CN111768682A - Adjustable track mechanism for mechanical sliding experiment and experiment method - Google Patents
Adjustable track mechanism for mechanical sliding experiment and experiment method Download PDFInfo
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Abstract
The invention belongs to the technical field of mechanical sliding experiments, and discloses an adjustable track mechanism for a mechanical sliding experiment and an experimental method, wherein the adjustable track mechanism for the mechanical sliding experiment comprises the following components: the device comprises a rail pressure acquisition module, a sliding image acquisition module, a sliding friction force acquisition module, a main control module, an air compression module, an air injection module, a timing module, an angle adjusting module, a ride comfort testing module, a rail abnormity monitoring module and a display module. The method comprehensively processes the acquired sensor mobile observation data and the absolute coordinates of each static sampling point by using a fusion algorithm to acquire the smoothness parameters of the track to be tested, thereby effectively improving the efficiency and the precision of the track smoothness test and reducing the test cost; meanwhile, the track position information is compared with the track reference information through the track abnormity monitoring module, and whether the track is abnormal or not is determined, so that the purpose of monitoring the change of the track in real time is achieved.
Description
Technical Field
The invention belongs to the technical field of mechanical sliding experiments, and particularly relates to an adjustable track mechanism for a mechanical sliding experiment and an experiment method.
Background
At present, the air cushion guide rail is a modern mechanical experimental instrument. It utilizes small-size air supply to send compressed air into the guide rail inner chamber. The air is then ejected from the small holes in the surface of the rail, forming a thin air cushion layer between the surface of the rail and the inner surface of the runner. The slider floats on the air cushion layer and is separated from the contact with the rail surface, so that the slider can do linear motion on the rail surface without resistance, and the error caused by friction force in the previous mechanics experiment is greatly reduced. The experimental results were brought close to the theoretical values. And (3) measuring various mechanical physical quantities and verifying a mechanical law by combining a dotting timer, a photoelectric gate, a flash photography and the like. In a mechanical experiment, the air cushion guide rail is used for verifying the momentum conservation law, researching the motion rule of the spring vibrator, researching the acceleration of an object and the like, and the acceleration is very close to a theoretical value. However, the adjustable track mechanism of the existing mechanical sliding experiment has large error in testing the smoothness of the track; meanwhile, track anomalies cannot be monitored in real time.
Through the above analysis, the problems and defects of the prior art are as follows: in the prior art, the testing error of the smoothness of the track by the track of a mechanical sliding experiment is large; meanwhile, the rail of the mechanical sliding experiment in the prior art cannot monitor the rail abnormity in real time.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an adjustable track mechanism for a mechanical sliding experiment and an experiment method.
The invention is realized in such a way that an adjustable rail experiment method for a mechanical sliding experiment comprises the following steps:
the method comprises the following steps that firstly, a rail pressure acquisition module acquires pressure data received by an adjustable rail mechanism of a mechanical sliding experiment through pressure sensing, and processes and analyzes the pressure acquired data; the sliding image acquisition module acquires an object sliding image on an adjustable track mechanism of a mechanical sliding experiment through a camera; the sliding friction force acquisition module acquires the sliding friction force of an object of the adjustable track mechanism in a mechanical sliding experiment through a friction force sensor;
secondly, according to data acquired by the rail pressure acquisition module, the sliding image acquisition module and the sliding friction force acquisition module, the main control module respectively controls the air compression module, the air injection module, the timing module, the angle adjustment module, the ride comfort test module, the rail abnormity monitoring module and the display module to normally work;
thirdly, the air compression module compresses air to the inner cavity of the track through a compression pump, and the air injection module injects the air through small holes on the surface of the guide rail to enable an object on the track to slide; in the object sliding process, the timing module calculates the object sliding time on the track through a timer;
after the test is finished, the angle adjusting module adjusts the inclination angle of the track through the track adjuster; according to the angle adjusted by the angle adjusting module, the smoothness testing module tests the smoothness of the sliding of the object on the track through testing equipment;
step five, in the testing process of the step, the track abnormity monitoring module is connected with the main control module and used for monitoring the abnormity of the track through monitoring equipment; and acquiring measurement data of the rail detection target track of the rail detection vehicle, wherein the measurement data comprises: the rail state data of the target rail and the vehicle body vibration acceleration of the rail inspection vehicle on the target rail;
determining a plurality of predicted vehicle body vibration acceleration intermediate frequency components corresponding to the target track according to the track state data of the target track based on a pre-established vehicle body transfer function library, wherein the vehicle body transfer function library comprises a plurality of transfer functions, and each transfer function is used for representing the vehicle body vibration acceleration transfer characteristics of different track inspection vehicles;
step seven, acquiring track position information according to a preset first time frequency; acquiring track temperature information according to a preset second time frequency; acquiring preset track reference information corresponding to a track; determining whether the track is abnormal or not by comparing the track position information with the track reference information;
step eight, comparing the track position information, the vehicle body vibration acceleration transfer characteristic and the track reference information to determine whether the track is abnormal: acquiring the track temperature when the track position information is acquired; acquiring a threshold value corresponding to the track temperature in displacement according to the track temperature; comparing the position difference value of the track position information and the track reference information with the threshold value; when the position difference value is larger than the threshold value, determining that the track is abnormal;
and step nine, displaying the acquired pressure, sliding image, sliding friction force, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result through a display of the display module.
