CN114485751B - System and method for spatially synchronizing detection data of rail flaw detection vehicle - Google Patents
System and method for spatially synchronizing detection data of rail flaw detection vehicle Download PDFInfo
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- CN114485751B CN114485751B CN202210070951.0A CN202210070951A CN114485751B CN 114485751 B CN114485751 B CN 114485751B CN 202210070951 A CN202210070951 A CN 202210070951A CN 114485751 B CN114485751 B CN 114485751B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
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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
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
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Abstract
The invention discloses a space synchronization system and a method for detection data of a rail flaw detection vehicle, wherein the system comprises the following steps: the encoder is used for: transmitting an encoder signal; the space synchronization unit is used for: transmitting the received encoder signal to each detection system; transmitting a periodic synchronization signal to each detection system; the detection system is used for: after receiving the encoder signal, performing accumulated count on the encoder signal; after receiving the periodic synchronizing signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period; when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data. The invention can realize the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a system and a method for spatially synchronizing detection data of a rail flaw detection vehicle.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
The steel rail can be in various states which influence and limit the service performance of the steel rail in the use process, such as internal cracks of the steel rail, scratch on the top surface of the steel rail, stripping off of blocks, scale marks, rail head abrasion, wave abrasion and the like. At present, the detection of the rail damage is completed through a vehicle-mounted detection system, such as the detection of cracks in the rail by a rail flaw detection operation system, the detection of the rail profile by a rail profile detection system, the detection of the rail surface damage by a rail surface high-definition imaging system, and the like. With the development of the engineering detection technology, synchronous detection and data fusion analysis of various rail damage states become one of the development trends.
Detection systems such as a steel rail flaw detection operation system, an electromagnetic detection system, a steel rail profile detection system, a rail surface high-definition imaging system and the like are arranged at different positions on the existing steel rail flaw detection vehicle, and can synchronously detect flaws on the surface and the interior of a steel rail, as shown in fig. 1.
In order to realize multi-system detection data fusion analysis on rail damage, the detection data of each detection system needs to be accurately aligned. In the prior art, only a mileage synchronization command is sent to each detection system, but because of the transmission delay and storage delay of each system, accurate alignment of detection data of each system on mileage synchronization is difficult to realize, and mileage deviation is large. For example: the inspection speed of the flaw detection vehicle is 80km/h, and if the transmission delay time is 0.1 second, the mileage deviation is about 2.2m. The mileage information storage modes of the systems are different, some mileage information is pasted when the data to be detected is stored under the windows system, some mileage information is pasted in the original data under the real time system, the storage delay can reach 1-10 seconds, and the maximum mileage deviation can reach 20-200m.
The size of the rail damage is generally less than 20mm, and the larger mileage deviation causes that the data among multiple systems cannot be fused and analyzed due to the misalignment. Therefore, a space synchronization system for detecting data of the rail flaw detection vehicle is lacking at present so as to realize accurate alignment of a plurality of detecting system data of the rail flaw detection vehicle.
Disclosure of Invention
The embodiment of the invention provides a space synchronization system for detection data of a rail flaw detection vehicle, which is used for realizing accurate alignment of detection data of a plurality of detection systems of the rail flaw detection vehicle, and comprises the following components:
a space synchronization unit, an encoder and a plurality of detection systems respectively connected with the space synchronization unit, wherein,
the encoder is used for: transmitting an encoder signal to a spatial synchronization unit;
the space synchronization unit is used for: transmitting the received encoder signal to each detection system; sending a periodic synchronous signal to each detection system every other preset encoder count value;
the detection system is used for: after receiving the encoder signal, accumulating and counting the encoder signal to obtain an encoder count value; after receiving the periodic synchronizing signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period; when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data.
