WO2023092621A1

WO2023092621A1 - Testing apparatus and testing method for dynamic limit of magnetic levitation vehicle based on f-shaped rail

Info

Publication number: WO2023092621A1
Application number: PCT/CN2021/134892
Authority: WO
Inventors: 王爱彬; 谭富星; 刘洪涛; 杨晶
Original assignee: 中车长春轨道客车股份有限公司
Priority date: 2021-11-24
Filing date: 2021-12-01
Publication date: 2023-06-01
Also published as: CN114112448A; CN114112448B

Abstract

A testing apparatus and testing method for a dynamic limit of a magnetic levitation vehicle based on an F-shaped rail (4). The testing apparatus comprises: sensors (3), a synchronization flip-flop, and a processor, wherein the sensors (3) are used for being arranged at the bottom of a vehicle body (1) of the magnetic levitation vehicle and are located at the bottom of the F-shaped rail (4), the sensors (3) are used for detecting a position to be tested of the F-shaped rail (4) and a position to be tested of the vehicle body (1), there are two groups of sensors (3), which are used for being sequentially distributed in the length direction of the vehicle body (1), each group of sensors (3) is used for being distributed on two sides of the vehicle body (1), and the sensors (3), which are correspondingly arranged on the two sides of the vehicle body (1), are located at the same position in the length direction of the vehicle body (1); the synchronization flip-flop is in communication connection with the sensors (3), and is used for synchronizing all the sensors (3); and the processor is used for calculating a dynamic envelope line of the magnetic levitation vehicle according to detected data of the sensors (3). The testing apparatus can obtain a dynamic envelope of a magnetic levitation vehicle based on an F-shaped rail (4), thereby implementing the testing of a dynamic limit of the magnetic levitation vehicle based on the F-shaped rail (4), and it is possible to obtain the actual dynamic offset, on a route, of the magnetic levitation vehicle based on the F-shaped rail (4).

Description

基于F轨的磁浮车辆动态限界的测试装置和测试方法Test device and test method for dynamic limit of maglev vehicle based on F track

本申请要求于2021年11月24日提交中国专利局、申请号为202111405064.6、发明名称为“基于F轨的磁浮车辆动态限界的测试装置和测试方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202111405064.6 and the title of the invention "Testing device and testing method for the dynamic limit of maglev vehicles based on F track" submitted to the China Patent Office on November 24, 2021, the entire content of which Incorporated in this application by reference.

技术领域technical field

本发明涉及磁浮车辆动态限界测试技术领域，更具体地说，涉及一种基于F轨的磁浮车辆动态限界的测试装置和测试方法。The invention relates to the technical field of dynamic limit testing of maglev vehicles, and more specifically, relates to a testing device and a testing method for the dynamic limit of maglev vehicles based on an F track.

背景技术Background technique

磁浮车辆运行的可靠性和稳定性是衡量轨道车辆质量的重要标志之一，动态限界试验是校核及验证轨道车辆在规定站台或设备限界内安全可靠运行的测试手段。The reliability and stability of maglev vehicle operation is one of the important symbols to measure the quality of rail vehicles. The dynamic limit test is a test method to check and verify the safe and reliable operation of rail vehicles within the specified platform or equipment limits.

但是，现阶段并未有测试手段测试基于F轨的磁浮车辆的动态偏移，无法在直线或曲线线路上换算出基于F轨的磁浮车辆的动态偏移。However, at this stage, there is no test method to test the dynamic offset of the maglev vehicle based on the F track, and it is impossible to convert the dynamic offset of the maglev vehicle based on the F track on a straight line or a curved line.

综上所述，如何对基于F轨的磁浮车辆动态限界进行测试，是目前本领域技术人员亟待解决的问题。To sum up, how to test the dynamic limit of the F-rail-based maglev vehicle is an urgent problem to be solved by those skilled in the art.

发明内容Contents of the invention

本发明的目的是提供一种基于F轨的磁浮车辆动态限界的测试装置，以对基于F轨的磁浮车辆动态限界进行测试，获得基于F轨的磁浮车辆在线路上的实际动态偏移。本发明的另一目的是提供一种基于F轨的磁浮车辆动态限界的测试方法。The object of the present invention is to provide a kind of testing device of the dynamic limit of the maglev vehicle based on the F track, to test the dynamic limit of the maglev vehicle based on the F track, and obtain the actual dynamic deviation of the maglev vehicle based on the F track on the line. Another object of the present invention is to provide a method for testing the dynamic limit of a maglev vehicle based on an F track.

为了实现上述目的，本发明提供如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:

一种基于F轨的磁浮车辆动态限界的测试装置包括：传感器，同步触发器，以及处理器；A test device for the dynamic limit of a maglev vehicle based on an F track includes: a sensor, a synchronous trigger, and a processor;

其中，所述传感器用于设置在磁浮车辆的车体底部且位于F轨的底部，所述传感器用于检测所述F轨的待测位置和所述车体的待测位置，所述传感器为两组且用于沿所述车体长度方向依次分布，每组所述传感器用于分布在所述车体的两侧，且在所述车体两侧对应设置的所述传感器位于所述车体长度方向的同一位置；Wherein, the sensor is used to be arranged at the bottom of the car body of the maglev vehicle and at the bottom of the F rail, and the sensor is used to detect the position to be measured of the F rail and the position to be measured of the car body, and the sensor is Two groups are used to be distributed sequentially along the length direction of the vehicle body, each group of sensors is used to be distributed on both sides of the vehicle body, and the sensors correspondingly arranged on both sides of the vehicle body are located on the sides of the vehicle body. The same position in the length direction of the body;

所述同步触发器用于和所述传感器通信连接且用于使所有的所述传感器同步；said synchronization trigger for communicating with said sensors and for synchronizing all said sensors;

所述处理器用于和所述同步触发器通信连接，且所述处理器用于根据所述传感器的检测数据计算所述磁浮车辆的动态包络线。The processor is used to communicate with the synchronization trigger, and the processor is used to calculate the dynamic envelope of the maglev vehicle according to the detection data of the sensor.

可选地，所述车体包括用于安装悬浮架固定台的悬浮架固定台区域，一组所述传感器安装于所述车体的一个悬浮架固定台区域，另一组所述传感器安装于所述车体的另一个悬浮架固定台区域；Optionally, the vehicle body includes a suspension frame fixed platform area for installing a suspension frame fixed platform, one set of sensors is installed on one suspension frame fixed platform area of the vehicle body, and another set of sensors is installed on the suspension frame fixed platform area of the vehicle body. Another suspension frame fixing platform area of the car body;

和/或，所述传感器用于通过吊挂梁安装于所述车体。And/or, the sensor is used to be installed on the vehicle body through a suspension beam.

可选地，每组所述传感器中所述传感器为两个，且用于分布在所述车体的两侧；Optionally, there are two sensors in each group of sensors, and they are distributed on both sides of the vehicle body;

或者，每组所述传感器中所述传感器为四个；每组所述传感器中，两个所述传感器用于分布在所述车体的一侧且用于沿所述车体的长度方向依次分布，另外两个所述传感器用于分布在所述车体的另一侧且用于沿所述车体的长度方向依次分布；每组所述传感器中，分布在所述车体同侧的两个所述传感器之间的距离大于轨道的轨缝；每组所述传感器中，分布在所述车体同侧的两个所述传感器的光线平行。Or, there are four sensors in each group of sensors; in each group of sensors, two of the sensors are used to be distributed on one side of the vehicle body and used to be sequentially arranged along the length direction of the vehicle body. distribution, the other two sensors are used to be distributed on the other side of the vehicle body and are used to be distributed sequentially along the length direction of the vehicle body; in each group of sensors, the sensors distributed on the same side of the vehicle body The distance between the two sensors is larger than the rail gap of the track; in each group of the sensors, the light rays of the two sensors distributed on the same side of the vehicle body are parallel.

可选地，所述基于F轨的磁浮车辆动态限界的的测试装置还包括：用于通信连接所述同步触发器和所述处理器的模拟信号采集器，和/或用于供电的电源。Optionally, the test device for the dynamic limit of the F-rail-based maglev vehicle further includes: an analog signal collector for communicatively connecting the synchronization trigger and the processor, and/or a power supply for power supply.

可选地，所述处理器具体用于根据所述传感器对所述F轨的检测数据提取F轨特征点并根据所述F轨特征点确定基准坐标系、用于根据所述传感器对所述车体的检测数据计算所述车体的待测位置相对于所述F轨特征点的横向偏移和垂向偏移、用于根据所述车体的待测位置相对于所述F轨特征点的横向偏移和垂向偏移计算所述车体相对于所述基准坐标系的五个自由度姿态数据、以及用于根据五个自由度姿态数据和所述车体的静态轮廓计算所述磁浮车辆的动态包络线；Optionally, the processor is specifically configured to extract feature points of the F track according to the detection data of the F track by the sensor, determine a reference coordinate system according to the feature points of the F track, and use the sensor to detect the F track. The detection data of the vehicle body calculates the lateral offset and vertical offset of the position to be measured of the vehicle body relative to the feature point of the F track, and is used for Calculate the five degrees of freedom attitude data of the vehicle body relative to the reference coordinate system according to the lateral offset and vertical offset of the point, and calculate the The dynamic envelope of the maglev vehicle;

其中，所述基准坐标系为垂直于轨道中心线的平面内的直角坐标系，所述基准坐标系的原点为轨距中心点，所述基准坐标系的X轴平行于轨道面，所述基准坐标系的Y轴垂直于轨道面，所述轨距中心点根据两个所述F轨的所述F轨特征点确定。Wherein, the reference coordinate system is a rectangular coordinate system in a plane perpendicular to the center line of the track, the origin of the reference coordinate system is the center point of the gauge, the X axis of the reference coordinate system is parallel to the track surface, and the reference coordinate system The Y-axis of the coordinate system is perpendicular to the track plane, and the gauge center point is determined according to the F-rail feature points of the two F-rails.

可选地，所述处理器用于根据所述传感器对所述F轨的检测数据提取F轨特征点，具体为：Optionally, the processor is configured to extract F track feature points according to the detection data of the F track by the sensor, specifically:

所述处理器提取所有的所述传感器对所述F轨的检测数据，每个检测数据包括在所述传感器的图像坐标系中的横坐标X和纵坐标Y；所述处理器提取最小的纵坐标Y _min；所述处理器提取纵坐标Y在(Y _min-c*Y _min)内的所有检测数据；所述处理器根据所提取的检测数据计算F轨特征点的横坐标X _F和纵坐标Y _F； The processor extracts all the detection data of the sensor to the F track, and each detection data includes the abscissa X and the ordinate Y in the image coordinate system of the sensor; the processor extracts the smallest vertical Coordinate Y _min ; the processor extracts all detection data of the vertical coordinate Y within (Y _min -c*Y _min ); the processor calculates the abscissa X _F and vertical coordinates of the feature points of the F track according to the extracted detection data Coordinate Y _F ;

其中，c的取值范围为100％-150％；Wherein, the value range of c is 100%-150%;

所述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第一分位数X _1max和第二分位数X _1min，处理器根据X _F＝(X _1max+X _1min)/2计算所述F轨特征点的横坐标X _F； The processor extracts the first quantile X 1max and the second quantile X 1min of all abscissa X from all detection data of the ordinate Y within (Y _min -c*Y _min ), and the processor extracts the first quantile X _1max and the second quantile X _1min according to X _F =(X _1max +X _1min )/2 calculates the abscissa X _F of the feature point of the F track;

所述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第三分位数以上的检测数据；所述处理器从所有横坐标X中第三分位数以上的检测数据中提取所有纵坐标Y中第四分位数Y _1min；所述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第五分位数以下的数据；所述处理器从所有横坐标X中第五分位数以下的数据中提取所有纵坐标Y中第六分位数Y _2min；所述处理器根据Y _F＝(Y _1min+Y _2min)/2计算所述F轨特征点的纵坐标Y _F。 The processor extracts the detection data above the third quantile in all the abscissa X from all the detection data of the ordinate Y within (Y _min -c*Y _min ); Extract _the fourth quantile Y _1min of all vertical coordinates Y from the detection data above the third quantile; _the processor extracts all The data below the fifth quantile in the abscissa X; the processor extracts the sixth quantile Y _2min in all the ordinates Y from the data below the fifth quantile in all the abscissas X; the processor The ordinate Y _F of the feature point of the F track is calculated according to Y _F =(Y _1min +Y _2min )/2.

