CN114132358A - Multi-platform intelligent track comprehensive detection system - Google Patents
Multi-platform intelligent track comprehensive detection system Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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Abstract
The invention provides a multi-platform intelligent track detection system which comprises an inertia measurement module (1), a GPS receiver (5), a speedometer, a laser range finder and an embedded computer. The track detection system is fixed on a running train or a driving trolley through a track detection beam, the inertia measurement module (1) is placed in the center of the detection beam, the azimuth and the horizontal attitude angle of the detection beam are obtained through navigation calculation, and an inertia reference is established for optical measurement; the laser range finder is a two-dimensional laser range finder (7), and the two-dimensional laser range finder (7) is respectively arranged at two sides of the detection beam and used for measuring the distance between the inertia measurement module (1) and a track gauge point; and the embedded computer performs fusion calculation on the acquired inertial navigation information, the acquired mileage information and the acquired GPS information, and calculates the orbit geometric parameters by combining the laser ranging information. The invention can meet the detection requirements of high efficiency and high precision.
Description
Technical Field
The invention relates to an intelligent comprehensive detection system, in particular to the field of comprehensive detection of rail transit infrastructure.
Background
In recent years, railway and highway traffic in China is rapidly developed, particularly, the construction of high-speed railways enters express lanes, the total scale of railway networks in China reaches 20 kilometers by 2025 years, the rapid access of cities and prefectures is realized, the basic coverage of county areas is realized by 2030 years, and eight vertical and eight horizontal high-speed railway network main channels are formed. With the rapid development of high-speed railways and urban rail transit construction in China, the research on the rail line accurate measurement technology with a rail accurate detection technology as a core gradually becomes an important means for guaranteeing the driving comfort and safety of trains. A large amount of manpower and material resources are invested in a plurality of countries to develop and update various detection devices so as to meet the requirements of high speed and heavy load of the current railway.
No matter newly-built circuit or existing circuit maintain all have urgent demand to high accuracy track detecting system, and the current large-scale comprehensive testing car is high in measurement efficiency, but the precision is relatively poor, is difficult to satisfy millimeter level measurement accuracy demand, and portable rail inspection dolly adopts hand propelled, contact measurement mode, though the precision is high, but has the total powerstation to establish operation links such as standing, and the operation is complicated, and measurement of efficiency is lower. At present, the requirements of various railway authorities and engineering authorities on a high-precision track infrastructure detection system mainly depend on the import of European countries, and although some manufacturers finish product research and development in China, the gap between the measurement precision and the data confidence degree and the mature products and solutions is large. The comprehensive track detection technology becomes an important bottleneck for restricting the construction of newly-built lines and the improvement of the operating efficiency of the existing line maintenance in China.
Disclosure of Invention
The invention aims to provide a track detection system with high measurement efficiency and high precision.
In order to solve the technical problems, the invention provides a multi-platform intelligent track comprehensive detection system, which adopts the following technical scheme:
the track detection system comprises an inertia measurement module, a GPS receiver, a mileometer, a laser range finder and an embedded computer, the track detection system is fixed on a running train or a driving trolley through a track detection beam,
the inertial measurement module is arranged in the center of the detection beam, the azimuth and the horizontal attitude angle of the detection beam are obtained through navigation calculation, an inertial reference is established for optical measurement,
the laser range finder is a two-dimensional laser range finder which is respectively arranged at two sides of the detection beam and used for measuring the distance between the inertia measurement module and the track gauge point;
the embedded computer performs fusion calculation on the acquired inertial navigation information, the acquired mileage information and the GPS information, and calculates to obtain the track geometric parameters by combining the laser ranging information;
when the multi-platform intelligent track detection system runs at a low speed, the heading angle error of the inertia/mileage combined navigation is restrained, and the method comprises the following steps:
the combined inertial/odometer navigation Kalman filter employs a velocity matching mode,
the state matrix is set to:
wherein M1 and M2 are combined navigation state matrix components,
as an attitude transformation matrix, omegain＝ωie+ωenWherein ω isieIs the angular rate of rotation of the earth, omegaenTo be the angular rate of movement of the carrier,
the observation matrix is set to:
H＝[I2×2 02×9]
when the multi-platform intelligent track detection system runs at a high speed, the lateral zero-speed error of the inertia/mileage combined navigation is compensated, and the method comprises the following steps:
longitudinal speed v of travel by means of a traindAnd course angular rate omega of inertial navigation systemdAnd estimating the turning radius in real time, and further compensating the lateral zero-speed error caused by the turning of the train.