The embodiment of the invention also provides a space synchronization method of the detection data of the rail flaw detection vehicle, which is used for realizing the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle, and comprises the following steps:
transmitting the received encoder signal to each detection system; after receiving the encoder signals, the detection system performs accumulated count on the encoder signals to obtain encoder count values;
sending a periodic synchronous signal to each detection system every other preset encoder count value; and after the detection system receives the periodic synchronous signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, attaching a steel rail fragment value tag to the detection data of the current detection data acquisition period, and obtaining the corresponding detection data of the target detection system according to the steel rail fragment value tag of the current detection data when the corresponding detection data of the target detection system is searched according to the current detection data.
The embodiment of the invention also provides a space synchronization method of the detection data of the rail flaw detection vehicle, which is used for realizing the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle, and comprises the following steps:
after receiving the encoder signals sent by the space synchronization unit, accumulating and counting the encoder signals to obtain encoder count values;
after receiving the periodic synchronizing signal sent by the space synchronizing unit, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period;
when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for spatially synchronizing the detection data of the rail flaw detection vehicle when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the method for spatially synchronizing the detection data of the rail flaw detection vehicle when being executed by a processor.
The embodiment of the invention also provides a computer program product, which comprises a computer program, and the computer program realizes the method for spatially synchronizing the detection data of the rail flaw detection vehicle when being executed by a processor.
In an embodiment of the present invention, an encoder is used for: transmitting an encoder signal to a spatial synchronization unit; the space synchronization unit is used for: transmitting the received encoder signal to each detection system; sending a periodic synchronous signal to each detection system every other preset encoder count value; the detection system is used for: after receiving the encoder signal, accumulating and counting the encoder signal to obtain an encoder count value; after receiving the periodic synchronizing signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period; when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data. In the system, the current encoder count value can be corrected through the periodic synchronous signal; the rail segment value label is attached to the detection data of the current detection data acquisition period by calculating the rail segment value of the current detection position, so that when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the rail segment value label of the current detection data, and the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle is realized.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
FIG. 1 is a schematic diagram of a conventional rail inspection vehicle inspection system;
FIG. 2 is a schematic diagram I of a spatial synchronization system for detecting data of a rail flaw detection vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the synchronization of the encoder count value period in an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the relationship between a rail segment and a detection system at time t1 of a rail flaw detection vehicle in an embodiment of the present invention;
FIG. 6 is a schematic diagram showing the relationship between a rail segment and a detection system at time t2 of a rail flaw detection vehicle in an embodiment of the present invention;
FIG. 7 is a second schematic diagram of a spatial synchronization system for detecting data of a rail inspection vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of alignment of detection data of a multi-detection system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an interface of a spatial synchronization unit according to an embodiment of the present invention;
FIG. 10 is a third schematic diagram of a rail inspection vehicle detection data spatial synchronization system in an embodiment of the present invention;
FIG. 11 is a schematic diagram II of a method for spatially synchronizing detection data of a rail flaw detection vehicle in an embodiment of the invention;
FIG. 12 is a schematic diagram of mileage accumulation according to an embodiment of the present invention;
FIG. 13 is a flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention;
FIG. 14 is a second flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention;
FIG. 15 is a third flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention;
FIG. 16 is a flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention;
FIG. 17 is a fifth flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention;
fig. 18 is a schematic diagram of a computer device in an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The exemplary embodiments of the present invention and their descriptions herein are for the purpose of explaining the present invention, but are not to be construed as limiting the invention.
Fig. 2 is a schematic diagram of a spatial synchronization system for detecting data of a rail flaw detection vehicle according to an embodiment of the present invention, as shown in fig. 2, the system includes: a spatial synchronization unit 201, an encoder 202 and a plurality of detection systems 203 respectively connected to said spatial synchronization unit 201, wherein,
the encoder 202 is configured to: transmitting an encoder signal to a spatial synchronization unit;
the spatial synchronization unit 201 is configured to: transmitting the received encoder signal to each detection system; sending a periodic synchronous signal to each detection system every other preset encoder count value;
the detection system 203 is used for: after receiving the encoder signal, accumulating and counting the encoder signal to obtain an encoder count value; after receiving the periodic synchronizing signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period; when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data.