可选地，所述车体的待测位置为四个，分别为第一待测位置、第二待测位置、第三待测位置、和第四待测位置，所述第一待测位置和所述第二待测位置位于所述车体的同侧，所述第三待测位置和所述第四待测位置位于所述车体的同侧，所述第一待测位置和所述第三待测位置位于所述车体长度方向的同一位置，所述第二待测位置和所述第四待测位置位于所述车体长度方向的同一位置，所述第一待测位置和所述第二待测位置之间的纵向距离为L _a；所述第一待测位置和所述第三待测位置之间的横向距离为L _b； Optionally, there are four positions to be measured on the vehicle body, which are respectively the first position to be measured, the second position to be measured, the third position to be measured, and the fourth position to be measured. The first position to be measured The second to-be-tested position is located on the same side of the vehicle body, the third to-be-tested position and the fourth to-be-tested position are located on the same side of the vehicle body, and the first to-be-tested position and the The third position to be measured is located at the same position in the longitudinal direction of the vehicle body, the second position to be measured and the fourth position to be measured are located at the same position in the longitudinal direction of the vehicle body, and the first position to be measured is The longitudinal distance between the second position to be measured is L _a ; the lateral distance between the first position to be measured and the third position to be measured is L _b ;

所述处理器用于根据所述传感器对所述车体的检测数据计算所述车体的待测位置相对于所述F轨特征点的横向偏移和垂向偏移，具体为：所述处理器根据所述传感器对所述车体的检测数据计算所述第一待测位置相对于F轨特征点的第一横向偏移ΔX ₁和第一纵向偏移ΔY ₁、所述第二待测位置相对于F轨特征点的第二横向偏移ΔX ₂和第二纵向偏移ΔY ₂、所述第三待测位置相对于F轨特征点的第三横向偏移ΔX ₃和第三纵向偏移ΔY ₃、所述第四待测位置相对于F轨特征点的第四横向偏移ΔX ₄和第四纵向偏移ΔY ₄； The processor is used to calculate the lateral offset and vertical offset of the position to be measured of the vehicle body relative to the feature point of the F rail according to the detection data of the vehicle body by the sensor, specifically: the processing The controller calculates the first transverse offset ΔX _{1 and the first longitudinal offset ΔY 1} _of the first position to be measured relative to the feature point of the F rail according to the detection data of the vehicle body by the sensor, and the second position to be measured The second transverse offset ΔX ₂ and the second longitudinal offset ΔY ₂ of the position relative to the feature points of the F track, the third transverse offset ΔX ₃ and the third longitudinal offset of the third position to be measured relative to the feature points of the F track Shift ΔY ₃ , the fourth lateral offset ΔX ₄ and the fourth longitudinal offset ΔY ₄ of the fourth position to be measured relative to the F track feature point;

所述处理器用于根据所述车体的待测位置相对于所述F轨特征点的横向偏移和垂向偏移计算所述车体相对于所述基准坐标系的五个自由度姿态数据，具体为：所述处理器根据ΔY＝(ΔY ₁+ΔY ₂+ΔY ₃+ΔY ₄)/4，计算所述车体的垂向位移偏移ΔY；所述处理器根据Δα＝[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]/2L _b，计算所述车体的侧滚角度偏移；所述处理器根据Δγ＝[(ΔY ₁+ΔY ₃)-(ΔY ₂+ΔY ₄)]/2L _a，计算所述车体的点头角度偏移Δγ；所述处理器根据Δβ＝[(ΔX ₁+ΔX ₃)-(ΔX ₂+ΔX ₄)]/2L _a，计算所述车体的摇头角度偏移Δβ；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相同，所述处理器根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4-ΔY*tanΔα，计算所述车体的横向位移偏移ΔX；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相反，所述处理器根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4+ΔY*tanΔα，计算所述车体的横向位移偏移ΔX。 The processor is used to calculate the five degrees of freedom attitude data of the vehicle body relative to the reference coordinate system according to the lateral offset and vertical offset of the position to be measured of the vehicle body relative to the feature point of the F track , specifically: the processor calculates the vertical displacement offset ΔY of the vehicle body according to ΔY=(ΔY ₁ +ΔY ₂ +ΔY ₃ +ΔY ₄ )/4; the processor calculates the vertical displacement offset ΔY of the vehicle body according to Δα=[(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )]/2L _b , to calculate the roll angle offset of the vehicle body; the processor calculates the roll angle offset according to Δγ=[(ΔY ₁ +ΔY ₃ )-(ΔY ₂ + ΔY ₄ )]/2L _a to calculate the nodding angle offset Δγ of the vehicle body; the processor calculates the nodding angle offset Δγ according to Δβ=[(ΔX ₁ +ΔX ₃ )-(ΔX ₂ +ΔX ₄ )]/2L _a The head-shaking angle of the vehicle body is offset by Δβ; if the mathematical symbols of (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )] are the same, the processing The device calculates the lateral displacement offset ΔX of the vehicle body according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4-ΔY*tanΔα; if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) Contrary to the mathematical notation of [(ΔY ₁ +ΔY ₂ )−(ΔY ₃ +ΔY ₄ )], the processor according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4+ΔY*tanΔα, Calculate the lateral displacement offset ΔX of the vehicle body.

本发明提供的基于F轨的磁浮车辆动态限界的测试装置，通过在车体的底部以及F轨的底部设置传感器，使得传感器既能检测F轨的待测位置也能检测车体的待测位置，由于传感器为两组且用于沿车体长度方向依次分布，每组传感器用于分布在车体的两侧，且在车体两侧对应设置的传感器位于述车体长度方向的同一位置，利用同步触发器使所有的传感器同步，处理器通过同步触发器传递的传感器检测数据计算磁浮车辆的动态包络线，从而实现了对对基于F轨的磁浮车辆动态限界进行测试，能够获得基于F轨的磁浮车辆在线路上的实际动态偏移。The test device for the dynamic limit of the maglev vehicle based on the F rail provided by the present invention, by arranging sensors at the bottom of the car body and the bottom of the F rail, the sensor can detect both the position to be measured of the F rail and the position to be measured of the car body , since the sensors are two groups and are used to be distributed sequentially along the length direction of the car body, each group of sensors is used to be distributed on both sides of the car body, and the corresponding sensors on both sides of the car body are located at the same position in the length direction of the car body, Synchronous triggers are used to synchronize all the sensors, and the processor calculates the dynamic envelope of the maglev vehicle through the sensor detection data transmitted by the synchronous trigger, thus realizing the test of the dynamic limit of the maglev vehicle based on the F track, and obtaining the dynamic limit of the maglev vehicle based on the F The actual dynamic deviation of the maglev vehicle on the track.

基于上述提供的基于F轨的磁浮车辆动态限界的测试装置，本发明还提供了一种基于F轨的磁浮车辆动态限界的测试方法，基于F轨的磁浮车辆动态限界的测试方法采用上述提供的基于F轨的磁浮车辆动态限界的测试装置进行测试，基于F轨的磁浮车辆动态限界的测试方法包括步骤：Based on the test device for the dynamic limit of the maglev vehicle based on the F track provided above, the present invention also provides a test method for the dynamic limit of the maglev vehicle based on the F track. The test method for the dynamic limit of the maglev vehicle based on the F track adopts the above-mentioned provided The test device of the dynamic limit of the maglev vehicle based on the F track is tested, and the test method of the dynamic limit of the maglev vehicle based on the F track comprises steps:

1)所述同步触发器触发所述传感器以使所有的所述传感器同步，所述传感器检测所述F轨的待测位置和所述车体的待测位置；1) The synchronization trigger triggers the sensor to synchronize all the sensors, and the sensor detects the position to be measured of the F rail and the position to be measured of the vehicle body;

2)所述处理器根据所述传感器的检测数据计算所述磁浮车辆的动态包络线。2) The processor calculates the dynamic envelope of the maglev vehicle according to the detection data of the sensor.

可选地，所述步骤2)包括步骤：Optionally, said step 2) includes the steps of:

21)所述处理器根据所述传感器对所述F轨的检测数据计算F轨特征点并根据所述F轨特征点确定基准坐标系；21) The processor calculates the feature points of the F track according to the detection data of the F track by the sensor and determines the reference coordinate system according to the feature points of the F track;

22)所述处理器根据所述传感器对所述车体的检测数据计算所述车体的待测位置相对于F轨特征点的横向偏移和纵向偏移；22) The processor calculates the lateral offset and longitudinal offset of the position to be measured of the vehicle body relative to the F track feature point according to the detection data of the vehicle body by the sensor;

23)所述处理器根据所述车体的待测位置相对于F轨特征点的横向偏移和纵向偏移计算所述车体相对于所述基准坐标系的五个自由度姿态数据；23) The processor calculates five degrees of freedom attitude data of the vehicle body relative to the reference coordinate system according to the lateral offset and longitudinal offset of the position to be measured of the vehicle body relative to the F track feature point;

24)所述处理器根据五个自由度姿态数据和所述车体的静态轮廓计算所述磁浮车辆的动态包络线；24) The processor calculates the dynamic envelope of the maglev vehicle according to the five degrees of freedom attitude data and the static profile of the vehicle body;

可选地，所述步骤21)中计算F轨特征点包括步骤：Optionally, calculating F track feature points in the step 21) includes steps:

211)提取所有的所述传感器对所述F轨的检测数据，每个所述检测数据包括在所述传感器的图像坐标系中的横坐标X和纵坐标Y；211) Extracting all the detection data of the F track by the sensor, each detection data includes an abscissa X and a ordinate Y in the image coordinate system of the sensor;

212)获取最小的纵坐标Y _min； 212) Obtain the minimum ordinate Y _min ;

213)获取所述纵坐标Y在(Y _min-c*Y _min)内的所有所述检测数据； 213) Obtain all the detection data of the ordinate Y within (Y _min -c*Y _min );

214)根据所述步骤213)所选取的所述检测数据计算所述F轨特征点的横坐标X _F和纵坐标Y _F； 214) Calculate the abscissa X _F and ordinate Y _F of the feature points of the F track according to the detection data selected in the step 213);

所述步骤214)中：计算所述F轨特征点的横坐标X _F，包括步骤： In the step 214): calculating the abscissa X _F of the feature point of the F track, including steps:

2141)在所述步骤213)所选取的所述检测数据中，提取所有所述横坐标X中第一分位数X _1max和第二分位数X _1min，根据X _F＝(X _1max+X _1min)/2，计算所述F轨特征点的横坐标X _F； 2141) From the detection data selected in step 213), extract the first quantile X _1max and the second quantile X _1min in all the abscissa X, according to X _F =(X _1max +X _1min )/2, calculate the abscissa X _F of the feature point of the F track;

所述步骤214)中：计算所述F轨特征点的纵坐标Y _F，包括步骤： In the step 214): calculating the ordinate Y _F of the feature point of the F track, including the steps of:

2142)在所述步骤213)所选取点的所述检测数据中，提取所有所述横坐标X中第三分位数以上的检测数据；2142) From the detection data of the points selected in step 213), extract all detection data above the third quantile in the abscissa X;

2143)在所述步骤2142)所选取点的所述检测数据中，提取所有所述纵坐标Y中第四分位数Y _1min； 2143) Extracting the fourth quantile Y _1min of all the ordinate Y from the detection data of the point selected in the step 2142);

2144)在所述步骤213)所选取点的所述检测数据中，提取所有所述横坐标X中第五分位数以下的点数据；2144) From the detection data of the points selected in step 213), extract all point data below the fifth quantile in the abscissa X;

2145)在所述步骤2144)所选取点的所述检测数据中，提取所有所述纵坐标Y中第六分位数Y _2min； 2145) Extracting the sixth quantile Y _2min of all the vertical coordinates Y from the detection data of the points selected in the step 2144);

2146)根据Y _F＝(Y _1min+Y _2min)/2，计算所述F轨特征点的纵坐标Y _F； 2146) According to Y _F =(Y _1min +Y _2min )/2, calculate the ordinate Y _F of the feature point of the F track;

所述第一分位数和所述第二分位数不等，所述第三分位数和所述第五分位数不等。The first quantile is not equal to the second quantile, and the third quantile is not equal to the fifth quantile.