Further, the threshold values include at least: a first threshold and a second threshold, the first threshold being smaller than the second threshold, wherein comparing the position difference between the track position information and the track reference information with the threshold includes:
comparing the position difference value with the first threshold value and the second threshold value respectively to determine whether the track is abnormal, wherein the abnormality at least comprises: slight shift in position and severe shift in position;
when the position difference value is smaller than or equal to the first threshold value, determining that no abnormality occurs in the track; when the position difference value is larger than the first threshold value and smaller than or equal to the second threshold value, determining that the position of the track slightly shifts;
when the position difference value is larger than the second threshold value, determining that the position of the track is severely deviated;
after comparing the position difference between the track position information and the track reference information with the threshold, the method further includes:
when the track is determined to slightly deviate from the position, generating first early warning information;
and generating second early warning information when the track is determined to have the serious position deviation.
Further, after acquiring the track temperature information according to a second preset time frequency, the method further includes:
and storing the acquired track position information and the acquired track temperature information into a database according to a time sequence.
Further, the method for acquiring pressure data received by the adjustable track mechanism of the mechanical sliding experiment through pressure sensing and fusing the data through the track pressure acquisition module for processing and analyzing the pressure acquired data comprises the following steps:
selecting a neural network model and a learning rule according to data detected by the pressure sensor;
determining a total input function according to the pressure sensor function, and defining the total input function as a relevant mapping function in a mapping way;
reflecting the statistical law of the environment to the structure of the network through the interaction of the neural network and the environment; and learning and understanding the output information of the sensor, determining the distribution of weight values, completing knowledge acquisition and information fusion, and further explaining the input mode.
Further, the sliding image collection module collects the sliding image of the object on the adjustable track mechanism of the mechanical sliding experiment through the camera to perform denoising process:
identifying the noise in the sliding image of the object on the adjustable track mechanism by using an image noise identification method;
performing wavelet decomposition on the image containing the noise, determining the number of decomposed layers, and determining wavelet coefficients in each layer;
and (4) carrying out novel threshold processing according to the calculated wavelet coefficient, and reconstructing the image after the threshold processing is finished.
Further, the ride comfort test module test method comprises the following steps:
(1) measuring the irregularity of the track by adopting a preset chord measuring method to obtain a chord measuring value corresponding to a preset measuring position; establishing a mathematical model of the chord measuring value and the track irregularity according to the incidence relation of the chord measuring value and the track irregularity; performing inverse calculation on the chord measuring value according to the mathematical model to obtain the geometric shape and position of the track;
(2) filtering the geometric shape and position of the track, outputting track irregularity, and reestablishing a mathematical model between the track irregularity and a chord measuring value; the method comprises the steps that a sampling device is used for walking and sampling on a rail to be detected, and an attitude angle observation sequence, a mileage observation sequence, a track gauge observation sequence and a sleeper observation sequence on the rail to be detected are obtained;
(3) interpolating and fusing the attitude angle observation sequence, the mileage observation sequence and the track gauge observation sequence to obtain an observation set sequence; acquiring a relative track sequence of the sampling device based on the observation set sequence; acquiring a midline absolute track of the track to be measured according to the relative track sequence based on a mathematical model between the GNSS static sampling point state parameter constraint and the track irregularity and chord measurement value;
(4) and acquiring the ride comfort parameters of the track to be tested according to the central line absolute track by combining the attitude angle observation sequence, the track gauge observation sequence, the sleeper observation sequence and the design data.
Further, the sampling device obtains an attitude angle observation sequence on the track to be measured, and comprises:
acquiring an attitude angle observation value on the track to be detected by using the sampling device, clearing an invalid epoch value in the attitude angle observation value, and acquiring an effective attitude angle observation value set;
according to the type of the track to be detected, carrying out filtering and denoising processing on the effective attitude angle observation value set;
correcting the effective attitude angle observation value set subjected to filtering and denoising by using a calibration file; and carrying out abnormal value restoration on the corrected effective attitude angle observation value set by using a first order difference equation so as to obtain the attitude angle observation sequence.
