inclined state of the measuring robot can be known. When the measuring robot is manufactured, the horizontal distance from the center of the track line to a standard point and the vertical distance from the laser to the intersection point of the center of the track line and the upper end face of the track are known, and after the position of the laser when the measuring robot is in an inclined state is obtained, the vertical distance and the horizontal distance from the laser to the intersection point of the center of the track line and the upper end face of the track in the inclined state of the measuring robot can be obtained, namely the fixed distance after final compensation is obtained.
Further, the fixed distance comprises a fixed vertical distance and a fixed horizontal distance, the Y vector of the initial coordinate A is the fixed vertical distance, and the associated data is the designated distance A;
the distance compensation module is used for generating an initial inclination angle A according to the fixed vertical distance and the designated distance A, obtaining an X vector and a Y vector of an initial coordinate A according to the initial inclination angle A and the designated distance A, and generating a measurement coordinate A according to the initial coordinate A and the inclination data; and the device is also used for obtaining an intermediate coordinate A according to the initial coordinate A and the fixed distance, and generating a compensated fixed distance A according to the measured coordinate A and the intermediate coordinate A.
Has the beneficial effects that: the designated distance is the spatial distance from the laser to the upper end face of the rail in the same plane where the fixed vertical distance and the fixed horizontal distance are located. When the measuring robot is manufactured, the distance from the laser to the bottom of the roller on the same side of the laser is known, the distance can be considered as the distance from the laser to the upper end face of the rail, namely the distance is a specified distance, an initial angle is obtained according to the specified distance and a fixed vertical distance, an initial coordinate can be obtained through the angle and the distance, and therefore a measuring coordinate is generated according to the initial coordinate and the inclination angle. The middle coordinate is a coordinate point of the intersection line of the plane of the upper end face of the track and the vertical plane passing through the center of the track line on the plane of the laser, and the fixed distance after compensation can be obtained according to the measured coordinate and the middle coordinate.
Further, the fixed distance comprises a fixed vertical distance and a fixed horizontal distance, the Y vector of the initial coordinate B is the fixed vertical distance, and the associated data is a fixed inclination angle;
the distance compensation module is used for generating an X vector of an initial coordinate B according to a fixed vertical distance and a fixed inclination angle, and generating a measurement coordinate B according to the initial coordinate B and inclination data; and the device is also used for obtaining an intermediate coordinate B according to the initial coordinate B and the fixed distance, and generating a compensated fixed distance B according to the measured coordinate B and the intermediate coordinate B.
Has the advantages that: the fixed inclination angle is an inclination angle of a connecting line between the laser and the upper end face of the track in the same plane where the fixed vertical distance and the fixed horizontal distance are located. The intersection point of the extension line of the straight line projected on the vertical plane by the light-transmitting surface and the projection straight line of the upper end surface of the track on the vertical plane is a standard point, a fixed inclination angle can be used in calculating limit data, an initial coordinate is obtained by utilizing the existing known fixed inclination angle and fixed vertical distance, and a measurement coordinate is generated according to the initial coordinate and the inclination angle. The middle coordinate is a coordinate point of the intersection line of the plane of the upper end face of the track and the vertical plane passing through the center of the track line on the plane of the laser, and the compensated fixed distance can be obtained according to the measured coordinate and the middle coordinate. Compared with the method that the associated data is the designated distance, the number of parameters needing to be measured is reduced, and the workload is reduced.
Further, the associated data are a specified distance C and a specified inclination angle;
the distance compensation module is used for generating an initial coordinate C according to the designated distance C and the designated inclination angle and generating an intermediate coordinate according to the initial coordinate C and the fixed distance; and the device is also used for generating a measuring coordinate C according to the initial coordinate C and the inclination data, and generating a compensated fixed distance C according to the measuring coordinate C and the intermediate coordinate.