所述步骤22)具体为：所述处理器根据所述传感器对所述车体的检测数据计算所述第一待测位置相对于F轨特征点的第一横向偏移ΔX ₁和第一纵向偏移ΔY ₁、所述第二待测位置相对于F轨特征点的第二横向偏移ΔX ₂和第二纵向偏移ΔY ₂、所述第三待测位置相对于F轨特征点的第三横向偏移ΔX ₃和第三纵向偏移ΔY ₃、所述第四待测位置相对于F轨特征点的第四横向偏移ΔX ₄和第四纵向偏移ΔY ₄； The step 22) is specifically: the processor calculates the first lateral offset ΔX ₁ and the first longitudinal offset of the first position to be measured relative to the feature point of the F rail according to the detection data of the vehicle body by the sensor. Offset ΔY ₁ , the second lateral offset ΔX ₂ and the second longitudinal offset ΔY ₂ of the second position to be measured relative to the feature point of track F, the second position of the third position to be measured relative to the feature point of track F Three lateral offsets ΔX ₃ and a third longitudinal offset ΔY ₃ , the fourth lateral offset ΔX ₄ and the fourth longitudinal offset ΔY ₄ of the fourth position to be measured relative to the F track feature point;

所述步骤23)包括步骤：Said step 23) comprises the steps of:

根据ΔY＝(ΔY ₁+ΔY ₂+ΔY ₃+ΔY ₄)/4，计算所述车体的垂向位移偏移ΔY； Calculate the vertical displacement offset ΔY of the vehicle body according to ΔY=(ΔY ₁ +ΔY ₂ +ΔY ₃ +ΔY ₄ )/4;

根据Δα＝[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]/2L _b，计算所述车体的侧滚角度偏移； Calculate the roll angle offset of the car body according to Δα=[(ΔY ₁ +ΔY ₂ )−(ΔY ₃ +ΔY ₄ )]/2L _b ;

根据Δγ＝[(ΔY ₁+ΔY ₃)-(ΔY ₂+ΔY ₄)]/2L _a，计算所述车体的点头角度偏移Δγ； Calculate the nodding angle offset Δγ of the car body according to Δγ=[(ΔY ₁ +ΔY ₃ )-(ΔY ₂ +ΔY ₄ )]/2L _a ;

根据Δβ＝[(ΔX ₁+ΔX ₃)-(ΔX ₂+ΔX ₄)]/2L _a，计算所述车体的摇头角度偏移Δβ； According to Δβ=[(ΔX ₁ +ΔX ₃ )-(ΔX ₂ +ΔX ₄ )]/2L _a , calculate the swing angle offset Δβ of the car body;

若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相同，根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4-ΔY*tanΔα，计算所述车体的横向位移偏移ΔX；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相反，根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4+ΔY*tanΔα，计算所述车体的横向位移偏移ΔX。 If (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )] have the same mathematical symbols, according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ + ΔX ₄ )/4-ΔY*tanΔα, calculate the lateral displacement offset ΔX of the vehicle body; if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ + The mathematical sign of ΔY ₄ )] is opposite, and the lateral displacement offset ΔX of the vehicle body is calculated according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4+ΔY*tanΔα.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

图1为本发明实施例提供的基于F轨的磁浮车辆动态限界的测试装置中传感器的分布示意图；Fig. 1 is the schematic diagram of the distribution of sensors in the test device based on the dynamic limit of the F-rail maglev vehicle provided by the embodiment of the present invention;

图2为图1中F轨的结构示意图；Fig. 2 is the structural representation of F track in Fig. 1;

图3为本发明实施例提供的树脂金刚线立式涂覆模组中模具的结构示意图；Fig. 3 is the schematic structural view of the mold in the resin diamond wire vertical coating module provided by the embodiment of the present invention;

图4为本发明实施例提供的基于F轨的磁浮车辆动态限界的测试装置和测试方法中车体的待测位置的分布示意图。Fig. 4 is a schematic diagram of the distribution of the positions to be measured of the vehicle body in the test device and test method for the dynamic limit of the F-rail-based maglev vehicle provided by the embodiment of the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

本发明实施例提供的基于F轨的磁浮车辆动态限界的测试装置包括：传感器3，同步触发器，以及处理器。The test device for the dynamic limit of the F-rail-based maglev vehicle provided by the embodiment of the present invention includes: a sensor 3, a synchronous trigger, and a processor.

如图1和图3所示，上述传感器3用于设置在磁浮车辆的车体1底部且位于F轨4的底部，传感器3用于检测F轨4的待测位置和车体1的待测位置，传感器3为两组且用于沿车体1长度方向依次分布，每组传感器3用于分布在车体1的两侧，且在车体1两侧对应设置的传感器3位于车体1长度方向的同一位置。As shown in Figure 1 and Figure 3, the above-mentioned sensor 3 is used to be arranged at the bottom of the car body 1 of the maglev vehicle and at the bottom of the F rail 4, and the sensor 3 is used to detect the position to be measured of the F rail 4 and the position to be measured of the car body 1. Position, the sensors 3 are two groups and are used to be distributed sequentially along the length direction of the car body 1, each group of sensors 3 is used to be distributed on both sides of the car body 1, and the sensors 3 correspondingly arranged on both sides of the car body 1 are located on the car body 1 same position along the length.

如图2所示，磁浮车辆的轨道包括两个并排设置的F轨4，上述F轨4包括：腹板41、悬浮臂42、和悬浮腿43，其中，悬浮腿43为两个且均固定在腹板41底部的两端，悬浮臂43和腹板41的一端固定连接。具体地，F轨4 的待测位置在F轨4中每个悬浮腿43的底面上。可选地，F轨4的待测位置在F轨4中每个悬浮腿43的底面中点。同一F轨4中至少两个待测位置沿F轨4的长度方向依次分布。每个上述F轨4均具有待测位置。As shown in Figure 2, the track of the maglev vehicle includes two F rails 4 arranged side by side, and the above F rail 4 includes: a web 41, a suspension arm 42, and a suspension leg 43, wherein the suspension legs 43 are two and are fixed At both ends of the bottom of the web 41 , the suspension arm 43 is fixedly connected to one end of the web 41 . Specifically, the position to be measured of the F rail 4 is on the bottom surface of each suspension leg 43 in the F rail 4 . Optionally, the position to be measured of the F rail 4 is at the midpoint of the bottom surface of each suspension leg 43 in the F rail 4 . At least two positions to be measured in the same F-track 4 are sequentially distributed along the length direction of the F-track 4 . Each of the above-mentioned F rails 4 has a position to be measured.

位于车体1一侧的传感器3用于检测位于车体1该侧的F轨，每个传感器3用于检测一个F轨4在其长度方向的一个位置的两个待测位置。在车体1的同侧且沿长度方向依次分布的任意两个传感器3所检测的F轨4的待测位置也是沿车体1的长度方向依次分布。在车体1两侧对应设置的两个传感器3所检测的相应的F轨4的待测位置位于车体1的长度方向的同一位置。The sensors 3 on one side of the car body 1 are used to detect the F rails on this side of the car body 1 , and each sensor 3 is used to detect two positions to be measured at one position of an F rail 4 in its lengthwise direction. The to-be-measured positions of the F rail 4 detected by any two sensors 3 sequentially distributed along the longitudinal direction on the same side of the vehicle body 1 are also sequentially distributed along the longitudinal direction of the vehicle body 1 . The corresponding to-be-measured positions of the F rails 4 detected by the two sensors 3 arranged correspondingly on both sides of the vehicle body 1 are located at the same position in the longitudinal direction of the vehicle body 1 .

相应的，位于车体1一侧的传感器3用于检测位于车体1该侧的待测位置，每个传感器3用于检测车体一侧在其长度方向的一个待测位置，在车体1的同侧且沿长度方向依次分布的任意两个传感器3所检测的车体1的待测位置也是沿车体1的长度方向依次分布。在车体1两侧对应设置的两个传感器3所检测的车体1的待测位置位于车体1的长度方向的同一位置。很显然，车体1的待测位置和传感器3一一对应。Correspondingly, the sensor 3 on one side of the vehicle body 1 is used to detect the position to be measured on this side of the vehicle body 1, and each sensor 3 is used to detect a position to be measured on one side of the vehicle body in its length direction. The positions to be measured of the vehicle body 1 detected by any two sensors 3 on the same side of the vehicle body 1 and sequentially distributed along the length direction are also sequentially distributed along the length direction of the vehicle body 1 . The to-be-measured positions of the vehicle body 1 detected by the two sensors 3 correspondingly arranged on both sides of the vehicle body 1 are located at the same position in the longitudinal direction of the vehicle body 1 . Obviously, there is a one-to-one correspondence between the position to be measured of the vehicle body 1 and the sensor 3 .

对于上述传感器3的类型，根据实际需要选择。为了便于检测，可选择上述传感器为2D传感器。进一步地，上述2D传感器为2D激光传感器。For the type of the above sensor 3, select according to actual needs. In order to facilitate detection, the above sensors can be selected as 2D sensors. Further, the above-mentioned 2D sensor is a 2D laser sensor.

为了保证各个传感器3同步，设置上述同步触发器，具体地，上述同步触发器用于和传感器3通信连接且用于使所有的传感器3同步。In order to ensure that each sensor 3 is synchronized, the above-mentioned synchronization trigger is set, specifically, the above-mentioned synchronization trigger is used for communicating with the sensors 3 and for synchronizing all the sensors 3 .

上述处理器用于和同步触发器通信连接，且处理器用于根据传感器3的检测数据计算磁浮车辆的动态包络线。The above-mentioned processor is used for communicating with the synchronous trigger, and the processor is used for calculating the dynamic envelope of the maglev vehicle according to the detection data of the sensor 3 .

可以理解的是，同步触发器用于将传感器3的检测数据传递给处理器。动态包络线是指磁浮车辆在运行过程中的晃动所导致的磁浮车辆轮廓的外包络。It can be understood that the synchronous trigger is used to transmit the detection data of the sensor 3 to the processor. The dynamic envelope refers to the outer envelope of the outline of the maglev vehicle caused by the shaking of the maglev vehicle during operation.

上述实施例提供的基于F轨的磁浮车辆动态限界的测试装置，通过在车体1的底部以及F轨4的底部设置传感器3，使得传感器3既能检测F轨4的待测位置也能检测车体1的待测位置，由于传感器3为两组且用于沿车体1长度方向依次分布，每组传感器3用于分布在车体1的两侧，且在车体1两侧对应设置的传感器3位于述车体1长度方向的同一位置，利用同步触发器使所有的传感器3同步，处理器通过同步触发器传递的传感器检测数据计算磁浮车辆的动态包络线，从而实现了对对基于F轨的磁浮车辆动态限界进行测试。The test device for the dynamic limit of the maglev vehicle based on the F rail provided by the above-mentioned embodiment, by setting the sensor 3 at the bottom of the car body 1 and the bottom of the F rail 4, the sensor 3 can detect the position to be measured of the F rail 4 and can also detect The position to be measured of the vehicle body 1, since the sensors 3 are two groups and are used to be distributed sequentially along the length direction of the vehicle body 1, each group of sensors 3 is used to be distributed on both sides of the vehicle body 1, and correspondingly arranged on both sides of the vehicle body 1 The sensors 3 are located at the same position in the longitudinal direction of the car body 1, and all the sensors 3 are synchronized by using a synchronous trigger, and the processor calculates the dynamic envelope of the maglev vehicle through the sensor detection data transmitted by the synchronous trigger, thereby realizing the alignment The dynamic limit of the maglev vehicle based on the F track is tested.

为了便于上述传感器3既能检测F轨4的待测位置也能检测车体1的待测位置，可选择一组传感器3安装于车体1的一个悬浮架固定台区域，另一组传感器3安装于车体1的另一个悬浮架固定台区域。可以理解的是，上述车体1包括用于安装悬浮架固定台6的悬浮架固定台区域，即悬浮架固定台区域为车体1中用于安装悬浮架固定台6的区域。In order to make it easier for the above-mentioned sensor 3 to detect the position to be measured of the F rail 4 and the position to be measured of the car body 1, a group of sensors 3 can be selected to be installed in a suspension frame fixed platform area of the car body 1, and another group of sensors 3 It is installed in another suspension frame fixing platform area of the car body 1. It can be understood that the vehicle body 1 includes a suspension frame fixing platform area for installing the suspension frame fixing platform 6 , that is, the suspension frame fixing platform area is an area in the vehicle body 1 for installing the suspension frame fixing platform 6 .

