CN113548068A - Rail surface irregularity detection device and detection method - Google Patents
Rail surface irregularity detection device and detection method Download PDFInfo
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- CN113548068A CN113548068A CN202110840908.3A CN202110840908A CN113548068A CN 113548068 A CN113548068 A CN 113548068A CN 202110840908 A CN202110840908 A CN 202110840908A CN 113548068 A CN113548068 A CN 113548068A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- Mechanical Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a rail surface irregularity detection device and a rail surface irregularity detection method, belongs to the field of rail parameter detection, and aims to improve the detection precision and range. Measuring and detecting the vertical vibration acceleration A (t) of the trolley body and the vertical displacement D (L) of the rail detection beam relative to the top surface of the rail by using an inertia detection packet on the rail detection beam to obtain a track P (L) of the top surface of the rail; measuring the relative displacement between the body of the detection trolley and the wheel shaft by using 2D laser profile sensors arranged on a first detection beam and a second detection beam which are arranged at the bottom of the detection trolley to obtain the measured value of the irregularity chord of the track; and superposing the track of the top surface of the track and the irregularity chord measurement value of the track. According to the invention, the inertia method and the chord measuring method are combined by additionally arranging two rail detecting beams, so that the problems of insufficient measuring range and insufficient measuring accuracy are solved. The precision and the range of measurement are improved, and the short wave and the long wave can be effectively measured.
Description
Technical Field
The invention belongs to the field of track parameter detection, and particularly relates to a track gauge detection device and a track gauge detection method.
Background
With the increase of urban traffic demands, the development of transportation means is continuously promoted. In recent years, the technologies of high-speed railways, urban subways and light rails are vigorously developed, and the development of rail transit is more and more urgent. The train operation comfort and safety of rail transit are always not ignored, and the plane precision of the rail and the geometric precision inside the rail are extremely important.
The rail will generate various factors of rail irregularity and surface abrasion and other defects under the action of power. The unevenness of the track can cause the stability and comfort degree of the vehicle running to change, and even cause vicious events such as derailment, overturn and the like; when the rail fastener moves downwards, consequences such as loosening of the rail fastener, damage of infrastructure under the rail and the like are caused; for the rail itself, rail cracks may occur, eventually leading to rail fracture and shortening of the service life of the rail.
The rail detection vehicle is one of large dynamic monitoring equipment for detecting rail diseases, guiding rail maintenance and guaranteeing driving safety, and is also an important means for realizing scientific management and maintenance of the rail, wherein the rail detection vehicle has important contributions to the wear condition and the irregularity monitoring of a rail plane and the restoration of the rail plane.
The rail surface unevenness refers to the longitudinal fluctuation change of the left and right rail top surfaces caused by rail surface abrasion or other defects. The detection of the unevenness of the rail surface is finished by a sensor arranged on a rail detection beam at the bottom of a rail detection vehicle, the main principle is that a rail detection beam inertial element is utilized to detect the posture of the whole rail detection beam, an inclinometer detects the included angle between the inclinometer and the ground, an oscillation gyro detects the shaking of the rail detection beam, a side rolling gyro detects the side rolling of the rail detection beam, the acceleration of the left and right rail top surfaces corresponding to the rail detection beam is further obtained, the relative inertial displacement is obtained through twice integration, the vertical displacement of upper points of the left and right rail detection beams relative to the rail surface is obtained through 2D (two-dimensional) detection, the displacement of the rail top surfaces relative to the inertial reference is obtained through difference, and short waves, medium waves and partial long waves are obtained through filtering.
At present, the detection of the height irregularity of the rail surface mainly comprises an inertia reference method and a chord measuring method;
the inertial reference method is characterized in that an inertial reference datum is established in a moving vehicle body by a measuring system, and the relative position of a track relative to the datum is measured by a displacement sensor, so that the relative position of the top surface of a steel rail in an inertial coordinate system is obtained. Although the rail detection system based on the inertial reference method can detect the general long-wave irregularity of the rail surface, the amplitude of the short-wave irregularity of the rail surface is usually less than 2mm, the wavelength of the short-wave irregularity is less than 1m, and the short-wave irregularity has small wavelength and amplitude but causes the irregularity with extremely destructive power due to impact, vibration and noise on the wheel rail. The detection precision and the detectable wavelength range of the short-wave-shaped fluorescent powder can not meet the detection requirement of detecting short waves.