And further, the system also comprises an electronic tag RFID, when the running train or the driving trolley passes through the ground electronic tag, the tag reader reads tag information, and the automatic calibration of the mileage of the inertia reference is completed by carrying out data processing and data synchronization with the remote positioning synchronization server.
The power supply control circuit comprises a main control circuit, a 4G module and a relay, the power supply output is divided into two paths, one path is directly output, and the power supply is provided for the main control circuit and the 4G module; the other path controls the relay to realize the power supply of the detection device; after the main control circuit is powered on, the embedded software automatically runs and automatically sends a starting instruction, or the relay is controlled to act through a 4G and wifi wireless network.
The system further comprises a one-dimensional laser range finder, wherein the one-dimensional laser range finder is installed above the ground object to be identified, a square wave track with fluctuation in height in the train running direction is obtained through a series of point coordinates measured by the one-dimensional laser range finder, the track is compared with the pre-stored profile of the ground object according to different vertical distances, and the quantity and shape related parameters of the ground object are counted, so that the detection and identification of the profile of the ground object are realized.
Furthermore, the one-dimensional laser range finder is moved to the central position of the track detection system to be vertically downward, the strapdown inertial navigation system is assisted to acquire the specific position of the turnout according to the special track measured by the one-dimensional laser range finder at the turnout junction, and the turnout profile is acquired through coordinate extraction.
The system further comprises a data acquisition post-processing system, on the basis of accumulation of historical detection data, maintenance data and equipment account data, abnormal detection points are automatically removed according to track characteristics, original data are compared, longitudinal comparison is carried out by combining historical data, line state safety is predicted, and intelligent over-limit alarm is carried out on track infrastructure states.
Compared with the prior art, the invention has the following beneficial effects:
the multi-platform intelligent track detection system breaks through key technologies such as integrated design, multi-platform adaptation, spatial geometric parameter calibration, inertia/mileage/satellite/RFID/design linear multi-information fusion and the like, obtains relevant parameters and states of a railway track based on an unattended and intelligent alarm technology of an expert system, and realizes dynamic detection (including level, superelevation, gauge, direction of track, height and the like) of geometric parameters, detection of wave type abrasion, detection of track defects, railway clearance scanning, roadbed settlement measurement and the like. The system has a starting self-starting function, can be operated through a remote control module, is in interactive communication with a vehicle-mounted server or an external wireless terminal, and transmits data to a cloud platform through a WIFI or 4G/5G network, so that a user is ensured to obtain track detection data in real time, and the system is used for guiding maintenance and repair of a high-speed railway track. The multi-platform intelligent track detection system can operate on tunnels, the ground and overhead lines, and all installed equipment can work all the day and night without interruption. The detection modules can work independently and can work simultaneously, data interaction and sharing are realized, remote control and data transmission are realized, and unattended operation is realized.
The invention respectively carries out error suppression compensation aiming at the low-speed detection platform and the high-speed detection platform. The device is suitable for operation vehicles, track inspection vehicles, portable detectors and medium and high speed inspection operation platforms.
The invention provides a multi-platform intelligent comprehensive track detection system which can be arranged on an operation train and can also be placed on a driving trolley to independently operate, and the system has small influence on normal operation, high efficiency and high speed due to a vehicle-mounted dynamic detection mode, truly reflects the state of infrastructure under the operation condition of the train, and can be used as one of main detection means for the safety state of railway and urban rail traffic infrastructure. The successful development of the multi-platform intelligent track detection system can meet the detection requirements of high efficiency and high precision, and has wide market application prospect.
Drawings
FIG. 1 is a schematic diagram illustrating a multi-platform intelligent track detection system according to an embodiment of the present invention;
FIG. 2 shows a schematic diagram of a typical bogie structure;
FIG. 3 shows the angular relationship between the cars and the trucks as the train turns;
FIG. 4 illustrates the installation error angle relationship between the car and the truck at different turning radii;
wherein, 1, an inertia measuring module; 2. a power supply control circuit; 3. 4 GDTU; 4. a relay; 5. a GPS receiver; 6. a one-dimensional laser range finder; 7. two-dimensional laser range finder.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, the multi-platform intelligent track detection system includes an inertial measurement module 1, a GPS receiver 5, a odometer, a laser range finder, and an embedded computer. The track detection system is fixed on the running train or the driving trolley through the track detection beam.