In one embodiment, the detection system comprises one or any combination of an electromagnetic detection system, a rail surface high-definition imaging system, a rail profile detection system and a rail flaw detection operation system.
Specifically, the encoders count independently, and after each detection system receives the encoder signals of the spatial synchronization unit, the encoder signals are accumulated and counted to obtain the encoder count value. Since the encoder signal is interfered due to different counting start times, and accumulated errors exist in the encoder count values between the detection systems, the spatial synchronization unit needs to perform period synchronization.
Fig. 3 is a schematic diagram of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention, in which the spatial synchronization unit is further configured to: before sending a periodic synchronization signal to each detection system, sending the next synchronization count value to each detection system;
the detection system is also for: recording the next synchronization count value in each detection system after receiving the next synchronization count value; and after receiving the periodic synchronization signal, calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
In the above embodiment, the next synchronization count value m 0 Transmitted by a spatial synchronization unit through a network, m 0 For each accumulated value, e.g. m when first transmitting after starting rail flaw detection vehicle 0 =1, m at the second transmission 0 =2, and sequentially increases, since the periodic synchronization signal is transmitted every preset encoder count value. Fig. 4 is a schematic diagram illustrating the period synchronization of the encoder count value according to an embodiment of the present invention.
For example, assuming that the flaw detection vehicle wheel diameter is 915mm, the encoder resolution is 5000ppr, and the wheel rotates 100 turns for a travel distance 287.31m, the preset encoder count value is 500,000 (this value, once set, may be unchanged). The encoder count value synchronization is performed every 500,000 pulses in a count synchronization unit of 500,000.
m 0 =1, 2,3 … n (n is a preset encoder count value)
For example, m 0 When=303, the synchronization encoder count value is 303×500,000= 151,500,000.
The detection systems record inside the detection systems after receiving the next synchronization count value, and then wait for the periodic synchronization signal.
For example: the space synchronization unit outputs a periodic synchronization signal, and when each detection system receives the periodic synchronization signal,
after the synchronization encoder count value 151,500,000 is calculated, the current encoder count value is corrected to the synchronization encoder count value 151,500,000.
After the encoder count value is synchronized, spatial synchronization is performed next, and the spatial synchronization principle is first described.
The flaw detection vehicle moves by 1 encoder pulse distance as a unit, and the steel rail is cut into small segments which are closely connected to form a complete and continuous steel rail coordinate system. The detection data of each detection system are assembled into the corresponding segments of the rail coordinate system according to the actual positions of the rails. The same rail segment can correspond to the detection data of a plurality of detection systems, namely 'multi-system detection data space synchronization'.
After the spatial synchronization of the multi-system detection data, the detection data of the detection systems arranged at different positions of the rail flaw detection vehicle are mutually aligned through the rail segment values.
Fig. 5 is a schematic diagram of a relationship between a rail segment and a detection system at time t1 of a rail flaw detection vehicle according to an embodiment of the present invention.
As can be seen from fig. 5, the rail inspection vehicle is provided with a "reference point" in the sense that:
the reference point is always positioned at the rear end of the rail flaw detection vehicle;
when in initial detection, the point is the initial point of the steel rail segment value, and the steel rail segment value is 0;
along with the running of the rail flaw detection vehicle, the rail fragments with the values larger than the reference point rail fragments are still in the detection range of the rail flaw detection vehicle, and the fragments with the values smaller than the reference point rail fragments are detected.
the steel rail segment value of the detection data of each detection system at the time t1 can be obtained through the following calculation:
rail segment value of detection data of rail flaw detection operation system:
data rail segment values of the detection data of the profile detection system:
rail surface system data rail segment values:
rail segment value of detection data of electromagnetic detection system:
wherein L is the walking distance of each encoder pulse steel rail flaw detection vehicle; m is m 1 The steel rail segment value is the reference point at the time t1, namely the encoder pulse count value; e is the distance between the radio frequency tag reader and the reference point.