Disclosure of Invention
The invention aims to solve the problem that the existing inertia reference method cannot detect short waves, provide rail surface irregularity detection and improve the detection precision and range.
The technical scheme adopted by the invention is as follows: the rail surface irregularity detection device comprises a detection trolley and a rail detection beam arranged on a wheel bogie at the bottom of the detection trolley, wherein an inertia detection packet, a first 2D laser profile sensor and a second 2D laser profile sensor are arranged on the rail detection beam; three pairs of wheel bogies are arranged at the bottom of the detection trolley; the bottom of the detection trolley body is also provided with a first detection beam and a second detection beam, and the first detection beam and the second detection beam are transversely arranged on the other two pairs of wheel bogies along the detection trolley; a 2D laser profile sensor III for scanning one rail of the two rails and a 2D laser profile sensor IV for scanning the other rail are arranged on the detection beam I; and a 2D laser profile sensor five for scanning one rail of the two rails and a 2D laser profile sensor six for scanning the other rail are arranged on the detection beam II.
Furthermore, the rail detecting beam is positioned between the first detecting beam and the second detecting beam.
Further, the rail detecting beam, the detecting beam I and the detecting beam II are arranged at equal intervals.
The rail surface irregularity detection method comprises a detection trolley, wherein a rail detection beam is arranged on a wheel bogie at the bottom of the trolley body of the detection trolley and is transversely arranged along the detection trolley, and the rail detection beam is provided with a first 2D laser profile sensor for centering a left steel rail, a second 2D laser profile sensor for centering a right steel rail and a set of inertia detection packet;
three groups of wheels are arranged at the bottom of the detection trolley body, and three wheel bogies are correspondingly arranged;
step one, mounting a first detection beam on one of two pairs of wheel bogies outside the rail detection beam, and mounting a third 2D laser profile sensor for centering a left steel rail and a fourth 2D laser profile sensor for centering a right steel rail on the first detection beam; a second detection beam is arranged on the other auxiliary wheel steering frame, and a fifth 2D laser profile sensor for centering the left steel rail and a sixth 2D laser profile sensor for centering the right steel rail are arranged on the second detection beam; the first detection beam and the second detection beam are transversely arranged along the detection trolley; in the first detection beam, the second detection beam and the rail detection beam, the distance between two adjacent beams is equal and is s/2;
measuring and detecting the vertical vibration acceleration A (t) of the trolley body and the vertical relative displacement D (L) between the trolley body and the wheel axle by using an inertia detection packet on the rail detection beam to obtain a track P (L) of the top surface of the rail;
measuring the relative displacement between the body of the detection trolley and the wheel axle by using a third 2D laser profile sensor and a fourth 2D laser profile sensor on the first detection beam; measuring the relative displacement between the body of the detection trolley and the wheel shaft by using a fifth 2D laser profile sensor and a sixth 2D laser profile sensor on a second detection beam; measuring the relative displacement between the trolley body and the wheel axle by using a first 2D laser profile sensor and a second 2D laser profile sensor on the rail detection beam; obtaining a track irregularity chord measuring value through the relative displacement between the wheel and the wheel axle measured by the first detection beam, the second detection beam and the track detection beam;
and step four, superposing the track top surface track obtained in the step two and the track irregularity chord measuring value obtained in the step three.
Furthermore, the rail detecting beam is located between the first detecting beam and the second detecting beam.
Further, s/2 is more than or equal to 1m and less than or equal to 2 m.
The invention has the beneficial effects that: according to the invention, the inertia method and the chord measuring method are combined by additionally arranging two detecting beams, so that the problems of insufficient measuring range and insufficient measuring accuracy are solved on the original basis, the measuring accuracy and range are improved, and the measuring device can effectively measure both short waves and long waves.