车体1的悬浮架固定台区域和悬浮架固定台一一对应，悬浮架固定台区域为多个且沿车体1的长度方向依次分布。可选择上述两组传感器3所在的悬浮架固定台区域相邻，也可选择上述两组传感器3所在的悬浮架固定台区域之间间隔有至少一个悬浮架固定台区域。There is a one-to-one correspondence between the fixed platform areas of the suspension frame of the car body 1 and the fixed platforms of the suspension frame. It can be selected that the above-mentioned two groups of sensors 3 are located in the area of the suspension frame fixed table adjacent to each other, and it can also be selected that there is at least one suspension frame fixed table area between the above-mentioned two groups of sensors 3 located in the suspension frame fixed table area.

为了便于安装传感器3，可选择传感器3用于通过吊挂梁2安装于车体1。具体地，吊挂梁2的顶端固定于车体，传感器3设置于吊挂梁2的底端。可选择上述传感器3和吊挂梁2一一对应，也可选择每组传感器3中，位于车体1同侧的任意两个传感器3共用一个吊挂梁2。为了保证检测精度，可选择前者。In order to install the sensor 3 conveniently, the sensor 3 can be selected to be installed on the vehicle body 1 through the suspension beam 2 . Specifically, the top end of the suspension beam 2 is fixed to the vehicle body, and the sensor 3 is arranged at the bottom end of the suspension beam 2 . One-to-one correspondence between the above-mentioned sensors 3 and the suspension beams 2 can be selected, and any two sensors 3 located on the same side of the vehicle body 1 in each group of sensors 3 can also be selected to share one suspension beam 2 . In order to ensure the detection accuracy, the former can be selected.

每组传感器3中传感器3的数目根据实际需要选择，由于每组传感器3需要分布在车体1的两侧，则每组传感器3中的传感器3至少为两个。为了简化结构、降低成本，可选择每组传感器3中传感器3为两个，且用于分布在车体1的两侧。此时，整个测试装置的传感器3为四个。The number of sensors 3 in each group of sensors 3 is selected according to actual needs. Since each group of sensors 3 needs to be distributed on both sides of the vehicle body 1, there are at least two sensors 3 in each group of sensors 3 . In order to simplify the structure and reduce the cost, two sensors 3 in each group of sensors 3 can be selected and distributed on both sides of the vehicle body 1 . At this time, there are four sensors 3 in the whole testing device.

轨道包括至少两个轨道段，任意两个轨道段之间具有轨缝。在实际应用过程中，车体1通过轨道的轨缝时，较易出现传感器3无法检测到F轨4的情况，导致检测结果的可靠性较差。为了避免出现上述问题以提高检测结果的可靠性，可选择每组传感器3中传感器3为四个；每组传感器3中，两个传感器3用于分布在车体1的一侧且用于沿车体1的长度方向依次分布，另外两个传感器3用于分布在车体1的另一侧且用于沿车体1的长度方向依次分布；每组传感器3中，分布在车体1同侧的两个传感器3之间的距离大于轨道的轨缝。此时，整个测试装置的传感器3为八个。The track includes at least two track segments, and there is a rail gap between any two track segments. In practical application, when the car body 1 passes through the rail gap of the track, it is easy for the sensor 3 to fail to detect the F rail 4, resulting in poor reliability of the detection result. In order to avoid the above-mentioned problems to improve the reliability of the detection results, four sensors 3 in each group of sensors 3 can be selected; The longitudinal direction of the car body 1 is distributed sequentially, and the other two sensors 3 are used to be distributed on the other side of the car body 1 and are used to be distributed sequentially along the longitudinal direction of the car body 1; The distance between the two sensors 3 on the side is greater than the rail gap of the track. At this time, there are eight sensors 3 in the entire testing device.

上述测试装置中，每组传感器3中位于车体同侧的两个传感器3中，至少一个传感器3会检测到F轨的待测位置。In the above test device, among the two sensors 3 located on the same side of the vehicle body in each group of sensors 3, at least one sensor 3 can detect the position to be measured of the F rail.

为了提高检测精度，可选择每组传感器3中，分布在车体1同侧的两个传感器3的光线平行。在实际应用过程中，还可选择分布在车体1同侧的任意两个传感器3的光线平行。In order to improve the detection accuracy, in each group of sensors 3, the light rays of the two sensors 3 distributed on the same side of the vehicle body 1 can be selected to be parallel. In practical application, the light rays of any two sensors 3 distributed on the same side of the vehicle body 1 can also be selected to be parallel.

为了便于处理器处于数据，上述基于F轨的磁浮车辆动态限界的测试装置还包括模拟信号采集器，该模拟信号采集器用于通信连接同步触发器和处理器。进一步地，上述模拟信号采集器设有前置滤波器。可以理解的是，前置滤波器靠近或位于模拟信号采集器的输入端。In order to facilitate the processing of data by the processor, the above-mentioned test device for the dynamic limit of the F-rail-based maglev vehicle also includes an analog signal collector, which is used for communicating and connecting the synchronous trigger and the processor. Further, the above-mentioned analog signal collector is provided with a pre-filter. It can be understood that the pre-filter is close to or located at the input end of the analog signal collector.

为了便于使用，上述基于F轨的磁浮车辆动态限界的测试装置还包括用于供电的电源。可以理解的是，上述电源给测试装置中所有的用电器供电。对于电源的类型，根据实际需要选择，例如电源为UPS电源，本实施例对此不做限定。For ease of use, the above-mentioned test device for the dynamic limit of the F-rail-based maglev vehicle also includes a power supply for power supply. It can be understood that the above-mentioned power supply supplies power to all electrical appliances in the testing device. The type of the power supply is selected according to actual needs, for example, the power supply is a UPS power supply, which is not limited in this embodiment.

对于上述处理器计算磁浮车辆的动态包络线的具体方式，根据实际需要选择。可选地，上述处理器具体用于根据传感器3对F轨4的检测数据提取F轨特征点并根据F轨特征点确定基准坐标系、用于根据传感器3对车体1的检测数据计算车体1的待测位置相对于F轨特征点的横向偏移和垂向偏移、用于根据车体1的待测位置相对于F轨特征点的横向偏移和垂向偏移计算车体1相对于基准坐标系的五个自由度姿态数据、以及用于根据五个自由度姿态数据和车体1的静态轮廓计算磁浮车辆的动态包络线。The specific way for the processor to calculate the dynamic envelope of the maglev vehicle is selected according to actual needs. Optionally, the above-mentioned processor is specifically used to extract F-rail feature points according to the detection data of the F-rail 4 by the sensor 3 and determine a reference coordinate system according to the F-rail feature points, and to calculate the vehicle body 1 according to the detection data of the sensor 3 to the vehicle body 1. The lateral offset and vertical offset of the position to be measured of body 1 relative to the feature point of F track are used to calculate the vehicle body according to the lateral offset and vertical offset of the position to be measured of vehicle body 1 relative to the feature point of F track 1 relative to the five degrees of freedom attitude data of the reference coordinate system, and for calculating the dynamic envelope of the maglev vehicle according to the five degrees of freedom attitude data and the static profile of the vehicle body 1.

上述基准坐标系为垂直于轨道中心线的平面内的直角坐标系，基准坐标系的原点为轨距中心点，基准坐标系的X轴平行于轨道面5，基准坐标系的Y轴垂直于轨道面5，轨距中心点根据两个F轨4的F轨特征点确定。The above reference coordinate system is a Cartesian coordinate system in a plane perpendicular to the center line of the track, the origin of the reference coordinate system is the center point of the gauge, the X axis of the reference coordinate system is parallel to the track surface 5, and the Y axis of the reference coordinate system is perpendicular to the track On surface 5, the gauge center point is determined according to the F-rail feature points of the two F-rails 4 .

需要说明的是，上述轨道中心线即为位于两个F轨4之间的中心线。两个F轨4关于轨道中心线对称。轨距中心点为两个F轨4的F轨特征点所在线段的中点。F轨道特征点即为F轨轨道外磁极面轨距特征点。It should be noted that the above track centerline is the centerline between the two F rails 4 . The two F rails 4 are symmetrical about the track centerline. The gauge center point is the midpoint of the line segment where the F rail feature points of the two F rails 4 are located. The feature point of the F track is the track gauge feature point of the outer magnetic pole surface of the F track.

在实际应用过程中，处理器根据车体1的待测位置相对于F轨特征点的横向偏移和纵向偏移，基于传感器3的图像坐标系和基准坐标系的空间变换与换算并结合测量截面与基准坐标系的相对位置，将车体1在测量截面相对于车体坐标系的车体姿态数据变换成车体1在测量截面相对于基准坐标系的车体姿态数据。处理器通过算法运算及修正得到车体相对于基准坐标系的车体的五个自由度姿态数据。In the actual application process, the processor is based on the lateral offset and longitudinal offset of the position to be measured of the car body 1 relative to the feature point of the F track, based on the space transformation and conversion of the image coordinate system and the reference coordinate system of the sensor 3 and combined with the measurement The relative position of the section and the reference coordinate system transforms the vehicle body attitude data of the vehicle body 1 at the measurement section relative to the vehicle body coordinate system into the vehicle body attitude data of the vehicle body 1 at the measurement section relative to the reference coordinate system. The processor obtains attitude data of five degrees of freedom of the vehicle body relative to the reference coordinate system through algorithmic calculation and correction.

可以理解的是，上述测量截面即为图1所示的面，即测量截面垂直于轨道中心线。It can be understood that the above measurement section is the plane shown in FIG. 1 , that is, the measurement section is perpendicular to the track centerline.

可选地，上述处理器具体用于根据传感器3对F轨4的检测数据提取F轨特征点，具体为：Optionally, the above-mentioned processor is specifically used to extract the F track feature points according to the detection data of the F track 4 by the sensor 3, specifically:

上述处理器提取所有的传感器3对F轨4的检测数据，每个检测数据包括在传感器3的图像坐标系中的横坐标X和纵坐标Y；上述处理器提取最小的纵坐标Y _min；上述处理器提取纵坐标Y在(Y _min–c％*Y _min)内的所有检测数据；根据所提取的检测数据计算F轨特征点的横坐标X _F和纵坐标Y _F。 The above-mentioned processor extracts the detection data of all the sensors 3 on the F track 4, each detection data includes the abscissa X and the ordinate Y in the image coordinate system of the sensor 3; the above-mentioned processor extracts the minimum ordinate Y _min ; the above-mentioned The processor extracts all detection data whose ordinate Y is within (Y _min −c%*Y _min ); calculates the abscissa X _F and ordinate Y _F of the feature points of the F track according to the extracted detection data.

具体地，上述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第一分位数X _1max和第二分位数X _1min，处理器根据X _F＝(X _1max+X _1min)/2计算F轨特征点的横坐标X _F。 Specifically, the above-mentioned processor extracts the first quantile X _1max and the second quantile X _1min in all abscissa X from all detection data of the ordinate Y within (Y _min -c*Y _min ), and the processor The abscissa X _F of the feature point of the F track is calculated according to X _F =(X _1max +X _1min )/2.

可以理解的是，X _1max是指在步骤S0213所选取的检测数据中所有横坐标中分位数为第一分位数时的横坐标；X _1min是指在步骤S0213所选取的检测数据中所有横坐标中分位数为第二分位数时的横坐标。 It can be understood that X _1max refers to the abscissa when the quantile is the first quantile in all the abscissas selected in step S0213 in the detection data; X _1min refers to all The abscissa when the quantile in the abscissa is the second quantile.

上述第一分位数和第二分位数不等。对于第一分位数和第二分位数的具体数值，根据实际需要选择。可选地，第一分位数和第二分位数之和为100％。进一步地，第一分位数为97.5％，第二分位数为2.5％。The above first and second quantiles are not equal. The specific values of the first quantile and the second quantile are selected according to actual needs. Optionally, the sum of the first quantile and the second quantile is 100%. Further, the first quantile is 97.5%, and the second quantile is 2.5%.

具体地，上述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第三分位数以上的检测数据；上述处理器从所有横坐标X中第三分位数以上的检测数据中提取所有纵坐标Y中第四分位数Y _1min；上述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第五分位数以下的数据；上述处理器从所有横坐标X中第五分位数以下的数据中提取所有纵坐标Y中第六分位数Y _2min；上述处理器根据Y _F＝(Y _1min+Y _2min)/2计算F轨特征点的纵坐标Y _F。 Specifically, the above-mentioned processor extracts all the detection data above the third quantile in the abscissa X from all the detection data of the ordinate Y within (Y _min -c*Y _min ); Extract the fourth quantile Y _1min of all the test data above the third quantile in the vertical coordinate Y; the above processor extracts all the test data from the vertical coordinate Y within (Y _min -c*Y _min ) The data below the fifth quantile in the abscissa X; the above-mentioned processor extracts the sixth quantile Y _2min in all the vertical coordinates Y from the data below the fifth quantile in all the abscissa X; the above-mentioned processor according to Y _F = (Y _1min +Y _2min )/2 Calculate the ordinate Y _F of the feature point of the F track.