Further, the acquiring of the mileage observation sequence on the track to be detected by using the sampling device includes:
acquiring a mileage observation value on the track to be detected by using the sampling device, and clearing an invalid value in the mileage observation value to acquire an effective mileage observation value set;
acquiring the coordinate position of each static sampling point, and acquiring the mileage of each static sampling point by combining the design data so as to finish the correction of the mileage observation value set;
acquiring a midline coordinate of the track to be detected according to the geometric parameters of the sampling device based on a GNSS single epoch solution of mobile observation;
projecting the center line coordinate of the track to be measured onto a design curve, and acquiring a reference mileage corresponding to the GNSS single epoch solution;
and taking the reference mileage as an observed quantity, taking the modified mileage observation value set as a state quantity, and performing Kalman filtering to obtain the mileage observation sequence.
Further, the acquiring a track gauge observation sequence on the track to be detected includes:
acquiring a track gauge observation value on the track to be detected, and clearing an invalid value in the track gauge observation value to acquire an effective track gauge observation value set;
and repairing abnormal values of the effective track gauge observation value set by using a first order difference equation to obtain the track gauge observation sequence.
Another object of the present invention is to provide an adjustable rail mechanism for a mechanical sliding experiment, which implements the adjustable rail experiment method for a mechanical sliding experiment, the adjustable rail mechanism for a mechanical sliding experiment comprising:
the device comprises a rail pressure acquisition module, a sliding image acquisition module, a sliding friction force acquisition module, a main control module, an air compression module, an air injection module, a timing module, an angle adjustment module, a smoothness test module, a rail abnormity monitoring module and a display module;
the rail pressure acquisition module is connected with the main control module and used for acquiring pressure data received by an adjustable rail mechanism of a mechanical sliding experiment through pressure sensing; selecting a neural network model and a learning rule according to the pressure data and the data detected by the pressure sensor; determining a total input function according to the pressure sensor function, and defining the total input function as a relevant mapping function in a mapping way; reflecting the statistical law of the environment to the structure of the network through the interaction of the neural network and the environment; learning, understanding and determining weight distribution of the output information of the sensor, completing knowledge acquisition and information fusion, and further explaining an input mode;
the sliding image acquisition module is connected with the main control module and is used for acquiring an object sliding image on the adjustable track mechanism of the mechanical sliding experiment through the camera; identifying the noise in the object sliding image on the adjustable track mechanism by using an image noise identification method; performing wavelet decomposition on the image containing the noise, determining the number of decomposed layers, and determining wavelet coefficients in each layer; according to the calculated wavelet coefficient, carrying out novel threshold processing, and reconstructing an image after the threshold processing is finished;
the sliding friction force acquisition module is connected with the main control module and used for acquiring the sliding friction force of the object of the adjustable track mechanism in the mechanical sliding experiment through the friction force sensor;
the main control module is connected with the rail pressure acquisition module, the sliding image acquisition module, the sliding friction force acquisition module, the air compression module, the air injection module, the timing module, the angle adjustment module, the smoothness test module, the rail abnormity monitoring module and the display module and is used for controlling each module to normally work through the main controller;
the air compression module is connected with the main control module and used for compressing air to the inner cavity of the track through the compression pump;
the air injection module is connected with the main control module and is used for injecting air through the small holes on the surface of the guide rail so as to enable the object on the track to slide;
the timing module is connected with the main control module and used for calculating the sliding time of the object on the track through the timer;
the angle adjusting module is connected with the main control module and used for adjusting the inclination angle of the track through the track adjuster;
the smoothness testing module is connected with the main control module and used for testing the smoothness of the sliding of the object on the track through testing equipment; measuring the irregularity of the track by adopting a preset chord measuring method to obtain a chord measuring value corresponding to a preset measuring position; establishing a mathematical model of the chord measuring value and the track irregularity according to the incidence relation of the chord measuring value and the track irregularity;
the track abnormity monitoring module is connected with the main control module and used for monitoring the abnormity of the track through monitoring equipment;
and the display module is connected with the main control module and used for displaying the acquired pressure, sliding image, sliding friction force, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result through the display.
By combining all the technical schemes, the invention has the advantages and positive effects that: the pressure data received by an adjustable track mechanism of a mechanical sliding experiment is acquired through a track pressure acquisition module through pressure sensing; the sliding image acquisition module acquires an object sliding image on an adjustable track mechanism of a mechanical sliding experiment through a camera; the sliding friction force acquisition module acquires the sliding friction force of an object of the adjustable track mechanism in a mechanical sliding experiment through a friction force sensor; the air compression module compresses air to the inner cavity of the track through the compression pump; the air injection module injects air through the small holes on the surface of the guide rail to enable the object on the track to slide; the timing module calculates the sliding time of an object on the track through a timer; the angle adjusting module adjusts the inclination angle of the track through the track adjuster; the smoothness testing module tests the smoothness of the sliding of the object on the track through testing equipment; the track abnormity monitoring module monitors the abnormity of the track through monitoring equipment. Meanwhile, the smoothness testing module is provided with a multi-sensor and GNSS receiver sampling device, a stop-go-stop operation mode is adopted on the track to be tested, the acquired sensor moving observation data and the absolute coordinates of each static sampling point are comprehensively processed by using a fusion algorithm, the smoothness parameter of the track to be tested is acquired, the efficiency and the precision of the track smoothness testing are effectively improved, and the testing cost is reduced; meanwhile, track position information is obtained through a track abnormity monitoring module according to a preset first time frequency; acquiring track temperature information according to a preset second time frequency; acquiring preset track reference information corresponding to a track; the track position information is compared with the track reference information to determine whether the track is abnormal, so that the purpose of monitoring the change of the track in real time is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an adjustable rail mechanism for a mechanical sliding experiment provided by an embodiment of the invention.