The detection vehicle continues to walk, and when the steel rail flaw detection system happens to pass through the profile system, the steel rail fragment value n detected at the time t1 2 At the time (at the time of t 2), the schematic diagram is shown in fig. 6, and fig. 6 is a schematic diagram of the relationship between the steel rail fragments and the detection system at the time of t2 of the steel rail flaw detection vehicle in the embodiment of the invention.
Taking a rail flaw detection operation system as an example, the rail fragment value n of the detection data thereof 2 The method comprises the following steps:
n at time t1 2 N from time t2 2 The detection data of the rail flaw detection operation system and the detection data of the rail profile operation system are aligned through the rail segment values, and therefore space conversion of the multi-system detection data is completed.
In an embodiment, the detection system is further configured to: after receiving the period synchronizing signal, attaching a first flag bit to the steel rail segment value while attaching a steel rail segment value tag to the detection data of the current detection data acquisition period;
and calculating the steel rail fragment value of the current detection position in each detection data acquisition period in which the period synchronous signal is not received, attaching a steel rail fragment value tag to the detection data, and attaching a second flag bit to the steel rail fragment value.
The steel rail segment value attached with the first marker bit is an accurate steel rail segment value which is subjected to periodic synchronization, and the steel rail segment value attached with the second marker bit is inaccurate, so that the marker bit of the steel rail segment value needs to be identified for calculation by applying the accurate steel rail segment value when spatial synchronization is carried out subsequently.
FIG. 7 is a schematic diagram II of a system for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention, wherein in an embodiment, the system further comprises a radio frequency tag reader 701;
the detection system calculates the steel rail segment value of the current detection position by adopting the following formula:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the reference point at the current moment; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; l is the walking distance of each encoder pulse rail flaw detection vehicle.
FIG. 8 is a schematic diagram of alignment of detection data of a multi-detection system according to an embodiment of the present invention.
In an embodiment, the detection system is further configured to: when corresponding detection data of a target detection system is searched according to the current detection data, a steel rail fragment value label n according to the current detection data 1 Searching a steel rail segment value m which is closest to the steel rail segment value of the current detection position and is attached with a first flag bit 1 Calculating the difference n between the current detected position steel rail segment value and the nearest steel rail segment value attached with the first marker bit 1 -m 1 The method comprises the steps of carrying out a first treatment on the surface of the Searching the latest steel rail segment value attached with the first marker bit in all detection data of the target detection system to obtain a steel rail segment value m attached with the first marker bit of the target detection system 1 According to the difference n 1 -m 1 And a first marker bit attached steel rail segment value m of a target detection system 1 Corresponding detection data of the target detection system are obtained.
In an embodiment, the detection system is connected to the spatial synchronization unit by a differential synchronization cable, which is used for transmitting the periodic synchronization signal.
In one embodiment, the detection system is connected to the encoder by an encoder cable for communicating an encoder signal.
Fig. 9 is a schematic diagram of interfaces of a spatial synchronization unit in an embodiment of the present invention, where a network port is used for exchanging with a network switch, a radio frequency tag signal input interface is used for communicating with a radio frequency tag reader, an encoder signal input interface is used for communicating with an encoder, a latitude and longitude data input interface is used for communicating with a latitude and longitude acquisition antenna, a keypad signal input interface is used for communicating with a mileage input keypad, an encoder signal output interface is used for communicating with each detection system, and a periodic synchronization signal output interface is used for communicating with each detection system.
Besides the space synchronization, the system provided by the embodiment of the invention can realize the mileage synchronization, and the same encoder and period synchronization method are used for the space synchronization.
Fig. 10 is a schematic diagram III of a spatial synchronization system for detecting data of a rail flaw detection vehicle in an embodiment of the present invention, fig. 11 is a schematic diagram II of a spatial synchronization method for detecting data of a rail flaw detection vehicle in an embodiment of the present invention, fig. 11 corresponds to fig. 10, in an embodiment, the system further includes a network switch 1001 connected to the spatial synchronization unit and the detection system, respectively, and a mileage correction unit 1002 connected to the spatial synchronization unit, where the mileage correction unit includes a mileage input keypad, a longitude and latitude acquiring antenna, and a manual input module;
the mileage correcting unit is used for: transmitting a mileage correction signal to the spatial synchronization unit;
the spatial synchronization unit is also for: and sending the received mileage correction signal to a detection system through a network switch.