通过上述处理器，可获得F轨特征点的坐标(X _F，Y _F)。 Through the above processor, the coordinates (X _F , Y _F ) of the feature points of the F track can be obtained.

需要说明的是，Y _1min是指在所有横坐标X中第三分位数以上的检测数据中分位数为第四分位数的纵坐标。Y _2min是指在所有横坐标X中第五分位数以下的数据中分位数为第六分位数的纵坐标。 It should be noted that, Y _1min refers to the vertical axis whose quantile is the fourth quantile in all detection data above the third quantile in the abscissa X. Y _2min refers to the vertical axis whose quantile is the sixth quantile in all the data below the fifth quantile in the abscissa X.

上述第三分位数和第五分位数不等。对于第三分位数和第五分位数的具体数值，根据实际需要选择。可选地，第三分位数和第五分位数之和为100％。进一步地，第三分位数为95％，第五分位数为5％。The third and fifth quantiles mentioned above are not equal. For the specific values of the third quantile and the fifth quantile, select according to actual needs. Optionally, the sum of the third and fifth quantiles is 100%. Further, the third quantile is 95%, and the fifth quantile is 5%.

对于第四分位数和第六分位数的具体数值，根据实际需要选择，本实施例对此不做限定。可选地，第四分位数和第六分位数相等。进一步地，第四分位数为2.5％，第六分位数为2.5％。The specific values of the fourth quantile and the sixth quantile can be selected according to actual needs, which is not limited in this embodiment. Optionally, the fourth and sixth quantiles are equal. Further, the fourth quantile is 2.5%, and the sixth quantile is 2.5%.

上述处理器用于根据传感器3对车体1的检测数据计算车体1的待测位置相对于F轨特征点的横向偏移和垂向偏移、用于根据车体1的待测位置相对于F轨特征点的横向偏移和垂向偏移计算车体1相对于基准坐标系的五个自由度姿态数据。为了具体说明获得五个自由度姿态数据的方式，下面以车体1的待测位置是四个为例。The above-mentioned processor is used to calculate the lateral offset and vertical offset of the position to be measured of the vehicle body 1 relative to the feature point of the F track according to the detection data of the vehicle body 1 by the sensor 3, and is used to calculate the position to be measured of the vehicle body 1 relative to the Calculate the five degrees of freedom attitude data of the car body 1 relative to the reference coordinate system for the lateral offset and vertical offset of the F track feature points. In order to specifically illustrate the manner of obtaining attitude data with five degrees of freedom, the following takes four positions of the car body 1 to be measured as an example.

具体地，上述车体1的待测位置为四个，分别为第一待测位置11、第二待测位置12、第三待测位置13、和第四待测位置14，如图4所示。具体地，第一待测位置11和第二待测位置12位于车体1的同侧，第三待测位置13和第四待测位置14位于车体1的同侧，第一待测位置11和第三待测位置13位于车体1长度方向的同一位置，第二待测位置12和第四待测位置14位于车体1长度方向的同一位置，第一待测位置11和第二待测位置12之间的距离为L _a；第一待测位置11和第三待测位置13之间的距离为L _b。 Specifically, the above-mentioned car body 1 has four positions to be measured, which are respectively the first position to be measured 11, the second position to be measured 12, the third position to be measured 13, and the fourth position to be measured 14, as shown in Figure 4 Show. Specifically, the first to-be-tested position 11 and the second to-be-tested position 12 are located on the same side of the car body 1, the third to-be-tested position 13 and the fourth to-be-tested position 14 are located on the same side of the car body 1, and the first to-be-tested position 11 and the third position to be measured 13 are located at the same position in the longitudinal direction of the vehicle body 1, the second position to be measured 12 and the fourth position to be measured 14 are located at the same position in the longitudinal direction of the vehicle body 1, the first position to be measured 11 and the second position to be measured are The distance between the positions to be measured 12 is L _a ; the distance between the first position to be measured 11 and the third position to be measured 13 is L _b .

上述处理器根据传感器3对车体1的检测数据计算第一待测位置11相对于F轨特征点的第一横向偏移ΔX ₁和第一纵向偏移ΔY ₁、第二待测位置12相对于F轨特征点的第二横向偏移ΔX ₂和第二纵向偏移ΔY ₂、第三待测位置13 相对于F轨特征点的第三横向偏移ΔX ₃和第三纵向偏移ΔY ₃、第四待测位置14相对于F轨特征点的第四横向偏移ΔX ₄和第四纵向偏移ΔY ₄。 The above-mentioned processor calculates the first lateral offset ΔX ₁ and the first longitudinal offset ΔY ₁ of the first position to be measured 11 relative to the feature point of the F rail according to the detection data of the vehicle body 1 by the sensor 3, and the second position 12 to be measured is relatively The second lateral offset ΔX ₂ and the second longitudinal offset ΔY 2 of the feature points of the F track, the third lateral offset ΔX ₃ and the third longitudinal offset ΔY ₃ of the third position ₁₃ to be measured relative to the feature points of the F track , the fourth lateral offset ΔX ₄ and the fourth longitudinal offset ΔY ₄ of the fourth position to be measured 14 relative to the feature point of the F track.

上述处理器根据ΔY＝(ΔY ₁+ΔY ₂+ΔY ₃+ΔY ₄)/4，计算车体1的垂向位移偏移ΔY；上述处理器根据Δα＝[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]/2L _b，计算车体1的侧滚角度偏移Δα；上述处理器根据Δγ＝[(ΔY ₁+ΔY ₃)-(ΔY ₂+ΔY ₄)]/2L _a，计算车体1的点头角度偏移Δγ；上述处理器根据Δβ＝[(ΔX ₁+ΔX ₃)-(ΔX ₂+ΔX ₄)]/2L _a，计算车体1的摇头角度偏移Δβ；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相同，上述处理器根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4-ΔY*tanΔα，计算车体1的横向位移偏移ΔX；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相反，上述处理器根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4+ΔY*tanΔα，计算车体1的横向位移偏移ΔX。 The above-mentioned processor calculates the vertical displacement offset _ΔY of _the vehicle body 1 according to ΔY=(ΔY ₁ +ΔY ₂ +ΔY ₃ +ΔY ₄ )/4; ΔY ₃ +ΔY ₄ )]/2L _b , calculate the roll angle offset Δα of the car body 1; the above processor is based on Δγ=[(ΔY ₁ +ΔY ₃ )-(ΔY ₂ +ΔY ₄ )]/2L _a , Calculate the nodding angle offset Δγ of the car body 1; the above-mentioned processor calculates the nodding angle offset Δβ of the car body 1 according to Δβ=[(ΔX ₁ +ΔX ₃ )-(ΔX ₂ +ΔX ₄ )]/2L _a ; if (ΔX ₁ +ΔX ₂ +ΔX ₃ + _ΔX ₄ ) has the same mathematical sign as [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ ₊ ΔY ₄ )]. ₃ +ΔX ₄ )/4-ΔY*tanΔα, calculate the lateral displacement offset ΔX of the car body 1; if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ The mathematical sign of +ΔY ₄ )] is opposite, and the above-mentioned processor calculates the lateral displacement offset ΔX of the vehicle body 1 according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4+ΔY*tanΔα.

具体地，一个传感器3检测到车体1的第一待测位置11的坐标为(X ₁，Y ₁)，则ΔX ₁＝X ₁-X _F，ΔY ₁＝Y ₁-Y _F；一个传感器3检测到车体1的第二待测位置12的坐标为(X ₂，Y ₂)，则ΔX ₂＝X ₂-X _F，ΔY ₂＝Y ₂-Y _F；一个传感器3检测到车体1的第三待测位置13的坐标为(X ₃，Y ₃)，则ΔX ₃＝X ₃-X _F，ΔY ₃＝Y ₃-Y _F；一个传感器3检测到车体1的第四待测位置14的坐标为(X ₄，Y ₄)，则ΔX ₄＝X ₄-X _F，ΔY ₄＝Y ₄-Y _F。 Specifically, a sensor 3 detects that the coordinates of the first position 11 to be measured on the vehicle body 1 are (X ₁ , Y ₁ ), then ΔX ₁ =X ₁ -X _F , ΔY ₁ =Y ₁ -Y _F ; a sensor 3. It is detected that the coordinates of the second position 12 to be measured of the vehicle body 1 are (X ₂ , Y ₂ ), then ΔX ₂ =X ₂ -X _F , ΔY ₂ =Y ₂ -Y _F ; a sensor 3 detects that the vehicle body The coordinates of the third to-be-measured position 13 of 1 are (X ₃ , Y ₃ ), then ΔX ₃ =X ₃ -X _F , ΔY ₃ =Y ₃ -Y _F ; a sensor 3 detects the fourth to-be-measured position of the vehicle body 1 The coordinates of the measured position 14 are (X ₄ , Y ₄ ), then ΔX ₄ =X ₄ -X _F , ΔY ₄ =Y ₄ -Y _F .

在实际应用过程中，若每组传感器3中传感器3至少为四个，则每组传感器3中位于车体1一侧的传感器3至少为两个，此时，车体1的待测位置至少为八个。为了简化计算，可选择处理器仅采用每组传感器3中位于车体1一侧的一个传感器3对车体1的检测数据进行计算。In the actual application process, if there are at least four sensors 3 in each group of sensors 3, then there are at least two sensors 3 on one side of the vehicle body 1 in each group of sensors 3. At this time, the position to be measured of the vehicle body 1 is at least for eight. In order to simplify the calculation, the processor can be selected to use only one sensor 3 located on one side of the vehicle body 1 in each group of sensors 3 to calculate the detection data of the vehicle body 1 .

上述处理器根据五个自由度姿态数据和车体1的静态轮廓计算磁浮车辆的动态包络线，这是本领域技术人员所熟知的计算，本文不再赘述。The above-mentioned processor calculates the dynamic envelope of the maglev vehicle according to the attitude data of the five degrees of freedom and the static profile of the vehicle body 1, which is a calculation well known to those skilled in the art, and will not be repeated herein.

本实施例提供的基于F轨的磁浮车辆动态限界的测试装置，通过受电磁干扰比较小的8台非接触2D激光传感器进行检测，根据检测数据提取F轨特征点并由此确定基准坐标系，以此为基准截面，并通过2D激光传感器的检测数据通过融合、计算得到车体在基准截面的动态位姿，进一步结合车体的静态轮廓，得到所有截面的姿态数据，即可得到轨道车辆动态包络线。The test device for the dynamic limit of the maglev vehicle based on the F rail provided in this embodiment is detected by 8 non-contact 2D laser sensors with relatively small electromagnetic interference, and the feature points of the F rail are extracted according to the detection data and thus the reference coordinate system is determined. Take this as the reference section, and through fusion and calculation of the detection data of the 2D laser sensor, the dynamic pose of the car body at the reference section is obtained, and further combined with the static profile of the car body, the attitude data of all sections are obtained, and the dynamic position of the rail vehicle can be obtained. Envelope.

本实施例提供的基于F轨的磁浮车辆动态限界的测试装置，结构简单，安装容易，操作方便；由于各组成是模块化设备并具有高的精度，可以高效、准确地测试轨道车辆在线路上的实际动态偏移。The testing device for the dynamic limit of the maglev vehicle based on the F rail provided in this embodiment has a simple structure, is easy to install, and is convenient to operate; because each composition is a modular device and has high precision, it can efficiently and accurately test the rail vehicle on the line. Actual dynamic offset.

基于上述实施例提供的基于F轨的磁浮车辆动态限界的测试装置，本实施例还提供了一种基于F轨的磁浮车辆动态限界的测试方法，上述基于F轨的磁浮车辆动态限界的测试方法采用上述实施例提供的基于F轨的磁浮车辆动态限界的测试装置进行测试。具体地，上述基于F轨的磁浮车辆动态限界的测试方法包括步骤：Based on the testing device for the dynamic limit of the maglev vehicle based on the F track provided by the above-mentioned embodiment, the present embodiment also provides a test method for the dynamic limit of the maglev vehicle based on the F track. The above-mentioned test method for the dynamic limit of the maglev vehicle based on the F track The testing device for the dynamic limit of the maglev vehicle based on the F track provided by the above-mentioned embodiment is used for testing. Specifically, the above-mentioned test method for the dynamic limit of the maglev vehicle based on the F track includes steps:

S01：同步触发器触发传感器3以使所有的传感器3同步，传感器3检测F轨的待测位置和车体1的待测位置；S01: The synchronization trigger triggers the sensor 3 to synchronize all the sensors 3, and the sensor 3 detects the position to be measured of the F rail and the position to be measured of the car body 1;

S02：处理器根据传感器3的检测数据计算磁浮车辆的动态包络线。S02: The processor calculates the dynamic envelope of the maglev vehicle according to the detection data of the sensor 3 .