Has the advantages that: the standard point is any point on the measuring robot, the distance between the standard point and the laser and the angle between the connecting line between the standard point and the laser and the horizontal plane are known in the manufacturing and measuring robot, namely the distance is a designated distance, the angle is a designated inclination angle, and the initial coordinate can be obtained according to the designated distance and the designated inclination angle. Similarly, a fixed distance is also known, and an intermediate coordinate, which is a coordinate point of the intersection line of the plane of the upper end face of the rail and the vertical plane passing through the center of the track line on the plane of the laser, can be obtained from the fixed distance and the initial coordinate. And generating a measuring coordinate according to the initial coordinate and the inclination data, wherein the horizontal distance and the vertical distance between the measuring coordinate and the middle coordinate are the compensated fixed distances, so that different standard points can be defined according to different measuring conditions, and the measuring error is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a measurement robot according to an embodiment of the present invention, which is used for a high-speed rail platform limit double-track sway compensation system;
FIG. 2 is a logic block diagram of a first embodiment of a limited dual-rail sway compensation system for a high-speed rail platform according to the present invention;
fig. 3 is a schematic diagram of a first embodiment of a high-speed rail platform clearance dual-rail sway compensation system according to the present invention when a first input angle is an elevation angle;
fig. 4 is a schematic diagram illustrating a first embodiment of a high-speed rail station clearance dual-rail sway compensation system according to the present invention when a first input angle is a depression angle.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: a drum 1, a measuring instrument 2, and a robot main body 3.
Example one
The application also discloses a related scheme of the measuring robot, and the scheme of the application is applied to the measuring robot.
Be used for high-speed railway platform boundary limit double track to rock compensating system, including measuring robot and the robot system of carrying on measuring robot, as shown in figure 1, measuring robot includes robot main part 3, control chamber has been opened to robot main part 3's both sides, the control intracavity is equipped with the rotating electrical machines, the output shaft of rotating electrical machines passes through the coupling joint roller bearing, the one end that the rotating electrical machines was kept away from to the roller bearing stretches out the controller, and the welding has cylinder 1, the outer wall of cylinder 1 offsets with orbital up end, cylinder 1 is close to robot main part 3's one end and outwards extends by cylinder 1's axial and forms the stop part, one side that robot main part 3 was kept away from to the stop part offsets with the track. In this embodiment, two rollers 1 are respectively disposed on two sides of the robot body 3, and the blocking portion is located at one end of each roller 1 close to the symmetric axis of the two tracks.
The measuring robot further comprises a measuring instrument 2, the measuring instrument 2 is used for measuring the distance from the platform to the measuring instrument 2, the measuring instrument 2 is provided with a measuring cavity, the measuring cavity is communicated with a control cavity on the left side of the robot main body 3, and a shell of the measuring instrument 2 and a shell of the robot main body 3 are integrally formed. The measuring instrument 2 comprises a laser for emitting a distance measuring laser, which oscillates on a vertical plane such that the distance measuring laser forms an oscillation angle. The left side that measuring apparatu 2 kept away from two track symmetry axes is equipped with the printing opacity face, and the printing opacity face is used for seeing through the range finding laser, and the printing opacity face sets up along 2 direction slopes of two track symmetry axial measuring apparatu from top to bottom, and when the angular bisector of range finding laser position swing angle, range finding laser is perpendicular with the printing opacity face. In the present embodiment, the laser is a laser scanner of the model LMS4121R-13000, and the surveying instrument 2 can acquire the measured distance and the measured angle of the ranging laser. In other embodiments, the measuring instrument 2 may employ a laser and a rotating bracket, the laser is fixed on the rotating bracket, the rotating bracket includes a measuring motor, the output shaft of the measuring motor is connected with a rotating disc through a key, the laser is bonded on the circumferential surface of the rotating disc, the laser is controlled to rotate on the vertical plane through controlling the rotation of the measuring motor so as to form a swing angle with the distance measuring laser emitted by the laser, the laser can obtain the measuring distance, and the measuring angle can be obtained through the rotation of the measuring motor.
The measuring cavity is internally provided with a gyroscope which is fixedly connected with the laser, and the gyroscope is used for detecting the inclination angle of the gyroscope as the inclination angle of the laser. The measuring robot further comprises a controller, the controller is electrically connected with the laser, the rotating motor and the gyroscope, the laser is used for obtaining an angle between a distance measuring laser and an angular bisector of the swing angle and used as a measuring inclination angle, the laser is also used for obtaining a measuring distance corresponding to the measuring inclination angle, the gyroscope is used for detecting the inclination angle, and the controller is used for integrating the measuring inclination angle and the measuring distance into measuring data and using the inclination angle as inclination data.