A specific procedure of mileage synchronization is given below. In the rail flaw detection vehicle, a plurality of detection systems are arranged at different positions on the rail flaw detection vehicle body, synchronous detection is carried out in the running process of the rail flaw detection vehicle, and data of different detection systems correspond to the same rail position for a certain flaw on a rail, so that mileage synchronization among the plurality of detection systems is needed.
Mileage synchronization is accomplished by 3 steps: mileage accumulation, mileage correction and deviation correction.
(1) Mileage accumulation
Each detection system performs accumulated count on signals (pulse signals) of an encoder (such as a photoelectric encoder), and the product of the pulse count value and the pulse distance is the relative position of mileage. The mileage accumulation principle is shown in fig. 12, where the mileage at the point b can be calculated as b=a+m×l.
Each detection system receives the encoder signals, sets the same pulse distance value, and respectively carries out mileage accumulation on the encoder signals.
(2) Mileage correction
The space synchronization unit sends a network synchronization packet to each detection system through the network switch to carry out mileage correction. There are 4 ways of mileage correction sources: a mileage correction keypad, a radio frequency tag Reader (RFID), a longitude and latitude acquisition antenna (GNSS mileage calibration), and a manual input module.
First, mileage input keypad
A mileage input keypad (simply referred to as "keypad") is located at the vehicle operator's station and communicates bi-directionally with the spatial synchronization unit via RS 232. The mileage corrector inputs the information such as line identification, mileage and the like by pressing the keys of the small keyboard, and the space synchronization unit sends a display data packet to the small keyboard at regular time, and displays the content such as the detection speed, the current mileage and the like on the small keyboard screen.
And after receiving the mileage correction information input by the small keyboard, the space synchronization unit transmits the mileage correction information to each detection system through a network to carry out mileage correction.
Second, radio frequency tag reader
The radio frequency tag readers are arranged on two sides of the flaw detection vehicle body, and when passing through the radio frequency tags embedded in the circuit, the radio frequency tag readers read RFID mileage information embedded in the circuit and are in bidirectional communication with the space synchronization unit through RS 232. And after receiving the mileage correction information input by the radio frequency tag reader, the space synchronization unit transmits the mileage correction information to each detection system through a network to carry out mileage correction.
Third, longitude and latitude acquisition antenna
The space synchronization unit acquires longitude and latitude data in real time through a longitude and latitude acquisition antenna (Beidou or GPS antenna) arranged on the roof, and when the longitude and latitude data are matched with correction points of the mileage correction database, mileage correction information is sent to each detection system through a network to carry out mileage correction.
Fourth, manual input module
The operator can manually input mileage at the interface of the manual input module of the space synchronization unit software, and the space synchronization unit sends mileage correction information to each detection system through a network to carry out mileage correction.
(3) Deviation correction
The installation of each detection system at a different location of the inspection vehicle can cause installation deviations. The installation deviation is solved by arranging an installation deviation correction value in each detection system. The radio frequency tag reader is used as an origin o of the installation deviation, and the distance between each detection system and the radio frequency tag reader is measured to be used as a deviation correction value. In the detection process, the installation deviation is corrected according to the form direction and mileage increase and decrease of the train. As shown in fig. 1, when forward mileage is detected, mileage correction information o is corrected to mileage values of each detection system as follows: rail flaw detection operation system o+d, electromagnetic detection system o-d, rail surface high definition imaging system o-b, rail profile detection system o+c.
In summary, the system provided in the embodiment of the invention has the following advantages:
(1) The steel rail is used as a complete and continuous coordinate system, and the data of each detection system is accurately mapped into the steel rail coordinate system in a mode of independent counting and periodic synchronization by the encoder, so that the spatial synchronization of each detection system is completed.