由于上述基于F轨的磁浮车辆动态限界的测试装置具有上述技术效果，上述基于F轨的磁浮车辆动态限界的测试方法采用上述实施例提供的基于F轨的磁浮车辆动态限界的测试装置进行测试，则上述基于F轨的磁浮车辆动态限界的测试方法也具有相应的技术效果，本文不再赘述。Because the above-mentioned testing device based on the dynamic limit of the maglev vehicle of the F track has the above-mentioned technical effect, the above-mentioned test method based on the dynamic limit of the maglev vehicle of the F track adopts the test device of the dynamic limit of the maglev vehicle based on the F track provided by the above-mentioned embodiment to test, Then the above-mentioned testing method of the dynamic limit of the maglev vehicle based on the F track also has a corresponding technical effect, and will not be repeated here.

为了便于计算磁浮车辆的动态包络线，可选地，上述步骤S02包括步骤：In order to facilitate the calculation of the dynamic envelope of the maglev vehicle, optionally, the above step S02 includes steps:

S021：处理器根据传感器3对F轨4的检测数据计算F轨特征点并根据F轨特征点确定基准坐标系；S021: The processor calculates the feature points of the F track according to the detection data of the F track 4 by the sensor 3 and determines the reference coordinate system according to the feature points of the F track;

S022：处理器根据传感器3对车体1的检测数据计算车体1的待测位置相对于F轨特征点的横向偏移和纵向偏移；S022: The processor calculates the lateral offset and longitudinal offset of the position to be measured of the vehicle body 1 relative to the feature point of the F track according to the detection data of the vehicle body 1 by the sensor 3;

S023：处理器根据车体1的待测位置相对于F轨特征点的横向偏移和纵向偏移计算车体1相对于基准坐标系的五个自由度姿态数据；S023: the processor calculates five degrees of freedom attitude data of the car body 1 relative to the reference coordinate system according to the lateral offset and longitudinal offset of the position to be measured of the car body 1 relative to the F track feature point;

S024：处理器根据五个自由度姿态数据和车体1的静态轮廓计算磁浮车辆的动态包络线。S024: The processor calculates the dynamic envelope of the maglev vehicle according to the attitude data of the five degrees of freedom and the static profile of the vehicle body 1 .

上述基准坐标系为垂直于轨道中心线的平面内的直角坐标系，基准坐标系的原点为轨距中心点，基准坐标系的X轴平行于轨道面5，基准坐标系的Y轴垂直于轨道面5，轨距中心点根据两个F轨的F轨特征点确定。The above reference coordinate system is a Cartesian coordinate system in a plane perpendicular to the center line of the track, the origin of the reference coordinate system is the center point of the gauge, the X axis of the reference coordinate system is parallel to the track surface 5, and the Y axis of the reference coordinate system is perpendicular to the track On surface 5, the gauge center point is determined according to the F-rail feature points of the two F-rails.

需要说明的是，上述轨道中心线即为位于两个F轨4之间的中心线。两个F轨4关于轨道中心线对称。轨距中心点为两个F轨4的F轨特征点所在线段的中点。车体1相对于基准坐标系的五个自由度姿态数据包括车体1的垂向位移偏移ΔY、车体1的侧滚角度偏移Δα、车体1的点头角度偏移Δγ、车体的摇头角度偏移Δβ、以及车体1的横向位移偏移ΔX。It should be noted that the above track centerline is the centerline between the two F rails 4 . The two F rails 4 are symmetrical about the track centerline. The gauge center point is the midpoint of the line segment where the F rail feature points of the two F rails 4 are located. The five degrees of freedom attitude data of the car body 1 relative to the reference coordinate system include the vertical displacement offset ΔY of the car body 1, the roll angle offset Δα of the car body 1, the nodding angle offset Δγ of the car body 1, and the The swing angle offset Δβ of , and the lateral displacement offset ΔX of the car body 1 .

上述传感器3对车体1的检测数据，即为传感器3所检测到的车体1的待测位置的坐标；传感器3对F轨4的检测数据，即为传感器3所检测到的F轨4的待测位置的坐标。The detection data of the vehicle body 1 by the above-mentioned sensor 3 is the coordinates of the position to be measured of the vehicle body 1 detected by the sensor 3; the detection data of the F rail 4 by the sensor 3 is the F rail 4 detected by the sensor 3 The coordinates of the position to be measured.

上述步骤S021中获得的F轨特征点是基于传感器的图像坐标系。The F track feature points obtained in the above step S021 are based on the image coordinate system of the sensor.

上述步骤S023：处理器根据车体1的待测位置相对于F轨特征点的横向偏移和纵向偏移计算车体1相对于基准坐标系的五个自由度姿态数据。在实际应用过程中，根据车体1的待测位置相对于F轨特征点的横向偏移和纵向偏移，基于传感器3的图像坐标系和基准坐标系的空间变换与换算并结合测量截面与基准坐标系的相对位置，将车体1在测量截面相对于车体坐标系的车体姿态数据变换成车体1在测量截面相对于基准坐标系的车体姿态数据。通过算法运算及修正得到车体相对于基准坐标系的车体的五个自由度姿态数据。The above step S023: the processor calculates the five degrees of freedom attitude data of the vehicle body 1 relative to the reference coordinate system according to the lateral offset and longitudinal offset of the position to be measured of the vehicle body 1 relative to the feature point of the F track. In the actual application process, according to the lateral offset and longitudinal offset of the position to be measured of the car body 1 relative to the feature point of the F rail, based on the spatial transformation and conversion of the image coordinate system and the reference coordinate system of the sensor 3, combined with the measurement section and The relative position of the reference coordinate system transforms the vehicle body attitude data of the vehicle body 1 at the measurement section relative to the vehicle body coordinate system into the vehicle body attitude data of the vehicle body 1 at the measurement section relative to the reference coordinate system. The five-degree-of-freedom attitude data of the car body relative to the reference coordinate system is obtained through algorithm calculation and correction.

为了提高检测精度，可选择上述步骤S021中计算F轨特征点，具体包括步骤：In order to improve the detection accuracy, you can choose to calculate the F track feature points in the above step S021, which specifically includes the steps:

S0211：提取所有的传感器3对F轨4的检测数据，每个检测数据包括在传感器3的图像坐标系中的横坐标X和纵坐标Y；S0211: extract all the detection data of the sensor 3 on the F track 4, each detection data includes the abscissa X and the ordinate Y in the image coordinate system of the sensor 3;

S0212：获取最小的纵坐标Y _min； S0212: Obtain the minimum ordinate Y _min ;

S0213：获取纵坐标Y在(Y _min–c*Y _min)内的所有检测数据； S0213: Obtain all detection data whose ordinate Y is within (Y _min -c*Y _min );

S0214：根据步骤S0213所选取的检测数据计算F轨特征点的横坐标X _F和纵坐标Y _F。 S0214: Calculate the abscissa X _F and ordinate Y _F of the feature points of the F track according to the detection data selected in step S0213.

需要说明的是，c的取值范围为100％-150％。It should be noted that the value range of c is 100%-150%.

具体地，上述步骤S0214中，步骤：计算F轨特征点的横坐标X _F，具体包括步骤： Specifically, in the above-mentioned step S0214, the step: calculating the abscissa X _F of the feature point of the F track, specifically includes the steps:

S02141：在步骤S0213所选取的检测数据中，提取所有横坐标X中第一分位数X _1max和第二分位数X _1min，根据X _F＝(X _1max+X _1min)/2，计算F轨特征点的横坐标X _F。 S02141: From the detection data selected in step S0213, extract the first quantile X _1max and the second quantile X _1min of all abscissa X, and calculate F according to X _F =(X _1max +X _1min )/2 The abscissa X _F of the rail feature point.

具体地，上述步骤S0214中，步骤：计算F轨特征点的纵坐标Y _F，具体包括步骤： Specifically, in the above-mentioned step S0214, the step: calculate the ordinate Y _F of the feature point of the F track, which specifically includes the steps:

S02142：在步骤S0213所选取点的检测数据中，提取所有横坐标X中第三分位数以上的检测数据；S02142: From the detection data of the points selected in step S0213, extract all detection data above the third quantile in the abscissa X;

S02143：在步骤S02142所选取点的检测数据中，提取所有纵坐标Y中第四分位数Y _1min； S02143: Extract the fourth quantile Y _1min of all ordinates Y from the detection data of the points selected in step S02142;

S02144：在步骤S0213所选取点的检测数据中，提取所有横坐标X中第五分位数以下的数据；S02144: From the detection data of the point selected in step S0213, extract all data below the fifth quantile in the abscissa X;

S02145：在步骤S02144所选取点的检测数据中，提取所有纵坐标Y中第六分位数Y _2min； S02145: Extract the sixth quantile Y _2min of all ordinates Y from the detection data of the points selected in step S02144;

S02146：根据Y _F＝(Y _1min+Y _2min)/2，计算F轨特征点的纵坐标Y _F。 S02146: According to Y _F =(Y _1min +Y _2min )/2, calculate the ordinate Y _F of the feature point of the F track.

需要说明的是，Y _1min是指在步骤S02142所选取点的检测数据中所有纵坐标中分位数为第四分位数的纵坐标。Y _2min是指在步骤S02144所选取点的检测数据中所有纵坐标中分位数为第六分位数的纵坐标。 It should be noted that Y _1min refers to the ordinate whose quantile is the fourth quantile among all the ordinates in the detection data of the point selected in step S02142. Y _2min refers to the ordinate whose quantile is the sixth quantile among all the ordinates in the detection data of the point selected in step S02144.

通过上述步骤，可获得F轨特征点的坐标(X _F，Y _F)。 Through the above steps, the coordinates (X _F , Y _F ) of the feature points of the F track can be obtained.

在实际应用过程中，也可通过其他计算方式获得F轨特征点的坐标(X _F，Y _F)，并不局限于上述实施例。 In actual application, the coordinates (X _F , Y _F ) of the feature points of the F track can also be obtained by other calculation methods, which are not limited to the above-mentioned embodiments.

为了更为具体地说明上述步骤S023，可选择上述车体1的待测位置为四个，分别为第一待测位置11、第二待测位置12、第三待测位置13、和第四待测位置14，如图4所示。具体地，第一待测位置11和第二待测位置12位于车体1的同侧，第三待测位置13和第四待测位置14位于车体1的同侧，第一待测位置11和第三待测位置13位于车体1长度方向的同一位置，第二待测位置12和第四待测位置14位于车体1长度方向的同一位置，第一待测位置11和第二待测位置12之间的距离为L _a；第一待测位置11和第三待测位置13之间的距离为L _b。 In order to describe the above step S023 in more detail, four positions to be tested for the vehicle body 1 may be selected to be four, namely the first position to be tested 11, the second position to be tested 12, the third position to be tested 13, and the fourth position to be tested. The position 14 to be tested is shown in FIG. 4 . Specifically, the first to-be-tested position 11 and the second to-be-tested position 12 are located on the same side of the car body 1, the third to-be-tested position 13 and the fourth to-be-tested position 14 are located on the same side of the car body 1, and the first to-be-tested position 11 and the third position to be measured 13 are located at the same position in the longitudinal direction of the vehicle body 1, the second position to be measured 12 and the fourth position to be measured 14 are located at the same position in the longitudinal direction of the vehicle body 1, the first position to be measured 11 and the second position to be measured are The distance between the positions to be measured 12 is L _a ; the distance between the first position to be measured 11 and the third position to be measured 13 is L _b .