Drawings
FIG. 1 is a schematic side view of a rail surface irregularity detecting device;
FIG. 2 is a schematic view of the installation of a rail inspection beam in a forward direction;
FIG. 3 is a schematic view of the installation direction of the first detection beam or the second detection beam;
fig. 4 is a graph of rail surface irregularity.
In the figure, a detection trolley 1, a wheel bogie 1A, a rail detection beam 2, a first 2A and a second 2B 2D laser profile sensors, an inertia detection package 2C, a first 3 and a third 3A and a fourth 3B 2D laser profile sensors, a second 4 and a fifth 4A and a sixth 4B 2D laser profile sensors are arranged on the detection beam.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the rail surface irregularity detection device comprises a detection trolley 1 and a rail detection beam 2 arranged on a wheel bogie 1A at the bottom of the detection trolley 1, wherein an inertia detection packet 2C, a first 2A laser profile sensor 2D and a second 2B laser profile sensor 2D are arranged on the rail detection beam 2; three groups of wheels are arranged at the bottom of the detection trolley 1, and three wheel bogies 1A are arranged corresponding to the three groups of wheels; a first detection beam 3 and a second detection beam 4 are further arranged at the bottom of the detection trolley 1, and the first detection beam 3 and the second detection beam 4 are transversely arranged on the other two pairs of wheel bogies 1A along the detection trolley 1; a 2D laser profile sensor three 3A for scanning one rail of the two rails and a 2D laser profile sensor four 3B for scanning the other rail are mounted on the detection beam I3; and a 2D laser profile sensor five 4A for scanning one rail of the two rails and a 2D laser profile sensor six 4B for scanning the other rail are arranged on the detection beam two 4.
According to the rail surface irregularity detection device disclosed by the invention, the inertia detection packet 2C on the rail detection beam 2 acquires detection data of an inertia reference method, obtains the relative position of the top surface of the rail in an inertia coordinate system, and acquires the track of the top surface of the rail. The first detection beam 3, the second detection beam 4 and the rail detection beam 2 are arranged in rows and transversely arranged along the detection trolley 1 to form a measurement system of a chord measuring method, and relative displacement between the wheel axle and the trolley body is measured to obtain the real irregularity of the rail. The wheel shaft is a rotating shaft of the wheel. By fusing the two measurement systems together, the measurement precision and range are improved, and the short wave and long wave can be effectively measured.
This rail surface irregularity detection device only needs to install two additional detection roof beams, cooperates original rail to examine roof beam 2 alright realization and detects, need not to disassemble original system architecture, has protected detecting system's integrality. And the additional detection beam has light weight, low cost and small influence on the space of the vehicle bottom.
The first detection beam 3 may be disposed between the first detection beam 2 and the second detection beam 4, but in order to make the layout of the beams more reasonable, it is preferable that the first detection beam 2 is disposed between the first detection beam 3 and the second detection beam 4.
In order to ensure the detection precision, the rail detection beam 2, the first detection beam 3 and the second detection beam 4 are preferably arranged at equal intervals.