Fig. 2 is a flowchart of an experimental method of an adjustable rail mechanism for a mechanical sliding experiment according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for testing a ride comfort test module according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for acquiring an observation sequence of attitude angles on a track to be measured by using a sampling device according to an embodiment of the present invention.
Fig. 5 is a flowchart of a monitoring method of a track anomaly monitoring module according to an embodiment of the present invention.
In the figure: 1. a rail pressure acquisition module; 2. a sliding image acquisition module; 3. a sliding friction force acquisition module; 4. a main control module; 5. an air compression module; 6. a gas injection module; 7. a timing module; 8. an angle adjustment module; 9. a ride comfort test module; 10. a track anomaly monitoring module; 11. and a display module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides an adjustable track mechanism for a mechanical sliding experiment and an experimental method, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an adjustable rail mechanism for a mechanical sliding experiment provided by an embodiment of the present invention includes: the device comprises a rail pressure acquisition module 1, a sliding image acquisition module 2, a sliding friction force acquisition module 3, a main control module 4, an air compression module 5, an air injection module 6, a timing module 7, an angle adjustment module 8, a ride comfort test module 9, a rail abnormity monitoring module 10 and a display module 11.
And the rail pressure acquisition module 1 is connected with the main control module 4 and used for acquiring pressure data received by the adjustable rail mechanism of the mechanical sliding experiment through pressure sensing.
And the sliding image acquisition module 2 is connected with the main control module 4 and is used for acquiring an object sliding image on the adjustable track mechanism of the mechanical sliding experiment through the camera.
And the sliding friction force acquisition module 3 is connected with the main control module 4 and is used for acquiring the sliding friction force of the object of the adjustable track mechanism in the mechanical sliding experiment through the friction force sensor.
The main control module 4 is connected with the rail pressure acquisition module 1, the sliding image acquisition module 2, the sliding friction force acquisition module 3, the air compression module 5, the air injection module 6, the timing module 7, the angle adjustment module 8, the ride comfort test module 9, the rail abnormity monitoring module 10 and the display module 11, and is used for controlling each module to normally work through the main controller.
And the air compression module 5 is connected with the main control module 4 and used for compressing air to the inner cavity of the track through a compression pump.
And the air injection module 6 is connected with the main control module 4 and is used for injecting air through the small holes on the surface of the guide rail so as to enable the object on the rail to slide.
And the timing module 7 is connected with the main control module 4 and used for calculating the sliding time of the object on the track through a timer.
And the angle adjusting module 8 is connected with the main control module 4 and used for adjusting the inclination angle of the track through the track adjuster.
And the smoothness testing module 9 is connected with the main control module 4 and used for testing the smoothness of the sliding of the object on the track through testing equipment.
And the track abnormity monitoring module 10 is connected with the main control module 4 and is used for monitoring the abnormity of the track through monitoring equipment.
And the display module 11 is connected with the main control module 4 and used for displaying the acquired pressure, sliding image, sliding friction force, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result through a display.
As shown in fig. 2, an adjustable rail experiment method for a mechanical sliding experiment provided in an embodiment of the present invention includes:
s101: the rail pressure acquisition module acquires pressure data received by an adjustable rail mechanism of a mechanical sliding experiment through pressure sensing, and processes and analyzes the pressure acquired data; the sliding image acquisition module acquires an object sliding image on an adjustable track mechanism of a mechanical sliding experiment through a camera; the sliding friction force acquisition module acquires the sliding friction force of an object of the adjustable track mechanism in a mechanical sliding experiment through a friction force sensor;
s102: according to data collected by the rail pressure collection module, the sliding image collection module and the sliding friction collection module, the main control module respectively controls the air compression module, the air injection module, the timing module, the angle adjustment module, the smoothness test module, the rail abnormity monitoring module and the display module to normally work;
s103: the air compression module compresses air to the inner cavity of the track through the compression pump, and the air injection module injects the air through the small holes on the surface of the guide rail to enable the object on the track to slide; in the object sliding process, the timing module calculates the object sliding time on the track through a timer;
s104: after the test is finished, the angle adjusting module adjusts the inclination angle of the track through the track adjuster; according to the angle adjusted by the angle adjusting module, the smoothness testing module tests the smoothness of the sliding of the object on the track through testing equipment;
s105: in the test process of the steps, the track abnormity monitoring module is connected with the main control module and used for monitoring the abnormity of the track through monitoring equipment; and the display module is connected with the main control module and used for displaying the acquired pressure, sliding image, sliding friction force, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result through the display.