The inertial measurement module 1 adopts optical fiber strapdown inertial navigation, and the zero-offset stability and the repeatability are both smaller than 0.02 degree/h. The inertial measurement module 1 is placed in the center of the detection beam, and the azimuth and the horizontal attitude angle of the detection beam are obtained through navigation calculation, so that an inertial reference is established for optical measurement.
The laser range finder comprises a one-dimensional laser range finder 6 and a two-dimensional laser range finder 7, wherein the two-dimensional laser range finder 7 is arranged on two sides of the detection beam in rows and used for measuring the distance between the inertia measurement module 1 and a track gauge point.
A positioning GPS antenna is arranged on the top of the detected car or above the driving trolley, and a GPS receiver 5 is arranged in the detection beam.
The method comprises the following steps that an odometer is additionally arranged in an axle box of a detected vehicle or a driving trolley;
and performing fusion calculation on inertial navigation information, mileage information and GPS information of the embedded computer. And performing integrated navigation calculation by using the mileage information and the GPS information to obtain real-time three-dimensional coordinates, running speed and mileage of the inertial reference in the measurement process. The laser ranging assembly respectively calculates the relative positions of the inertial reference to the top surfaces of the left and right steel rails and the track gauge point through image processing and coordinate system transformation, and the relative positions of the left and right track gauge points obtained by the laser ranging assembly are calculated to obtain the track gauge; and calculating the coordinates measured by inertial navigation and the displacement of the top surface of the steel rail obtained by laser ranging to obtain the real-time three-dimensional coordinates of the top surfaces of the left and right rail steel rails in the running process, and calculating to obtain the geometric parameters of the rails.
Furthermore, when the multi-platform intelligent track detection system runs at a low speed, the heading angle error of the inertia/mileage combined navigation is restrained.
For a low-speed working condition, the measurement of a line with the same length consumes a long time, inertial measurement errors are accumulated along with time, and the horizontal attitude errors can be accurately estimated by inertial/mileage combined navigation, but the course angle errors cannot be observed, and the observability of the course angle errors cannot be improved by variable speed maneuvering on a track. Therefore, estimation and correction of the heading angle error is a core problem for combined inertial/mileage navigation.
The combined inertial/odometer navigation Kalman filter employs a velocity matching mode,
velocity differential error equation based on strapdown inertial navigation system
In the formula (I), the compound is shown in the specification,
in the form of the error of the coriolis term,
zero offset for the accelerometer.
fnExpressed in the navigation coordinate system for acceleration measurements, phinAttitude error angle (misalignment angle), ω, resolved for inertial navigationieIs the angular velocity of rotation, v, of the earthenTo combine navigation rates, ωenTo be the angular rate of movement of the carrier,
it can be obtained that, under the condition of neglecting the measurement error of the accelerometer, the velocity increment error of the strapdown inertial navigation system in each navigation period can be divided into fnX phi and
two parts.
Odometer dead reckoning speed error equation
In the formula, phinAttitude error angle, f, resolved for inertial navigationnAnd alpha is the angle between the carriage and the bogie.
Compared with the velocity error equation of the strapdown inertial navigation system, the two have a common term (f)n×)φn(fnThe measurement value of the accelerometer contains the gravity acceleration), so that during the acceleration movement, the speed error generated by the interaction of the attitude angle error and the acceleration of the dead reckoning is consistent with the error term caused by the attitude angle error in the strap-down inertial navigation system, so that the heading angle error of the system cannot be estimated by the inertia/mileage combined navigation through the variable speed maneuver, and the heading angle error of the system is estimated by using the speed error caused by the attitude angle divergence. Subtracting a speed error equation of the strapdown inertial navigation system from a dead reckoning speed error equation to obtain:
the state matrix of the combined navigation can be changed according to the differential equation, and (f) isnX) is replaced by (g)nX). The state matrix of the integrated navigation system becomes:
where M1M2 is the combined navigation state matrix component,
as an attitude transformation matrix, omegain＝ωie+ωen
At this time, the dead reckoning speed is taken as the real speed, the quantity measurement is unchanged, and the observation matrix is as follows:
H＝[I2×2 02×9] (5)
in the formula, I is a unit matrix
The simplified measurement matrix model can reduce the calculated amount by simplifying on one hand and avoid the inertial navigation speed on the other hand
Errors caused by related items in the observation matrix due to divergence improve the accuracy of the combined navigation.
Further, when the multi-platform intelligent track detection system runs at a high speed, the lateral zero-speed error caused by inertia/mileage combined navigation turning is compensated.