The rail surface irregularity detection method comprises a detection trolley 1, wherein a rail detection beam 2 is mounted at the bottom of the trolley body of the detection trolley 1, the rail detection beam 2 is transversely arranged along the detection trolley 1, and a first 2A centering on a left steel rail, a second 2B centering on a right steel rail and a set of inertia detection packet 2C are mounted on the rail detection beam 2;
step one, mounting a detection beam I3 on one of two pairs of wheel bogies 1A outside a rail detection beam 2, and mounting a 2D laser contour sensor III 3A centering on a left steel rail and a 2D laser contour sensor IV 3B centering on a right steel rail on the detection beam I3; a second detection beam 4 is arranged on the other auxiliary wheel steering frame 1A, and a fifth 2D laser profile sensor 4A for centering the left steel rail and a sixth 2D laser profile sensor 4B for centering the right steel rail are arranged on the second detection beam 4; the first detection beam 3 and the second detection beam 4 are transversely arranged along the detection trolley 1; in the three beams of the first detection beam 3, the second detection beam 4 and the rail detection beam 2, the distance between two adjacent beams is equal and is s/2;
secondly, measuring the vertical vibration acceleration A (t) of the body of the detection trolley 1 and the vertical relative displacement D (L) between the body and the wheel axle by using an inertia detection packet 2C on the rail detection beam 2 to obtain a track P (L) of the top surface of the rail;
measuring the relative displacement between the body of the detection trolley 1 and the wheel axle by using a 2D laser profile sensor 3A and a 2D laser profile sensor 3B on the detection beam I3; measuring the relative displacement between the body of the detection trolley 1 and the wheel axle by using a five 2D laser profile sensor 4A and a six 2D laser profile sensor 4B on the second detection beam 4; measuring the relative displacement between the body of the detection trolley 1 and the wheel axle by using a first 2A and a second 2B 2D laser profile sensors on the rail detection beam 2; obtaining a track irregularity chord measuring value through the relative displacement between the wheel and the wheel axle measured by the first detection beam 3, the second detection beam 4 and the track detection beam 2;
and step four, superposing the track top surface track obtained in the step two and the track irregularity chord measuring value obtained in the step three.
In the second step, the inertia detecting package 2C includes an inertia element for detecting the attitude of the rail detecting beam 2, an inclinometer for measuring the included angle between the rail detecting beam 2 and the earth, a swinging gyro for measuring the swinging of the rail detecting beam 2, and a side rolling gyro for measuring the side rolling of the rail detecting beam 2. The vertical vibration acceleration A (t) of the detection beam 2 is measured through the inertia detection package 2C, the vertical vibration acceleration A (t) is corrected by the system, adverse factors such as gravity component and the like are removed, and the measured vertical acceleration is subjected to secondary integration to obtain the self vertical displacement of the detection beam 2. The vertical displacement of the detection beam 2 is subtracted by the vertical relative displacement D (L) between the vehicle body and the wheel axle to obtain the top surface of the trackTrack p (l). The budget expression is as follows: p (l) ═ jk ═ a (t) (dL/dt) dt2-D (L). Wherein t is the time, and L is the distance from the wheel axle to the vehicle body. DL/dt is the vehicle body running speed.
And in the third step, a coordinate system is established by taking the longitudinal extension direction of the track as an X axis and the vertical direction as a Y axis. After the detection trolley 1 drives into the track, the abscissa of the track surface corresponding to the track detection beam 2 is x, the ordinate is f (x), and f (x) is the actual track of the top surface of the track; the abscissa of the rail surface corresponding to the first detection beam 3 is x-s/2, and the ordinate is f (x-s/2); the abscissa of the rail surface corresponding to the second detection beam 4 is x + s/2, and the ordinate is f (x + s/2); the system measurement is y (x).
Assuming that the system chord value is y (x), the expression is:
when the track irregularity is a sine wave, namely:
then it is determined that,
where H (λ) is called "transfer function", F0 is amplitude, and λ is wavelength.
And step four, the track top surface track obtained in the step two and the track irregularity value obtained in the step three are added, namely, the track irregularity value obtained in the step three and the track irregularity value obtained in the step four are added or the final track irregularity value is obtained at the same position of the track surface.
The rail surface irregularity detection is carried out on a certain rail by adopting an inertia reference method, a chord measuring method and the method disclosed by the invention, the result is shown in the following table 1, and a rail surface irregularity curve graph is shown in fig. 4.
Wherein the kilometer scale unit is kilometer. The measured rail surface irregularity is in millimeters. As can be seen from the data in Table 1 and the graph in FIG. 4, the measurement method disclosed by the invention can effectively measure both short waves and long waves, and the measurement precision and range are improved.