As shown in fig. 3, the method for testing the ride comfort test module 9 provided by the present invention is as follows:
s201: measuring the irregularity of the track by adopting a preset chord measuring method to obtain a chord measuring value corresponding to a preset measuring position; establishing a mathematical model of the chord measuring value and the track irregularity according to the incidence relation of the chord measuring value and the track irregularity; performing inverse calculation on the chord measuring value according to the mathematical model to obtain the geometric shape and position of the track;
s202: filtering the geometric shape and position of the track, outputting track irregularity, and reestablishing a mathematical model between the track irregularity and a chord measuring value; the method comprises the steps that a sampling device is used for walking and sampling on a rail to be detected, and an attitude angle observation sequence, a mileage observation sequence, a track gauge observation sequence and a sleeper observation sequence on the rail to be detected are obtained;
s203: interpolating and fusing the attitude angle observation sequence, the mileage observation sequence and the track gauge observation sequence to obtain an observation set sequence; acquiring a relative track sequence of the sampling device based on the observation set sequence; acquiring a midline absolute track of the track to be measured according to the relative track sequence based on a mathematical model between the GNSS static sampling point state parameter constraint and the track irregularity and chord measurement value;
s204: and acquiring the ride comfort parameters of the track to be tested according to the central line absolute track by combining the attitude angle observation sequence, the track gauge observation sequence, the sleeper observation sequence and the design data.
As shown in fig. 4, the acquiring of the attitude angle observation sequence on the track to be measured by using the sampling device provided by the present invention includes:
s301: acquiring an attitude angle observation value on the track to be detected by using the sampling device, clearing an invalid epoch value in the attitude angle observation value, and acquiring an effective attitude angle observation value set;
s302: according to the type of the track to be detected, carrying out filtering and denoising processing on the effective attitude angle observation value set;
s303: correcting the effective attitude angle observation value set subjected to filtering and denoising by using a calibration file; and carrying out abnormal value restoration on the corrected effective attitude angle observation value set by using a first order difference equation so as to obtain the attitude angle observation sequence.
The invention provides a method for acquiring a mileage observation sequence on a track to be detected by using a sampling device, which comprises the following steps:
acquiring a mileage observation value on the track to be detected by using the sampling device, and clearing an invalid value in the mileage observation value to acquire an effective mileage observation value set;
acquiring the coordinate position of each static sampling point, and acquiring the mileage of each static sampling point by combining the design data so as to finish the correction of the mileage observation value set;
acquiring a midline coordinate of the track to be detected according to the geometric parameters of the sampling device based on a GNSS single epoch solution of mobile observation;
projecting the center line coordinate of the track to be measured onto a design curve, and acquiring a reference mileage corresponding to the GNSS single epoch solution;
and taking the reference mileage as an observed quantity, taking the modified mileage observation value set as a state quantity, and performing Kalman filtering to obtain the mileage observation sequence.
The method for acquiring the track gauge observation sequence on the track to be detected comprises the following steps:
acquiring a track gauge observation value on the track to be detected, and clearing an invalid value in the track gauge observation value to acquire an effective track gauge observation value set;
and repairing abnormal values of the effective track gauge observation value set by using a first order difference equation to obtain the track gauge observation sequence.
As shown in fig. 5, the track anomaly monitoring module 10 provided by the present invention has the following monitoring method:
s401: the method comprises the following steps of obtaining measurement data of a rail inspection vehicle detection target track, wherein the measurement data comprises: the rail state data of the target rail and the vehicle body vibration acceleration of the rail inspection vehicle on the target rail;
s402: determining a plurality of predicted vehicle body vibration acceleration intermediate frequency components corresponding to the target track according to the track state data of the target track based on a pre-established vehicle body transfer function library, wherein the vehicle body transfer function library comprises a plurality of transfer functions, and each transfer function is used for representing vehicle body vibration acceleration transfer characteristics of different rail inspection vehicles;
s403: acquiring track position information according to a preset first time frequency; acquiring track temperature information according to a preset second time frequency; acquiring preset track reference information corresponding to a track; determining whether the track is abnormal or not by comparing the track position information with the track reference information;
s404: comparing the track position information and the vehicle body vibration acceleration transfer characteristic with the track reference information to determine whether the track is abnormal: acquiring the track temperature when the track position information is acquired; acquiring a threshold value corresponding to the track temperature in displacement according to the track temperature; comparing the position difference value of the track position information and the track reference information with the threshold value; wherein when the position difference is greater than the threshold, it is determined that the track is abnormal.