For high-speed detection platforms such as comprehensive detection vehicles and operation motor train units, a carriage is connected with wheels through a bogie, a typical bogie structure is shown in fig. 2, the bogie is connected with the carriage through a middle mounting hole, the carriage is located at the tangent line of axle center lines at two ends, and springs and dampers are arranged between the carriage and the bogie and between the bogie and the wheels so as to enable the carriage to turn smoothly.
The angular relationship between the cars and the bogies when the train turns is shown in fig. 3, and assuming that the turning radius of the track is R, the distance between the two bogies is d, and the angle between the cars and the bogies is α, it can be obtained from the relationship in the figure:
without assuming that the distance d between the two bogies is 19m, the relationship of the installation error angle between the car and the bogies at different turning radii can be obtained according to equation (6) as shown in fig. 4. It can be seen from the figure that the smaller the turning radius, the larger the angle, and if no compensation is performed, the more serious the influence on the positioning accuracy of the inertial/odometer combined navigation is.
Since the output of the odometer is relative to the longitudinal speed of the bogie, its lateral speed is zero. In general, the inertia/mileage meter combination also utilizes the lateral zero-speed characteristic of the mileage meter to perform combined navigation operation, and the inertia base track line state detection system needs to perform conversion compensation on the output speed of the mileage meter due to the existence of an installation error angle between a carriage and a bogie.
Suppose the output speed of the mileage gauge is VD＝[vd 0 0]TIn order to quantitatively evaluate the influence of the installation error angle on the positioning accuracy of the inertia/mileage meter combined navigation, a high-speed motor train unit with the operating speed of 300km/h (83.3m/s) is taken as an example, the distance between two bogies is still assumed to be 19m, when a train passes through a curve with the turning radius of 5000m, the installation error angle alpha is 0.11 degrees obtained by the formula (6), and further, the lateral speed relative to the carriage can be obtained
This means that when the train passes through a curve with a turn radius of 5000m at a speed of 300km/h, a speed error of 0.158m/s is generated by adopting the conventional lateral zero-speed matching method, so that a certain estimation error of the inertia/mileage combined navigation Kalman filter is generated.
In order to compensate for lateral speed error, the turning radius R needs to be accurately obtained, and the traditional measuring method is difficult to obtain the turning radius of the train passing through a curve in real time, so that the longitudinal speed v of the train can be used for runningdAnd course angular rate omega of inertial navigation systemdAnd estimating the turning radius in real time. Namely, it is
The turning radius of the train passing through the curve can be estimated in real time through the formula (8), so that the lateral zero-speed error caused by train turning can be compensated, and the measurement precision of the system under the high-speed detection platform is improved.
In some embodiments of the invention, the system further comprises an electronic tag (RFID) for performing fixed-point correction on the inertial reference position information, when the running train or the driving trolley passes through the ground electronic tag, the tag reader reads the tag information, and the remote positioning synchronization server performs data processing and data synchronization to complete automatic calibration of the mileage of the inertial reference.
In some embodiments of the invention, the power supply control circuit comprises a main control circuit, a 4G module and a relay, the output of the power supply 4 is divided into two paths, one path is directly output, and the power supply is provided for the main control circuit and the 4G module; and the other path of the power supply is used for controlling the relay to realize the power supply of the detection device.
After the main control circuit is powered on, the embedded software automatically runs and automatically sends a starting instruction, or the relay is controlled to act through a 4G and wifi wireless network.
In some embodiments of the invention, the train identification device further comprises a one-dimensional laser range finder, wherein the one-dimensional laser range finder is installed above the ground object to be identified, a series of point coordinates measured by the one-dimensional laser range finder are used for obtaining a square wave track with fluctuation in the train traveling direction, the track is compared with the pre-stored profile of the ground object according to different vertical distances, and the quantity and shape related parameters of the ground object are counted, so that the detection and identification of the profile of the ground object are realized.
Furthermore, the one-dimensional laser range finder is moved to the center position of the track detection system and vertically faces downwards, the strapdown inertial navigation system is assisted to measure the turnout according to the special track measured by the one-dimensional laser range finder at the turnout junction, the specific position of the turnout is obtained, the functions of automatic elimination, filtering and the like of abnormal data at the turnout junction are realized, and the track geometric parameter detection precision is improved. When the displacement sensor passes through the turnout area, the turnout profile is obtained through coordinate extraction.
In some embodiments of the invention, the system further comprises a data acquisition post-processing system for intelligent alarm over limit.