(2) The synchronous starting or starting detection of each detection system is not needed, the space synchronous system can be accessed after the system is started at any time, and the system is flexible and convenient to use.
(3) The current encoder count value can be corrected through the periodic synchronizing signal; the rail segment value label is attached to the detection data of the current detection data acquisition period by calculating the rail segment value of the current detection position, so that when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the rail segment value label of the current detection data, and the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle is realized.
(4) The mileage synchronization can be realized while the space synchronization is realized.
The embodiment of the invention also provides a space synchronization method for the detection data of the rail flaw detection vehicle, as described in the following embodiment. Since the principle of the method for solving the problem is similar to that of the system, the implementation of the method can be referred to the implementation of the system, and the repetition is omitted.
Fig. 13 is a flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention, which is applied to the above system, and includes:
step 1301, transmitting the received encoder signal to each detection system; after receiving the encoder signals, the detection system performs accumulated count on the encoder signals to obtain encoder count values;
step 1302, sending periodic synchronization signals to each detection system every preset encoder count value; and after the detection system receives the periodic synchronous signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, attaching a steel rail fragment value tag to the detection data of the current detection data acquisition period, and obtaining the corresponding detection data of the target detection system according to the steel rail fragment value tag of the current detection data when the corresponding detection data of the target detection system is searched according to the current detection data.
Fig. 14 is a second flowchart of a method for spatially synchronizing detection data of a rail-inspection vehicle according to an embodiment of the present invention, in an embodiment, before sending a periodic synchronization signal to each detection system, the method further includes:
step 1401, transmitting the next synchronization count value to each detection system, wherein the detection system records inside each detection system after receiving the next synchronization count value; and after receiving the periodic synchronization signal, calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
In the embodiment of the invention, another method for spatially synchronizing detection data of a rail flaw detection vehicle is also provided, and fig. 15 is a flowchart III of the method for spatially synchronizing detection data of a rail flaw detection vehicle in the embodiment of the invention, where the method is applied to the system and includes:
step 1501, after receiving the encoder signal sent by the spatial synchronization unit, accumulating and counting the encoder signal to obtain an encoder count value;
step 1502, after receiving the periodic synchronization signal sent by the space synchronization unit, calculating a synchronization encoder count value, correcting the current encoder count value to a synchronization encoder count value, calculating a steel rail segment value of the current detection position, and labeling the detection data of the current detection data acquisition period with a steel rail segment value label;
and step 1503, when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data.
Fig. 16 is a flowchart of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention, and in an embodiment, the method further includes:
step 1601, after receiving the next synchronization count value sent by the spatial synchronization unit, recording the next synchronization count value in each detection system;
calculating a synchronization encoder count value, comprising: and calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
Fig. 17 is a flowchart fifth of a method for spatially synchronizing detection data of a rail inspection vehicle according to an embodiment of the present invention, and in an embodiment, the method further includes:
step 1701, after receiving a period synchronizing signal, attaching a first flag bit to a steel rail segment value while attaching a steel rail segment value tag to detection data of a current detection data acquisition period;
step 1702, calculating a steel rail segment value of a current detection position in each detection data acquisition period when a period synchronization signal is not received, attaching a steel rail segment value tag to the detection data, and attaching a second flag bit to the steel rail segment value.
In an embodiment, the method further comprises:
the steel rail segment value of the current detection position is calculated by adopting the following formula:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the reference point at the current moment; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; l is the walking distance of each encoder pulse rail flaw detection vehicle.
In an embodiment, obtaining corresponding detection data of the target detection system according to the rail segment value tag of the current detection data includes:
according to the rail segment value label of the current detection data, searching the rail segment value which is nearest to the rail segment value of the current detection position and is attached with the first flag bit;
calculating the difference value between the steel rail segment value of the current detection position and the steel rail segment value which is closest and attached with the first marker bit;
searching the latest steel rail fragment value attached with the first marker bit in all detection data of the target detection system to obtain the steel rail fragment value attached with the first marker bit of the target detection system;
and obtaining corresponding detection data of the target detection system according to the difference value and the steel rail segment value of the target detection system, which is attached with the first zone bit.