The threshold provided by the invention at least comprises the following components: a first threshold and a second threshold, the first threshold being smaller than the second threshold, wherein comparing the position difference between the track position information and the track reference information with the threshold includes:
comparing the position difference value with the first threshold value and the second threshold value respectively to determine whether the track is abnormal, wherein the abnormality at least comprises: slight shift in position and severe shift in position;
when the position difference value is smaller than or equal to the first threshold value, determining that no abnormality occurs in the track; when the position difference value is larger than the first threshold value and smaller than or equal to the second threshold value, determining that the position of the track slightly shifts;
when the position difference value is larger than the second threshold value, determining that the position of the track is severely deviated.
After comparing the position difference between the track position information and the track reference information with the threshold, the present invention further includes:
when the track is determined to slightly deviate from the position, generating first early warning information;
and generating second early warning information when the track is determined to have the serious position deviation.
After the track temperature information is acquired according to the preset second time frequency, the method further comprises the following steps:
and storing the acquired track position information and the acquired track temperature information into a database according to a time sequence.
The invention provides a method for fusing data by a rail pressure acquisition module, which comprises the following steps:
selecting a neural network model and a learning rule according to data detected by the pressure sensor;
determining a total input function according to the pressure sensor function, and defining the total input function as a relevant mapping function in a mapping way;
reflecting the statistical law of the environment to the structure of the network through the interaction of the neural network and the environment; and learning and understanding the output information of the sensor, determining the distribution of weight values, completing knowledge acquisition and information fusion, and further explaining the input mode.
The sliding image acquisition module provided by the invention acquires the sliding image of the object on the adjustable track mechanism of the mechanical sliding experiment through the camera to perform denoising, and comprises the following steps:
identifying the noise in the sliding image of the object on the adjustable track mechanism by using an image noise identification method;
performing wavelet decomposition on the image containing the noise, determining the number of decomposed layers, and determining wavelet coefficients in each layer;
and (4) carrying out novel threshold processing according to the calculated wavelet coefficient, and reconstructing the image after the threshold processing is finished.
When the pressure sensor is in work, firstly, pressure data received by an adjustable track mechanism of a mechanical sliding experiment are collected through a track pressure collection module 1 by using pressure sensing; the sliding image acquisition module 2 is used for acquiring an object sliding image on an adjustable track mechanism of a mechanical sliding experiment by using a camera; the sliding friction force of an adjustable track mechanism object in a mechanical sliding experiment is acquired by a sliding friction force acquisition module 3 through a friction force sensor; secondly, the main control module 4 compresses air to the inner cavity of the track by using a compression pump through an air compression module 5; the air is sprayed out by the air spraying module 6 through small holes on the surface of the guide rail so as to lead an object on the track to slide; calculating the sliding time of the object on the track by using a timer through a timing module 7; adjusting the inclination angle of the track by an angle adjusting module 8 by using a track adjuster; the smoothness of the sliding of the object on the track is tested by using test equipment through a smoothness test module 9; then, monitoring the track abnormity by using monitoring equipment through a track abnormity monitoring module 10; finally, the display module 11 displays the acquired pressure, sliding image, sliding friction, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. An adjustable rail experiment method for a mechanical sliding experiment is characterized by comprising the following steps of:
the method comprises the following steps that firstly, a rail pressure acquisition module acquires pressure data received by an adjustable rail mechanism of a mechanical sliding experiment through pressure sensing, and processes and analyzes the pressure acquired data; the sliding image acquisition module acquires an object sliding image on an adjustable track mechanism of a mechanical sliding experiment through a camera; the sliding friction force acquisition module acquires the sliding friction force of an object of the adjustable track mechanism in a mechanical sliding experiment through a friction force sensor;
secondly, according to data acquired by the rail pressure acquisition module, the sliding image acquisition module and the sliding friction force acquisition module, the main control module respectively controls the air compression module, the air injection module, the timing module, the angle adjustment module, the ride comfort test module, the rail abnormity monitoring module and the display module to normally work;
thirdly, the air compression module compresses air to the inner cavity of the track through a compression pump, and the air injection module injects the air through small holes on the surface of the guide rail to enable an object on the track to slide; in the object sliding process, the timing module calculates the object sliding time on the track through a timer;
after the test is finished, the angle adjusting module adjusts the inclination angle of the track through the track adjuster; according to the angle adjusted by the angle adjusting module, the smoothness testing module tests the smoothness of the sliding of the object on the track through testing equipment;
step five, in the testing process of the step, the track abnormity monitoring module is connected with the main control module and used for monitoring the abnormity of the track through monitoring equipment; and acquiring measurement data of the rail detection target track of the rail detection vehicle, wherein the measurement data comprises: the rail state data of the target rail and the vehicle body vibration acceleration of the rail inspection vehicle on the target rail;
determining a plurality of predicted vehicle body vibration acceleration intermediate frequency components corresponding to the target track according to the track state data of the target track based on a pre-established vehicle body transfer function library, wherein the vehicle body transfer function library comprises a plurality of transfer functions, and each transfer function is used for representing the vehicle body vibration acceleration transfer characteristics of different track inspection vehicles;
step seven, acquiring track position information according to a preset first time frequency; acquiring track temperature information according to a preset second time frequency; acquiring preset track reference information corresponding to a track; determining whether the track is abnormal or not by comparing the track position information with the track reference information;
step eight, comparing the track position information, the vehicle body vibration acceleration transfer characteristic and the track reference information to determine whether the track is abnormal: acquiring the track temperature when the track position information is acquired; acquiring a threshold value corresponding to the track temperature in displacement according to the track temperature; comparing the position difference value of the track position information and the track reference information with the threshold value; when the position difference value is larger than the threshold value, determining that the track is abnormal;
and step nine, displaying the acquired pressure, sliding image, sliding friction force, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result through a display of the display module.