上述步骤S022具体为：处理器根据传感器3对车体1的检测数据计算第一待测位置11相对于F轨特征点的第一横向偏移ΔX ₁和第一纵向偏移ΔY ₁、第二待测位置12相对于F轨特征点的第二横向偏移ΔX ₂和第二纵向偏移ΔY ₂、第三待测位置13相对于F轨特征点的第三横向偏移ΔX ₃和第三纵向偏移ΔY ₃、第四待测位置14相对于F轨特征点的第四横向偏移ΔX ₄和第四纵向偏移ΔY ₄。 The above step S022 is specifically: the processor calculates the first lateral offset ΔX 1 and the first longitudinal offset ΔY ₁ of the first position to be measured 11 relative to the feature point of the F rail according to the detection data of the vehicle body 1 by the sensor ₃ , and the second The second lateral offset ΔX ₂ and the second longitudinal offset ΔY ₂ of the position to be measured 12 relative to the feature points of the F track, the third lateral offset ΔX ₃ and the third The longitudinal offset ΔY ₃ , the fourth lateral offset ΔX ₄ and the fourth longitudinal offset ΔY ₄ of the fourth position to be measured 14 relative to the feature point of the F track.

具体地，一个传感器3检测到车体1的第一待测位置11的坐标为(X ₁，Y ₁)，则ΔX ₁＝X ₁-X _F，ΔY ₁＝Y ₁-Y _F；一个传感器3检测到车体1的第二待测位置12的坐标为(X ₂，Y ₂)，则ΔX ₂＝X ₂-X _F，ΔY ₂＝Y ₂-Y _F；一个传感器3 检测到车体1的第三待测位置13的坐标为(X ₃，Y ₃)，则ΔX ₃＝X ₃-X _F，ΔY ₃＝Y ₃-Y _F；一个传感器3检测到车体1的第四待测位置14的坐标为(X ₄，Y ₄)，则ΔX ₄＝X ₄-X _F，ΔY ₄＝Y ₄-Y _F。 Specifically, a sensor 3 detects that the coordinates of the first position to be measured 11 of the vehicle body 1 are (X ₁ , Y ₁ ), then ΔX ₁ =X ₁ -X _F , ΔY ₁ =Y ₁ -Y _F ; a sensor 3. It is detected that the coordinates of the second position 12 to be measured of the vehicle body 1 are (X ₂ , Y ₂ ), then ΔX ₂ =X ₂ -X _F , ΔY ₂ =Y ₂ -Y _F ; a sensor 3 detects that the vehicle body The coordinates of the third to-be-measured position 13 of 1 are (X ₃ , Y ₃ ), then ΔX ₃ =X ₃ -X _F , ΔY ₃ =Y ₃ -Y _F ; a sensor 3 detects the fourth to-be-measured position of the vehicle body 1 The coordinates of the measured position 14 are (X ₄ , Y ₄ ), then ΔX ₄ =X ₄ -X _F , ΔY ₄ =Y ₄ -Y _F .

在实际应用过程中，若每组传感器3中传感器3至少为四个，则每组传感器3中位于车体1一侧的传感器3至少为两个，此时，车体1的待测位置至少为八个。为了简化计算，可选择仅采用每组传感器3中位于车体1一侧的一个传感器3的检测数据进行计算。In the actual application process, if there are at least four sensors 3 in each group of sensors 3, then there are at least two sensors 3 on one side of the vehicle body 1 in each group of sensors 3. At this time, the position to be measured of the vehicle body 1 is at least for eight. In order to simplify the calculation, the detection data of only one sensor 3 located on one side of the vehicle body 1 in each group of sensors 3 can be selected for calculation.

具体地，上述步骤S023具体地包括步骤：Specifically, the above step S023 specifically includes steps:

根据ΔY＝(ΔY ₁+ΔY ₂+ΔY ₃+ΔY ₄)/4，计算车体1的垂向位移偏移ΔY； Calculate the vertical displacement offset ΔY of the car body 1 according to ΔY=(ΔY ₁ +ΔY ₂ +ΔY ₃ +ΔY ₄ )/4;

根据Δα＝[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]/2L _b，计算车体1的侧滚角度偏移Δα； Calculate the roll angle offset Δα of the vehicle body 1 according to Δα=[(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )]/2L _b ;

根据Δγ＝[(ΔY ₁+ΔY ₃)-(ΔY ₂+ΔY ₄)]/2L _a，计算车体1的点头角度偏移Δγ； According to Δγ=[(ΔY ₁ +ΔY ₃ )-(ΔY ₂ +ΔY ₄ )]/2L _a , calculate the nodding angle offset Δγ of the car body 1;

根据Δβ＝[(ΔX ₁+ΔX ₃)-(ΔX ₂+ΔX ₄)]/2L _a，计算车体1的摇头角度偏移Δβ； According to Δβ=[(ΔX ₁ +ΔX ₃ )-(ΔX ₂ +ΔX ₄ )]/2L _a , calculate the swing angle offset Δβ of the car body 1;

若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相同，根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4-ΔY*tanΔα，计算车体1的横向位移偏移ΔX；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相反，根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4+ΔY*tanΔα，计算车体1的横向位移偏移ΔX。 If (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )] have the same mathematical symbols, according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ + ΔX ₄ )/4-ΔY*tanΔα, calculate the lateral displacement offset ΔX of the car body 1; if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )] with opposite mathematical signs, according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4+ΔY*tanΔα, the lateral displacement offset ΔX of the vehicle body 1 is calculated.

在实际应用过程中，也可选择其他方式计算车体1相对于基准坐标系的五个自由度姿态数据，并不局限于上述实施例。In the actual application process, other methods can also be selected to calculate the attitude data of the five degrees of freedom of the vehicle body 1 relative to the reference coordinate system, and are not limited to the above-mentioned embodiments.

上述步骤S024中，处理器根据五个自由度姿态数据和车体1的静态轮廓计算磁浮车辆的动态包络线，这是本领域技术人员所熟知的计算，本文不再赘述。In the above step S024, the processor calculates the dynamic envelope of the maglev vehicle according to the attitude data of the five degrees of freedom and the static profile of the vehicle body 1. This calculation is well known to those skilled in the art, and will not be repeated here.

需要说明的是，中低速磁浮车辆通常采用F轨，因此，上述基于F轨的磁浮车辆动态限界的测试装置和上述基于F轨的磁浮车辆动态限界的测试方法均适用于中低速磁浮车辆。其中，中低速磁浮车辆的最高车速为120km/h，中低速磁浮车辆为采用常导电磁悬浮技术实现悬浮导向的磁浮车辆。It should be noted that medium and low-speed maglev vehicles usually use F rails. Therefore, the above-mentioned testing device for the dynamic limit of maglev vehicles based on F track and the above-mentioned test method for the dynamic limit of maglev vehicles based on F rail are applicable to medium and low-speed maglev vehicles. Among them, the maximum speed of the medium and low-speed maglev vehicles is 120km/h, and the medium and low-speed maglev vehicles are maglev vehicles that adopt the constant conduction electromagnetic levitation technology to achieve levitation guidance.

对所公开的实施例的上述说明，使本领域技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

一种基于F轨的磁浮车辆动态限界的测试装置，其特征在于，包括：传感器(3)，同步触发器，以及处理器；A test device for the dynamic limit of a maglev vehicle based on an F track, characterized in that it includes: a sensor (3), a synchronous trigger, and a processor;

其中，所述传感器(3)用于设置在磁浮车辆的车体(1)底部且位于F轨(4)的底部，所述传感器(3)用于检测所述F轨(4)的待测位置和所述车体(1)的待测位置，所述传感器(3)为两组且用于沿所述车体(1)长度方向依次分布，每组所述传感器(3)用于分布在所述车体(1)的两侧，且在所述车体(1)两侧对应设置的所述传感器(3)位于所述车体(1)长度方向的同一位置；Wherein, the sensor (3) is used to be arranged at the bottom of the car body (1) of the maglev vehicle and is located at the bottom of the F rail (4), and the sensor (3) is used to detect position and the position to be measured of the vehicle body (1), the sensors (3) are two groups and are used to distribute sequentially along the length direction of the vehicle body (1), and each group of the sensors (3) is used to distribute On both sides of the vehicle body (1), the sensors (3) correspondingly arranged on both sides of the vehicle body (1) are located at the same position in the longitudinal direction of the vehicle body (1);

所述同步触发器用于和所述传感器(3)通信连接且用于使所有的所述传感器(3)同步；The synchronization trigger is used to communicate with the sensors (3) and to synchronize all the sensors (3);

所述处理器用于和所述同步触发器通信连接，且所述处理器用于根据所述传感器(3)的检测数据计算所述磁浮车辆的动态包络线。The processor is used for communicating with the synchronous trigger, and the processor is used for calculating the dynamic envelope of the maglev vehicle according to the detection data of the sensor (3).
根据权利要求1所述的测试装置，其特征在于，The test device according to claim 1, characterized in that,

所述车体(1)包括用于安装悬浮架固定台(6)的悬浮架固定台区域，一组所述传感器(3)安装于所述车体(1)的一个悬浮架固定台区域，另一组所述传感器(3)安装于所述车体(1)的另一个悬浮架固定台区域；The vehicle body (1) includes a suspension frame fixed platform area for installing a suspension frame fixed platform (6), and a set of sensors (3) is installed on a suspension frame fixed platform area of the vehicle body (1), Another group of sensors (3) is installed in another suspension frame fixed platform area of the vehicle body (1);

和/或，所述传感器(3)用于通过吊挂梁(2)安装于所述车体(1)。And/or, the sensor (3) is used to be installed on the vehicle body (1) through the suspension beam (2).
根据权利要求1所述的测试装置，其特征在于，The test device according to claim 1, characterized in that,

每组所述传感器(3)中所述传感器(3)为两个，且用于分布在所述车体(1)的两侧；There are two sensors (3) in each group of sensors (3), and they are distributed on both sides of the vehicle body (1);

或者，每组所述传感器(3)中所述传感器(3)为四个；每组所述传感器(3)中，两个所述传感器(3)用于分布在所述车体(1)的一侧且用于沿所述车体(1)的长度方向依次分布，另外两个所述传感器(3)用于分布在所述车体(1)的另一侧且用于沿所述车体(1)的长度方向依次分布；每组所述传感器(3)中，分布在所述车体(1)同侧的两个所述传感器之间的距离大于轨道的轨缝；每组所述传感器(3)中，分布在所述车体(1)同侧的两个所述传感器(3)的光线平行。Or, there are four sensors (3) in each group of sensors (3); in each group of sensors (3), two sensors (3) are used to distribute in the vehicle body (1) One side of the vehicle body (1) and used to be distributed sequentially along the length direction of the vehicle body (1), and the other two sensors (3) are used to be distributed on the other side of the vehicle body (1) and used to distribute along the length of the vehicle body (1) The longitudinal direction of the car body (1) is distributed sequentially; in each group of sensors (3), the distance between the two sensors distributed on the same side of the car body (1) is greater than the rail gap of the track; each group Among the sensors (3), the light rays of the two sensors (3) distributed on the same side of the vehicle body (1) are parallel.
根据权利要求1所述的测试装置，其特征在于，还包括：用于通信连接所述同步触发器和所述处理器的模拟信号采集器，和/或用于供电的电源。The test device according to claim 1, further comprising: an analog signal collector for communicating with the synchronization trigger and the processor, and/or a power supply for power supply.
根据权利要求1-4中任一项所述的测试装置，其特征在于，所述处理器具体用于根据所述传感器(3)对所述F轨(4)的检测数据提取F轨特征点并根据所述F轨特征点确定基准坐标系、用于根据所述传感器(3)对所述车体(1)的检测数据计算所述车体(1)的待测位置相对于所述F轨特征点的横向偏移和垂向偏移、用于根据所述车体(1)的待测位置相对于所述F轨特征点的横向偏移和垂向偏移计算所述车体(1)相对于所述基准坐标系的五个自由度姿态数据、以及用于根据五个自由度姿态数据和所述车体(1)的静态轮廓计算所述磁浮车辆的动态包络线；The testing device according to any one of claims 1-4, characterized in that the processor is specifically configured to extract F track feature points according to the detection data of the F track (4) by the sensor (3) And determine the reference coordinate system according to the feature points of the F track, and be used to calculate the position to be measured of the vehicle body (1) relative to the F The horizontal offset and the vertical offset of the rail feature point are used to calculate the car body ( 1) five degrees of freedom attitude data relative to the reference coordinate system, and for calculating the dynamic envelope of the maglev vehicle according to the five degrees of freedom attitude data and the static profile of the vehicle body (1);