Claims (6)
1. The rail surface irregularity detection device comprises a detection trolley (1) and a rail detection beam (2) arranged on a wheel bogie (1A) at the bottom of the detection trolley (1), wherein an inertia detection packet (2C), a first 2D laser profile sensor (2A) and a second 2D laser profile sensor (2B) are arranged on the rail detection beam (2); the method is characterized in that: three pairs of wheel bogies (1A) at the bottom of the detection trolley (1) are provided; a first detection beam (3) and a second detection beam (4) are further arranged at the bottom of the detection trolley (1), and the first detection beam (3) and the second detection beam (4) are transversely arranged on the other two pairs of wheel bogies (1A) along the detection trolley (1); a 2D laser profile sensor III (3A) for scanning one rail of the two rails and a 2D laser profile sensor IV (3B) for scanning the other rail are arranged on the detection beam I (3); and a 2D laser profile sensor five (4A) for scanning one rail of the two rails and a 2D laser profile sensor six (4B) for scanning the other rail are arranged on the detection beam two (4).
2. The rail surface irregularity detecting device according to claim 1, wherein: the rail detecting beam (2) is positioned between the first detecting beam (3) and the second detecting beam (4).
3. The rail surface irregularity detecting device according to claim 1 or 2, wherein: the rail detecting beam (2), the detecting beam I (3) and the detecting beam II (4) are arranged at equal intervals.
4. The rail surface irregularity detection method comprises the steps that a detection trolley (1) is provided, a rail detection beam (2) is arranged on a wheel bogie (1A) at the bottom of the trolley body of the detection trolley (1), the rail detection beam (2) is transversely arranged along the detection trolley (1), and a 2D laser profile sensor I (2A) for centering a left steel rail, a 2D laser profile sensor II (2B) for centering a right steel rail and a set of inertia detection packet (2C) are arranged on the rail detection beam (2);
the method is characterized in that: three groups of wheels are arranged at the bottom of the detection trolley (1), and three wheel bogies (1A) are correspondingly arranged;
step one, installing a first detection beam (3) on one of two pairs of wheel bogies (1A) outside the installed rail detection beam (2), and installing a third 2D laser profile sensor (3A) for centering a left steel rail and a fourth 2D laser profile sensor (3B) for centering a right steel rail on the first detection beam (3); a second detection beam (4) is arranged on the other auxiliary wheel steering frame (1A), and a fifth 2D laser profile sensor (4A) for centering the left steel rail and a sixth 2D laser profile sensor (4B) for centering the right steel rail are arranged on the second detection beam (4); the first detection beam (3) and the second detection beam (4) are transversely arranged along the detection trolley (1); in the three beams of the first detection beam (3), the second detection beam (4) and the rail detection beam (2), the distance between every two adjacent beams is equal and is s/2;
measuring and detecting the vertical vibration acceleration A (t) of the trolley body of the trolley (1) and the vertical relative displacement D (L) between the trolley body and the wheel axle by using an inertia detection packet (2C) on the rail detection beam (2) to obtain a track P (L) of the top surface of the rail;
measuring the relative displacement between the body and the axle of the detection trolley (1) by using a 2D laser profile sensor III (3A) and a 2D laser profile sensor IV (3B) on the detection beam I (3); measuring the relative displacement between the body and the axle of the detection trolley (1) by using a 2D laser profile sensor five (4A) and a 2D laser profile sensor six (4B) on the detection beam II (4); measuring and detecting the relative displacement between the body and the wheel axle of the trolley (1) by using a first 2D laser profile sensor (2A) and a second 2D laser profile sensor (2B) on the rail detection beam (2); obtaining a track irregularity chord length measuring value through the relative displacement between the wheel and the wheel axle measured by the first detection beam (3), the second detection beam (4) and the track detection beam (2);
and step four, superposing the track top surface track obtained in the step two and the track irregularity chord measuring value obtained in the step three.
5. The rail surface irregularity detecting method according to claim 4, characterized in that: the rail detecting beam (2) is positioned between the first detecting beam (3) and the second detecting beam (4).
6. The rail surface irregularity detecting method according to claim 5, characterized in that: s/2 is more than or equal to 1m and less than or equal to 2 m.
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Cited By (1)
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| CN116552598A (en) * | 2023-07-10 | 2023-08-08 | 西南交通大学 | Permanent magnet track irregularity detection device and method |
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| CN113548068B (en) | 2023-09-12 |
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