2. The adjustable trajectory experimental method of mechanical sliding experiment as claimed in claim 1, wherein the threshold values at least include: a first threshold and a second threshold, the first threshold being smaller than the second threshold, wherein comparing the position difference between the track position information and the track reference information with the threshold includes:
comparing the position difference value with the first threshold value and the second threshold value respectively to determine whether the track is abnormal, wherein the abnormality at least comprises: slight shift in position and severe shift in position;
when the position difference value is smaller than or equal to the first threshold value, determining that no abnormality occurs in the track; when the position difference value is larger than the first threshold value and smaller than or equal to the second threshold value, determining that the position of the track slightly shifts;
when the position difference value is larger than the second threshold value, determining that the position of the track is severely deviated;
after comparing the position difference between the track position information and the track reference information with the threshold, the method further includes:
when the track is determined to slightly deviate from the position, generating first early warning information;
and generating second early warning information when the track is determined to have the serious position deviation.
3. The adjustable rail experiment method for mechanical sliding experiment as claimed in claim 1, wherein after acquiring the rail temperature information according to the second predetermined time frequency, the method further comprises:
and storing the acquired track position information and the acquired track temperature information into a database according to a time sequence.
4. The method for the adjustable rail experiment of the mechanical sliding experiment as claimed in claim 1, wherein the method for collecting the pressure data received by the adjustable rail mechanism of the mechanical sliding experiment through the pressure sensor and fusing the data through the rail pressure collecting module for processing and analyzing the pressure collected data comprises:
selecting a neural network model and a learning rule according to data detected by the pressure sensor;
determining a total input function according to the pressure sensor function, and defining the total input function as a relevant mapping function in a mapping way;
reflecting the statistical law of the environment to the structure of the network through the interaction of the neural network and the environment; and learning and understanding the output information of the sensor, determining the distribution of weight values, completing knowledge acquisition and information fusion, and further explaining the input mode.
5. The adjustable rail experiment method for the mechanical sliding experiment as recited in claim 1, wherein the process of the sliding image collection module collecting the sliding image of the object on the adjustable rail mechanism for the mechanical sliding experiment through the camera to perform denoising is as follows:
identifying the noise in the sliding image of the object on the adjustable track mechanism by using an image noise identification method;
performing wavelet decomposition on the image containing the noise, determining the number of decomposed layers, and determining wavelet coefficients in each layer;
and (4) carrying out novel threshold processing according to the calculated wavelet coefficient, and reconstructing the image after the threshold processing is finished.
6. The adjustable rail test method of claim 1, wherein the ride comfort test module comprises the following steps:
(1) measuring the irregularity of the track by adopting a preset chord measuring method to obtain a chord measuring value corresponding to a preset measuring position; establishing a mathematical model of the chord measuring value and the track irregularity according to the incidence relation of the chord measuring value and the track irregularity; performing inverse calculation on the chord measuring value according to the mathematical model to obtain the geometric shape and position of the track;
(2) filtering the geometric shape and position of the track, outputting track irregularity, and reestablishing a mathematical model between the track irregularity and a chord measuring value; the method comprises the steps that a sampling device is used for walking and sampling on a rail to be detected, and an attitude angle observation sequence, a mileage observation sequence, a track gauge observation sequence and a sleeper observation sequence on the rail to be detected are obtained;
(3) interpolating and fusing the attitude angle observation sequence, the mileage observation sequence and the track gauge observation sequence to obtain an observation set sequence; acquiring a relative track sequence of the sampling device based on the observation set sequence; acquiring a midline absolute track of the track to be measured according to the relative track sequence based on a mathematical model between the GNSS static sampling point state parameter constraint and the track irregularity and chord measurement value;
(4) and acquiring the ride comfort parameters of the track to be tested according to the central line absolute track by combining the attitude angle observation sequence, the track gauge observation sequence, the sleeper observation sequence and the design data.