A robot system, as shown in fig. 2, includes a data conversion module, a database, a distance compensation module, and a limit calculation module, wherein the database is pre-stored with analysis rules, a fixed inclination angle, a fixed distance, and associated data, and the fixed inclination angle is an included angle between a measuring instrument and a horizontal plane; the fixed distance comprises a fixed vertical distance and a fixed horizontal distance, the fixed vertical distance is the vertical distance from the laser to the upper end face of the track, and the fixed horizontal distance is the horizontal distance from the laser to the center of the track circuit; in this embodiment, the associated data is a specified distance a. The robot system is used for acquiring measurement data and inclination data and storing the measurement data and the inclination data in a database.
The data conversion module is used for acquiring a fixed inclination angle, measurement data and inclination data from a database; the data conversion module is also used for analyzing the measurement data into a measurement distance and a measurement inclination angle, analyzing the inclination data into an inclination angle, acquiring an analysis rule from the database, substituting the measurement distance, the measurement inclination angle, the fixed inclination angle and the inclination angle into the analysis rule to acquire laser limit data, and storing the laser limit data in the database. The analysis rule includes a first input angle α, a second input angle β, a third input distance OA, a fourth input angle, a first vertical distance OH, and a first horizontal distance AH; wherein the third input distance OA, the first vertical distance 0H and the first horizontal distance AH are three sides of the same triangle; as shown in fig. 3, when the first input angle α is an elevation angle, an included angle ω between the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω - β - α; as shown in fig. 4, when the first input angle α is a depression angle, an included angle ω of the first input distance OA and the first vertical distance OH is obtained according to the following formula: ω ═ β + α; and calculating the first vertical distance OH and the first horizontal distance AH output by using a trigonometric function according to the third input distance OA and the included angle ω, that is, OH ═ OA · cos ω and AH ═ OA · sin ω. Specifically, a measured tilt angle as a first input angle α, a fixed tilt angle as a second input angle β, a measured distance as a third input distance OA, and an inclination angle as a fourth input angle are substituted into the analysis rule, and a first vertical distance OH and a first horizontal distance AH output by the analysis rule are used as laser limit data. The laser limit data comprises vertical laser limit data and horizontal laser limit data, and the vertical laser limit data is the vertical distance from the laser to the platform when measurement is carried out; the horizontal laser clearance data is the horizontal distance from the laser to the platform at the time of measurement, i.e., the first vertical distance OH is the vertical laser clearance data and the first horizontal distance AH is the horizontal laser clearance data.
In this embodiment, the distance compensation module is configured to obtain a standard point according to the specified distance a and the fixed distance, where the standard point is a point on a straight line where the fixed horizontal distance of the upper end surface of the track is located on the same plane as the specified distance a and the fixed distance, and a distance from the point to the laser is the specified distance a.
The distance compensation module is also used for establishing a space coordinate system by taking the standard point as a coordinate origin, taking the direction of the fixed horizontal distance as an X axis and taking the direction of the fixed vertical distance as a Y axis, namely, when the measuring robot is horizontally placed on the track, the position of the laser is an initial coordinate A. The distance compensation module is further used for generating an initial inclination angle A according to the specified distance A and the fixed vertical distance, the initial inclination angle A is an inclination angle of a connecting line of the initial coordinate A and the coordinate origin, the length of an X vector and the length of a Y vector of the initial coordinate A are generated according to the initial inclination angle A and the specified distance A, and the initial coordinate A can be obtained according to the X vector and the Y vector of the initial coordinate A. The distance compensation module is also used for generating an X vector and a Y vector of the measurement coordinate A according to the initial coordinate A and the inclination data, namely obtaining the measurement coordinate A.
The distance compensation module is also used for summing the X vector of the initial coordinate A and the fixed horizontal distance to obtain an X vector of the intermediate coordinate A, and summing the Y vector of the initial coordinate A and the fixed vertical distance to obtain a Y vector of the intermediate coordinate A, namely the intermediate coordinate A can be obtained according to the X vector and the Y vector of the intermediate coordinate A. The distance compensation module is also used for obtaining a compensation horizontal distance A and a compensation vertical distance A according to the measurement coordinate A and the intermediate coordinate A, and the compensation horizontal distance A and the compensation vertical distance A are the compensated fixed distance A.
And the clearance calculation module is used for acquiring vertical laser clearance data, horizontal laser clearance data and compensated fixed data, summing the vertical laser clearance data and the compensated vertical distance to acquire vertical clearance data, summing the horizontal laser clearance data and the compensated horizontal distance to acquire horizontal clearance data, and obtaining the final clearance data by the vertical clearance data and the horizontal clearance data.
Example two
The difference between the present embodiment and the first embodiment is: the associated data is a fixed tilt angle.