In summary, the method provided in the embodiment of the invention has the following beneficial effects:
(1) The steel rail is used as a complete and continuous coordinate system, and the data of each detection system is accurately mapped into the steel rail coordinate system in a mode of independent counting and periodic synchronization by the encoder, so that the spatial synchronization of each detection system is completed.
(2) The synchronous starting or starting detection of each detection system is not needed, the space synchronous system can be accessed after the system is started at any time, and the system is flexible and convenient to use.
(3) The current encoder count value can be corrected through the periodic synchronizing signal; the rail segment value label is attached to the detection data of the current detection data acquisition period by calculating the rail segment value of the current detection position, so that when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the rail segment value label of the current detection data, and the accurate alignment of the detection data of a plurality of detection systems of the rail flaw detection vehicle is realized.
(4) The mileage synchronization can be realized while the space synchronization is realized.
An embodiment of the present invention further provides a computer device, and fig. 18 is a schematic diagram of the computer device in the embodiment of the present invention, where the computer device 1800 includes a memory 1810, a processor 1820, and a computer program 1830 stored in the memory 1810 and capable of running on the processor 1820, and the processor 1820 implements the above-mentioned method for spatially synchronizing detection data of a rail inspection vehicle when executing the computer program 1830.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the method for spatially synchronizing the detection data of the rail flaw detection vehicle when being executed by a processor.
The embodiment of the invention also provides a computer program product, which comprises a computer program, and the computer program realizes the method for spatially synchronizing the detection data of the rail flaw detection vehicle when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (12)
1. A rail inspection vehicle detection data spatial synchronization system, comprising: a space synchronization unit, an encoder and a plurality of detection systems respectively connected with the space synchronization unit, wherein,
the encoder is used for: transmitting an encoder signal to a spatial synchronization unit;
the space synchronization unit is used for: transmitting the received encoder signal to each detection system; sending a periodic synchronous signal to each detection system every other preset encoder count value;
the detection system is used for: after receiving the encoder signal, accumulating and counting the encoder signal to obtain an encoder count value; after receiving the periodic synchronizing signal, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period; when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data;
wherein, the steel rail segment value refers to: cutting the steel rail into small segments which are closely connected by taking the distance of 1 encoder pulse of the flaw detection vehicle as a unit to form a complete and continuous steel rail coordinate system; the detection data of each detection system are assembled into the corresponding segments of the rail coordinate system according to the actual positions of the rails;
the spatial synchronization unit is also for: before sending a periodic synchronization signal to each detection system, sending the next synchronization count value to each detection system;
the detection system is also for: recording the next synchronization count value in each detection system after receiving the next synchronization count value; after receiving the periodic synchronization signal, calculating a synchronization encoder count value according to a next synchronization count value and a preset encoder count value;
the detection system is also for: after receiving the period synchronizing signal, attaching a first flag bit to the steel rail segment value while attaching a steel rail segment value tag to the detection data of the current detection data acquisition period;
calculating a steel rail fragment value of the current detection position in each detection data acquisition period in which the period synchronous signal is not received, attaching a steel rail fragment value tag to the detection data, and attaching a second flag bit to the steel rail fragment value;
the rail flaw detection vehicle detection data space synchronization system also comprises a radio frequency tag reader;
the detection system calculates the steel rail segment value of the current detection position by adopting the following formula:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the reference point at the current moment and is the current encoder count value; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; l is the walking distance of each encoder pulse rail flaw detection vehicle;
the detection system is also for: when corresponding detection data of a target detection system are searched according to current detection data, searching a steel rail fragment value which is nearest to the steel rail fragment value of the current detection position and is attached with a first marker bit according to the steel rail fragment value label of the current detection data, and calculating a difference value between the steel rail fragment value of the current detection position and the steel rail fragment value which is nearest and is attached with the first marker bit; and searching the latest steel rail segment value attached with the first marker bit in all detection data of the target detection system to obtain the steel rail segment value attached with the first marker bit of the target detection system, and obtaining the corresponding detection data of the target detection system according to the difference value and the steel rail segment value attached with the first marker bit of the target detection system.