7. The adjustable rail experiment method of the mechanical sliding experiment as claimed in claim 6, wherein the acquiring of the observation sequence of the attitude angle on the rail to be tested by the sampling device comprises:
acquiring an attitude angle observation value on the track to be detected by using the sampling device, clearing an invalid epoch value in the attitude angle observation value, and acquiring an effective attitude angle observation value set;
according to the type of the track to be detected, carrying out filtering and denoising processing on the effective attitude angle observation value set;
correcting the effective attitude angle observation value set subjected to filtering and denoising by using a calibration file; and carrying out abnormal value restoration on the corrected effective attitude angle observation value set by using a first order difference equation so as to obtain the attitude angle observation sequence.
8. The adjustable rail experiment method for the mechanical sliding experiment as claimed in claim 6, wherein the acquiring the mileage observation sequence on the rail to be tested by using the sampling device comprises:
acquiring a mileage observation value on the track to be detected by using the sampling device, and clearing an invalid value in the mileage observation value to acquire an effective mileage observation value set;
acquiring the coordinate position of each static sampling point, and acquiring the mileage of each static sampling point by combining the design data so as to finish the correction of the mileage observation value set;
acquiring a midline coordinate of the track to be detected according to the geometric parameters of the sampling device based on a GNSS single epoch solution of mobile observation;
projecting the center line coordinate of the track to be measured onto a design curve, and acquiring a reference mileage corresponding to the GNSS single epoch solution;
and taking the reference mileage as an observed quantity, taking the modified mileage observation value set as a state quantity, and performing Kalman filtering to obtain the mileage observation sequence.
9. The method for the adjustable rail experiment of the mechanical sliding experiment as claimed in claim 6, wherein the obtaining of the rail distance observation sequence on the rail to be tested includes:
acquiring a track gauge observation value on the track to be detected, and clearing an invalid value in the track gauge observation value to acquire an effective track gauge observation value set;
and repairing abnormal values of the effective track gauge observation value set by using a first order difference equation to obtain the track gauge observation sequence.
10. An adjustable rail mechanism for performing mechanical sliding tests of the adjustable rail test method of mechanical sliding tests as claimed in claims 1-9, wherein the adjustable rail mechanism of mechanical sliding tests comprises:
the device comprises a rail pressure acquisition module, a sliding image acquisition module, a sliding friction force acquisition module, a main control module, an air compression module, an air injection module, a timing module, an angle adjustment module, a smoothness test module, a rail abnormity monitoring module and a display module;
the rail pressure acquisition module is connected with the main control module and used for acquiring pressure data received by an adjustable rail mechanism of a mechanical sliding experiment through pressure sensing; selecting a neural network model and a learning rule according to the pressure data and the data detected by the pressure sensor; determining a total input function according to the pressure sensor function, and defining the total input function as a relevant mapping function in a mapping way; reflecting the statistical law of the environment to the structure of the network through the interaction of the neural network and the environment; learning, understanding and determining weight distribution of the output information of the sensor, completing knowledge acquisition and information fusion, and further explaining an input mode;
the sliding image acquisition module is connected with the main control module and is used for acquiring an object sliding image on the adjustable track mechanism of the mechanical sliding experiment through the camera; identifying the noise in the object sliding image on the adjustable track mechanism by using an image noise identification method; performing wavelet decomposition on the image containing the noise, determining the number of decomposed layers, and determining wavelet coefficients in each layer; according to the calculated wavelet coefficient, carrying out novel threshold processing, and reconstructing an image after the threshold processing is finished;
the sliding friction force acquisition module is connected with the main control module and used for acquiring the sliding friction force of the object of the adjustable track mechanism in the mechanical sliding experiment through the friction force sensor;
the main control module is connected with the rail pressure acquisition module, the sliding image acquisition module, the sliding friction force acquisition module, the air compression module, the air injection module, the timing module, the angle adjustment module, the smoothness test module, the rail abnormity monitoring module and the display module and is used for controlling each module to normally work through the main controller;
the air compression module is connected with the main control module and used for compressing air to the inner cavity of the track through the compression pump;
the air injection module is connected with the main control module and is used for injecting air through the small holes on the surface of the guide rail so as to enable the object on the track to slide;
the timing module is connected with the main control module and used for calculating the sliding time of the object on the track through the timer;
the angle adjusting module is connected with the main control module and used for adjusting the inclination angle of the track through the track adjuster;
the smoothness testing module is connected with the main control module and used for testing the smoothness of the sliding of the object on the track through testing equipment; measuring the irregularity of the track by adopting a preset chord measuring method to obtain a chord measuring value corresponding to a preset measuring position; establishing a mathematical model of the chord measuring value and the track irregularity according to the incidence relation of the chord measuring value and the track irregularity;
the track abnormity monitoring module is connected with the main control module and used for monitoring the abnormity of the track through monitoring equipment;
and the display module is connected with the main control module and used for displaying the acquired pressure, sliding image, sliding friction force, sliding time, angle adjusting data, smoothness test result and abnormal monitoring result through the display.
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