In this embodiment, the distance compensation module is configured to obtain a standard point according to the fixed inclination angle and the fixed distance, and the standard point is an intersection point of an extension line of a straight line where a projection of the light-transmitting surface on the vertical plane is located and an extension line of a straight line where the fixed horizontal distance passing through the upper end surface of the track is located, in the same plane with the fixed inclination angle and the fixed distance.
The distance compensation module is further used for establishing a space coordinate system by taking the standard point as a coordinate origin, taking the direction of the fixed horizontal distance as an X axis, taking the direction of the fixed vertical distance as a Y axis, namely, when the measuring robot is horizontally placed on the track, taking the position of the laser as an initial coordinate B, taking the length of the Y vector of the initial coordinate B as a fixed vertical distance, generating the length of the X vector of the initial coordinate B according to the length of the Y vector of the initial coordinate B and the fixed inclination angle, and obtaining the initial coordinate B according to the X vector and the Y vector of the initial coordinate B. The distance compensation module is also used for generating an X vector and a Y vector of the measurement coordinate B according to the initial coordinate B and the inclination data, namely obtaining the measurement coordinate B.
The distance compensation module is also used for summing the X vector of the initial coordinate B and the fixed horizontal distance to obtain an X vector of the middle coordinate B, and summing the Y vector of the initial coordinate B and the fixed vertical distance to obtain a Y vector of the middle coordinate B, namely obtaining the middle coordinate B according to the X vector and the Y vector of the middle coordinate B. The distance compensation module is also used for obtaining a compensation horizontal distance B and a compensation vertical distance B according to the measurement coordinate B and the middle coordinate B, and the compensation horizontal distance B and the compensation vertical distance B are the compensated fixed distance B.
EXAMPLE III
The difference between the present embodiment and the first embodiment is: the associated data is a specified tilt angle and a specified distance C.
In this embodiment, the standard point is any point on the measuring robot, and the distance between the standard point and the laser and the angle between the line connecting the standard point and the laser and the horizontal plane are known in the manufacturing of the measuring robot, that is, the distance is a specified distance C, and the angle is a specified inclination angle.
The distance compensation module is used for acquiring a standard point according to the designated inclination angle and the designated distance C, and establishing a space coordinate system by taking the standard point as a coordinate origin, taking the direction of the fixed horizontal distance as an X axis and taking the direction of the fixed vertical distance as a Y axis, namely, when the measuring robot is horizontally placed on the track, the position of the laser is an initial coordinate C, and the initial coordinate C is generated according to the designated inclination angle and the designated distance C. The distance compensation module is also used for generating an X vector and a Y vector of the measurement coordinate C according to the initial coordinate C and the inclination data, namely obtaining the measurement coordinate C.
The distance compensation module is also used for summing the X vector of the initial coordinate C and the fixed horizontal distance to obtain an X vector of an intermediate coordinate C, and summing the Y vector of the initial coordinate C and the fixed vertical distance to obtain a Y vector of the intermediate coordinate C, namely the intermediate coordinate C can be obtained according to the X vector and the Y vector of the intermediate coordinate C. The distance compensation module is also used for obtaining a compensation horizontal distance C and a compensation vertical distance C according to the measurement coordinate C and the middle coordinate C, and the compensation horizontal distance C and the compensation vertical distance C are the compensated fixed distance C.
Example four
The difference between the present embodiment and the first embodiment is: electromagnets are further arranged between the robot main body 3 and the rollers 1, the number of the electromagnets is the same as that of the rollers 1, and the electromagnets are respectively positioned above the rollers 1. The robot main body 3 is also internally provided with a controller, the electromagnet and the rotating motor are in signal connection with the controller, and the controller is used for controlling the electromagnet to be started when controlling the rotating motor to be started and controlling the electromagnet to be closed when controlling the rotating motor to be stopped; the device is also used for controlling the voltage value of the input electromagnet, and the size of the attraction force of the electromagnet is controlled by adjusting the voltage value.
And the rotating motors are respectively provided with an idling torque sensor, the idling torque sensors are in signal connection with the controller, and the idling torque sensors are used for acquiring torque judgment data of the rotating motors and uploading the torque judgment data to the robot system through the controller.
The robot system includes an idle determination module.