2. The system of claim 1, wherein the detection system comprises one or any combination of an electromagnetic detection system, a rail surface high definition imaging system, a rail profile detection system, and a rail inspection operation system.
3. The system of claim 1, wherein the detection system is connected to the spatial synchronization unit by a differential synchronization cable, the differential synchronization cable being configured to communicate the periodic synchronization signal.
4. The system of claim 1, wherein the detection system is coupled to the encoder by an encoder cable, the encoder cable configured to transmit an encoder signal.
5. The system of claim 1, further comprising a network switch connected to the spatial synchronization unit and the detection system, respectively, a mileage correction unit connected to the spatial synchronization unit, the mileage correction unit comprising a mileage input keypad, a longitude and latitude acquisition antenna, a manual input module;
the mileage correcting unit is used for: transmitting a mileage correction signal to the spatial synchronization unit;
the spatial synchronization unit is also for: and sending the received mileage correction signal to a detection system through a network switch.
6. A method for spatially synchronizing detection data of a rail inspection vehicle, applied to the system of any one of claims 1 to 5, comprising:
after receiving the encoder signals sent by the space synchronization unit, accumulating and counting the encoder signals to obtain encoder count values;
after receiving the periodic synchronizing signal sent by the space synchronizing unit, calculating a synchronous encoder count value, correcting the current encoder count value into a synchronous encoder count value, calculating a steel rail fragment value of the current detection position, and attaching a steel rail fragment value label to the detection data of the current detection data acquisition period;
when the corresponding detection data of the target detection system is searched according to the current detection data, the corresponding detection data of the target detection system is obtained according to the steel rail fragment value label of the current detection data.
7. The method as recited in claim 6, further comprising:
after receiving the next synchronization count value sent by the space synchronization unit, recording the next synchronization count value in each detection system;
calculating a synchronization encoder count value, comprising: and calculating a synchronous encoder count value according to the next synchronous count value and a preset encoder count value.
8. The method as recited in claim 6, further comprising:
after receiving the period synchronizing signal, attaching a first flag bit to the steel rail segment value while attaching a steel rail segment value tag to the detection data of the current detection data acquisition period;
and calculating the steel rail fragment value of the current detection position in each detection data acquisition period in which the period synchronous signal is not received, attaching a steel rail fragment value tag to the detection data, and attaching a second flag bit to the steel rail fragment value.
9. The method as recited in claim 8, further comprising:
the steel rail segment value of the current detection position is calculated by adopting the following formula:
wherein n is the steel rail segment value of the current detection position; m is the steel rail segment value of the reference point at the current moment and is the current encoder count value; e is the distance between the radio frequency tag reader and the reference point; x is the distance between the detection system and the radio frequency tag reader; l is the walking distance of each encoder pulse rail flaw detection vehicle.
10. The method of claim 8, wherein obtaining corresponding detection data for the target detection system based on the rail segment value tags for the current detection data, comprises:
according to the rail segment value label of the current detection data, searching the rail segment value which is nearest to the rail segment value of the current detection position and is attached with the first flag bit;
calculating the difference value between the steel rail segment value of the current detection position and the steel rail segment value which is closest and attached with the first marker bit;
searching the latest steel rail fragment value attached with the first marker bit in all detection data of the target detection system to obtain the steel rail fragment value attached with the first marker bit of the target detection system;
and obtaining corresponding detection data of the target detection system according to the difference value and the steel rail segment value of the target detection system, which is attached with the first zone bit.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 8 to 10 when executing the computer program.
12. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method of any of claims 8 to 10.
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