The track infrastructure detection data volume is big to because factors influence such as switch, track seam, optical measurement can have more unusual data point, if only rely on artificially to reject the unusual point, work load is big, inefficiency, accuracy are poor, need reject the algorithm realization unusually with the help of unusually to detect and reject, according to effective detection data, carry out transfinite intelligent alarm to track infrastructure state again, realize unmanned on duty.
The data acquisition post-processing system automatically eliminates abnormal detection points according to the track characteristics on the basis of accumulation of historical detection data, maintenance data and equipment account data, and brings complete and effective original data into a state management database; and comparing the original data, longitudinally comparing the original data with historical data, predicting the safety of the line state, and intelligently alarming the state of the track infrastructure.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A multi-platform intelligent track detection system is characterized by comprising an inertia measurement module (1), a GPS receiver (5), a speedometer, a laser range finder and an embedded computer, wherein the track detection system is fixed on a running train or a driving trolley through a track detection beam,
the inertial measurement module (1) is placed in the center of the detection beam, the azimuth and the horizontal attitude angle of the detection beam are obtained through navigation calculation, an inertial reference is established for optical measurement,
the laser range finder is a two-dimensional laser range finder (7), and the two-dimensional laser range finder (7) is respectively arranged at two sides of the detection beam and used for measuring the distance between the inertia measurement module (1) and a track gauge point;
the embedded computer performs fusion calculation on the acquired inertial navigation information, the acquired mileage information and the GPS information, and calculates to obtain the track geometric parameters by combining the laser ranging information;
when the multi-platform intelligent track detection system runs at a low speed, the course angle error of the inertia/mileage combined navigation is restrained, and the method comprises the following steps:
the combined inertial/odometer navigation Kalman filter employs a velocity matching mode,
the state matrix is set to:
wherein M1M2 is the combined navigation state matrix component,
as an attitude transformation matrix, omegain＝ωie+ωenWherein ω isieIs the angular rate of rotation of the earth, omegaenTo be the angular rate of movement of the carrier,
the observation matrix is set to:
H＝[I2×2 02×9]；
in the formula, I is a unit array,
when the multi-platform intelligent track detection system runs at a high speed, the lateral zero-speed error of the inertia/mileage combined navigation is compensated, and the method comprises the following steps:
longitudinal speed v of travel by means of a traindAnd course angular rate omega of inertial navigation systemdAnd estimating the turning radius in real time, and further compensating the lateral zero-speed error caused by the turning of the train.
2. The multi-platform intelligent track detection system according to claim 1, further comprising a one-dimensional laser range finder (6), wherein the one-dimensional laser range finder is installed above a ground object to be identified, a square wave track with fluctuation in height in the train traveling direction is obtained through a series of point coordinates measured by the one-dimensional laser range finder, the track is compared with the pre-stored profile of the ground object according to different vertical distances, and the quantity and shape related parameters of the ground object are counted, so that the detection and identification of the profile of the ground object are realized.
3. The multi-platform intelligent track detection system according to claim 2, wherein the one-dimensional laser range finder (6) is moved to the central position of the track detection system to be vertically downward, the strapdown inertial navigation system is assisted to obtain the specific position of the turnout according to the special track measured by the one-dimensional laser range finder at the turnout junction, and the turnout profile is obtained through coordinate extraction.
4. The multi-platform intelligent track detection system according to claim 1, further comprising an electronic tag RFID, wherein when the running train or the driving trolley passes through the ground electronic tag, the tag reader reads tag information, and the automatic calibration of the mileage of the inertia reference is completed through data processing and data synchronization with the remote positioning synchronization server.
5. The multi-platform intelligent track detection system according to claim 1, further comprising a power control circuit, wherein the power control circuit comprises a main control circuit, a 4G module and a relay, and divides a power output into two paths, one path is directly output to provide power for the main control circuit and the 4G module; the other path controls the relay to realize the power supply of the detection device; after the main control circuit is powered on, the embedded software automatically runs and automatically sends a starting instruction, or the relay is controlled to act through a 4G and wifi wireless network.
6. The multi-platform intelligent track detection system according to claim 1, further comprising a data acquisition post-processing system, wherein based on the accumulation of historical detection data, maintenance data and equipment ledger data, abnormal detection points are automatically eliminated according to track characteristics, original data are compared, longitudinal comparison is performed in combination with historical data, the safety of a line state is predicted, and an intelligent alarm of an out-of-limit track infrastructure state is performed.
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| CN116007618A (en) * | 2023-03-27 | 2023-04-25 | 中国铁路设计集团有限公司 | Accurate positioning method for track accurate measurement and accurate tamping operation in track traffic tunnel |
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