The idling judgment module is preset with an idling torque range and is used for receiving torque judgment data and generating a voltage increase signal when the torque judgment data is located in the idling torque range; and generating a voltage reduction signal when the torque determination data exceeds the idling torque range. In the present embodiment, the idling torque range is obtained by performing an idling experiment on the motor.
The controller is used for controlling the electromagnet to generate magnetic force to adsorb the track when the electromagnet is started, so that the friction between the measuring robot and the track is increased, and the phenomenon that the roller 1 slips is reduced. The controller is also used for increasing the voltage input into the electromagnet according to the voltage increasing signal when the electromagnet is in the starting signal, so that the phenomenon that the roller 1 slips is reduced, and reducing the voltage input into the electromagnet according to the voltage reducing signal, so that the phenomenon that the power consumption of the rotating motor is increased due to the fact that the attraction force of the electromagnet is too large is avoided.
When the measuring robot moves, a phenomenon of shaking or slipping may occur, and the phenomenon may affect the measurement accuracy of the measuring robot, so that the electromagnet adsorbs the guide rail, the friction force between the roller 1 and the rail is increased, and the phenomenon of shaking or slipping of the measuring robot can be reduced.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (2)
1. Be used for high-speed railway platform limit double track to rock compensating system, including measuring robot, its characterized in that: the system comprises a measuring robot, a robot system and a control system, wherein the robot system is carried on the measuring robot, a fixed inclination angle, a fixed distance and associated data are preset in the robot system, the fixed inclination angle is an included angle between a measuring instrument and the horizontal plane, the fixed distance comprises a fixed vertical distance and a fixed horizontal distance, the fixed vertical distance is a vertical distance from a laser to the upper end face of a track, the fixed horizontal distance is a horizontal distance from the laser to the center of a track circuit, the associated data is an appointed inclination angle and an appointed distance C, any point on the measuring robot is taken as a standard point, the appointed distance C is a distance from the standard point to the laser, and the appointed inclination angle is an angle between a connecting line of the standard point and the laser and the horizontal plane; the robot system is used for acquiring measurement data and inclination data of the laser, the measurement data comprises a measurement angle and a measurement distance, the measurement angle is an angle between a distance measurement laser and an angle bisector of a swing angle on a vertical plane, the measurement distance is a distance from the laser to a platform measured by the laser, and the inclination data is data reflecting the inclination state of the corresponding measurement robot when the measurement data is acquired; compensating the fixed distance according to the inclination data and the associated data, and generating limit data according to the fixed inclination angle, the measurement data and the compensated fixed distance;
the robot system comprises a distance compensation module, a laser module and a control module, wherein the distance compensation module is used for acquiring a standard point according to the association data and the fixed distance, constructing a space coordinate system by taking the standard point as a coordinate origin, generating an initial coordinate of the laser according to the association data and the fixed distance, generating a measurement coordinate of the laser according to the inclination data and the initial coordinate, and generating a compensated fixed distance according to the measurement coordinate;
the measuring robot comprises a robot main body, wherein a rotating motor and a controller are arranged in the robot main body, an output shaft of the rotating motor is fixedly connected with a roller, an electromagnet is further arranged between the robot main body and the roller and is respectively positioned above the roller, the electromagnet and the rotating motor are both in signal connection with the controller, and the controller is used for controlling the electromagnet to be started when the rotating motor is controlled to be started and controlling the electromagnet to be closed when the rotating motor is controlled to be stopped.
2. The high-speed rail platform clearance double-rail shaking compensation system according to claim 1, wherein: the distance compensation module is used for generating an initial coordinate C according to the designated distance C and the designated inclination angle and generating an intermediate coordinate according to the initial coordinate C and the fixed distance; and the device is also used for generating a measurement coordinate C according to the initial coordinate C and the inclination data, and generating a compensated fixed distance according to the measurement coordinate C and the intermediate coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010014874.8A CN111207681B (en) | 2020-01-07 | 2020-01-07 | Be used for high-speed railway platform limit double track to rock compensating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010014874.8A CN111207681B (en) | 2020-01-07 | 2020-01-07 | Be used for high-speed railway platform limit double track to rock compensating system |
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| Publication Number | Publication Date |
|---|---|
| CN111207681A CN111207681A (en) | 2020-05-29 |
| CN111207681B true CN111207681B (en) | 2022-07-19 |
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| WO2011152214A1 (en) * | 2010-06-04 | 2011-12-08 | 三菱電機株式会社 | Automatic steering device |
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| CN111207681A (en) | 2020-05-29 |
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