其中，所述基准坐标系为垂直于轨道中心线的平面内的直角坐标系，所述基准坐标系的原点为轨距中心点，所述基准坐标系的X轴平行于轨道面(5)，所述基准坐标系的Y轴垂直于轨道面(5)，所述轨距中心点根据两个所述F轨的所述F轨特征点确定。Wherein, the reference coordinate system is a Cartesian coordinate system in a plane perpendicular to the center line of the track, the origin of the reference coordinate system is the gauge center point, and the X axis of the reference coordinate system is parallel to the track surface (5), The Y-axis of the reference coordinate system is perpendicular to the track surface (5), and the gauge center point is determined according to the F-rail feature points of the two F-rails.
根据权利要求5所述的测试装置，其特征在于，所述处理器用于根据所述传感器(3)对所述F轨(4)的检测数据提取F轨特征点，具体为：The test device according to claim 5, wherein the processor is used to extract F track feature points from the detection data of the F track (4) according to the sensor (3), specifically:

所述处理器提取所有的所述传感器(3)对所述F轨(4)的检测数据，每个检测数据包括在所述传感器(3)的图像坐标系中的横坐标X和纵坐标Y；所述处理器提取最小的纵坐标Y _min；所述处理器提取纵坐标Y在(Y _min–c*Y _min)内的所有检测数据；所述处理器根据所提取的检测数据计算F轨特征点的横坐标X _F和纵坐标Y _F； The processor extracts all the detection data of the sensor (3) on the F track (4), each detection data includes an abscissa X and a ordinate Y in the image coordinate system of the sensor (3) ; The processor extracts the smallest ordinate Y _min ; The processor extracts all detection data of the ordinate Y within (Y _min -c*Y _min ); The processor calculates the F track according to the extracted detection data The abscissa X _F and the ordinate Y _F of the feature point;

其中，c的取值范围为100％-150％；Wherein, the value range of c is 100%-150%;

所述处理器从纵坐标Y在(Y _min–c*Y _min)内的所有检测数据中提取所有横坐标X中第一分位数X _1max和第二分位数X _1min，处理器根据X _F＝(X _1max+X _1min)/2计算所述F轨特征点的横坐标X _F； The processor extracts the first quantile X 1max and the second quantile X 1min in all abscissas X from all detection data of the ordinate Y within (Y _min -c*Y _min ), and the processor extracts the first quantile X _1max and the second quantile X _1min according to X _F =(X _1max +X _1min )/2 calculates the abscissa X _F of the feature point of the F track;

所述处理器从纵坐标Y在(Y _min-c*Y _min)内的所有检测数据中提取所有横坐标X中第三分位数以上的检测数据；所述处理器从所有横坐标X中第三分位数以上的检测数据中提取所有纵坐标Y中第四分位数Y _1min；所述处理器从纵坐标Y在(Y _min–c*Y _min)内的所有检测数据中提取所有横坐标X中第五分位数以下的数据；所述处理器从所有横坐标X中第五分位数以下的数据中提取所有纵坐标Y中第六分位数Y _2min；所述处理器根据Y _F＝(Y _1min+Y _2min)/2计算所述F轨特征点的纵坐标Y _F； The processor extracts the detection data above the third quantile in all the abscissa X from all the detection data of the ordinate Y within (Y _min -c*Y _min ); Extract the fourth quantile Y _1min of all vertical coordinates Y from the _detection data above the third _quantile ; the processor extracts all The data below the fifth quantile in the abscissa X; the processor extracts the sixth quantile Y _2min in all the ordinates Y from the data below the fifth quantile in all the abscissas X; the processor According to _YF =( _Y1min + _Y2min )/2, calculate the ordinate _YF of the feature point of the F track;

所述第一分位数和所述第二分位数不等，所述第三分位数和所述第五分位数不等。The first quantile is not equal to the second quantile, and the third quantile is not equal to the fifth quantile.
根据权利要求5所述的测试装置，其特征在于，所述车体(1)的待测位置为四个，分别为第一待测位置(11)、第二待测位置(12)、第三待测位置(13)、和第四待测位置(14)，所述第一待测位置(11)和所述第二待测位置(12)位于所述车体(1)的同侧，所述第三待测位置(13)和所述第四待测位置(14)位于所述车体(1)的同侧，所述第一待测位置(11)和所述第三待测位置(13)位于所述车体(1)长度方向的同一位置，所述第二待测位置(12)和所述第四待测位置(14)位于所述车体(1)长度方向的同一位置，所述第一待测位置(11)和所述第二待测位置(12)之间的纵向距离为L _a；所述第一待测位置(11)和所述第三待测位置(13)之间的横向距离为L _b； The test device according to claim 5, characterized in that, the car body (1) has four positions to be tested, which are respectively the first position to be tested (11), the second position to be tested (12), the second position to be tested Three positions to be measured (13), and a fourth position to be measured (14), the first position to be measured (11) and the second position to be measured (12) are located on the same side of the vehicle body (1) , the third to-be-tested position (13) and the fourth to-be-tested position (14) are located on the same side of the vehicle body (1), the first to-be-tested position (11) and the third to-be-tested position The measuring position (13) is located at the same position in the longitudinal direction of the vehicle body (1), and the second to-be-measured position (12) and the fourth to-be-measured position (14) are located in the longitudinal direction of the vehicle body (1). The same position, the longitudinal distance between the first position to be tested (11) and the second position to be tested (12) is L _a ; the first position to be tested (11) and the third position to be tested The lateral distance between the measuring positions (13) is L _b ;

所述处理器用于根据所述传感器(3)对所述车体(1)的检测数据计算所述车体(1)的待测位置相对于所述F轨特征点的横向偏移和垂向偏移，具体为：所述处理器根据所述传感器(3)对所述车体(1)的检测数据计算所述第一待测位置(11)相对于F轨特征点的第一横向偏移ΔX ₁和第一纵向偏移ΔY ₁、所述第二待测位置(12)相对于F轨特征点的第二横向偏移ΔX ₂和第二纵向偏移ΔY ₂、所述第三待测位置(13)相对于F轨特征点的第三横向偏移ΔX ₃和第三纵向偏移ΔY ₃、所述第四待测位置(14)相对于F轨特征点的第四横向偏移ΔX ₄和第四纵向偏移ΔY ₄； The processor is used to calculate the lateral offset and vertical offset of the position to be measured of the vehicle body (1) relative to the feature point of the F rail according to the detection data of the vehicle body (1) by the sensor (3). The offset is specifically: the processor calculates the first lateral offset of the first position to be measured (11) relative to the feature point of the F rail according to the detection data of the vehicle body (1) by the sensor (3). ΔX ₁ and the first longitudinal offset ΔY ₁ , the second lateral offset ΔX 2 and the second longitudinal offset ΔY ₂ of the second position to be measured (12) relative to the F track feature point, the third to-be-measured position ( ₁₂ ) The third lateral offset ΔX ₃ and the third longitudinal offset ΔY ₃ of the measuring position (13) relative to the feature points of the F track, and the fourth lateral offset of the fourth position to be measured (14) relative to the feature points of the F track ΔX ₄ and a fourth longitudinal offset ΔY ₄ ;

所述处理器用于根据所述车体(1)的待测位置相对于所述F轨特征点的横向偏移和垂向偏移计算所述车体(1)相对于所述基准坐标系的五个自由度姿态数据，具体为：所述处理器根据ΔY＝(ΔY ₁+ΔY ₂+ΔY ₃+ΔY ₄)/4，计算所述车体(1)的垂向位移偏移ΔY；所述处理器根据Δα＝[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]/2L _b，计算所述车体(1)的侧滚角度偏移；所述处理器根据Δγ＝[(ΔY ₁+ΔY ₃)-(ΔY ₂+ΔY ₄)]/2L _a，计算所述车体(1)的点头角度偏移Δγ；所述处理器根据Δβ＝[(ΔX ₁+ΔX ₃)-(ΔX ₂+ΔX ₄)]/2L _a，计算所述车体的摇头角度偏移Δβ；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相同，所述处理器根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4-ΔY*tanΔα，计算所述车体(1)的横向位移偏移ΔX；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相反，所述处理器根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4+ΔY*tanΔα，计算所述车体(1)的横向位移偏移ΔX。 The processor is used to calculate the position of the vehicle body (1) relative to the reference coordinate system according to the lateral offset and vertical offset of the position to be measured of the vehicle body (1) relative to the feature point of the F track. Five degrees of freedom attitude data, specifically: the processor calculates the vertical displacement offset ΔY of the vehicle body (1) according to ΔY=(ΔY ₁ +ΔY ₂ +ΔY ₃ +ΔY ₄ )/4; The processor calculates the roll angle offset of the car body (1) according to Δα=[(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )]/2L _b ; the processor calculates the roll angle offset of the vehicle body (1) according to Δγ=[ (ΔY ₁ +ΔY ₃ )-(ΔY ₂ +ΔY ₄ )]/2L _a , calculate the nodding angle offset Δγ of the vehicle body (1); the processor according to Δβ=[(ΔX ₁ +ΔX ₃ ) -(ΔX ₂ +ΔX ₄ )]/2L _a , calculate the swing angle offset Δβ of the car body; if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-( ΔY ₃ +ΔY ₄ )] have the same mathematical symbols, and the processor calculates the lateral displacement of the vehicle body (1) according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4-ΔY*tanΔα Offset ΔX; if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) is opposite to the mathematical sign of [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )], the processor according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4+ΔY*tanΔα, calculate the lateral displacement offset ΔX of the vehicle body (1).
一种基于F轨的磁浮车辆动态限界的测试方法，其特征在于，所述测试方法采用如权利要求1-7中任一项所述的测试装置进行测试，所述测试方法包括步骤：A kind of testing method based on the dynamic limit of the maglev vehicle of F rail, it is characterized in that, described testing method adopts the testing device as described in any one in claim 1-7 to test, and described testing method comprises steps:

1)所述同步触发器触发所述传感器(3)以使所有的所述传感器(3)同步，所述传感器(3)检测所述F轨的待测位置和所述车体(1)的待测位置；1) The synchronization trigger triggers the sensor (3) to synchronize all the sensors (3), and the sensor (3) detects the position to be measured of the F rail and the position of the car body (1) location to be tested;

2)所述处理器根据所述传感器(3)的检测数据计算所述磁浮车辆的动态包络线。2) The processor calculates the dynamic envelope of the maglev vehicle according to the detection data of the sensor (3).
根据权利要求8所述的检测方法，其特征在于，所述步骤2)包括步骤：The detection method according to claim 8, wherein said step 2) comprises the steps of:

21)所述处理器根据所述传感器(3)对所述F轨(4)的检测数据计算F轨特征点并根据所述F轨特征点确定基准坐标系；21) The processor calculates the F track feature points according to the detection data of the F track (4) by the sensor (3) and determines the reference coordinate system according to the F track feature points;

22)所述处理器根据所述传感器(3)对所述车体(1)的检测数据计算所述车体(1)的待测位置相对于F轨特征点的横向偏移和纵向偏移；22) The processor calculates the lateral offset and longitudinal offset of the position to be measured of the vehicle body (1) relative to the feature point of the F track according to the detection data of the vehicle body (1) by the sensor (3) ;

23)所述处理器根据所述车体(1)的待测位置相对于F轨特征点的横向偏移和纵向偏移计算所述车体(1)相对于所述基准坐标系的五个自由度姿态数据；23) The processor calculates five coordinates of the vehicle body (1) relative to the reference coordinate system according to the lateral offset and longitudinal offset of the position to be measured of the vehicle body (1) relative to the F track feature point. DOF attitude data;

24)所述处理器根据五个自由度姿态数据和所述车体(1)的静态轮廓计算所述磁浮车辆的动态包络线；24) The processor calculates the dynamic envelope of the maglev vehicle according to the five degrees of freedom attitude data and the static profile of the vehicle body (1);

其中，所述基准坐标系为垂直于轨道中心线的平面内的直角坐标系，所述基准坐标系的原点为轨距中心点，所述基准坐标系的X轴平行于轨道面(5)，所述基准坐标系的Y轴垂直于轨道面(5)，所述轨距中心点根据两个所述F轨的所述F轨特征点确定。Wherein, the reference coordinate system is a Cartesian coordinate system in a plane perpendicular to the center line of the track, the origin of the reference coordinate system is the gauge center point, and the X axis of the reference coordinate system is parallel to the track surface (5), The Y-axis of the reference coordinate system is perpendicular to the track surface (5), and the gauge center point is determined according to the F-rail feature points of the two F-rails.
根据权利要求9所述的检测方法，其特征在于，所述步骤21)中计算F轨特征点包括步骤：detection method according to claim 9, is characterized in that, in described step 21), calculates F track feature point and comprises steps:

211)提取所有的所述传感器(3)对所述F轨(4)的检测数据，每个所述检测数据包括在所述传感器(3)的图像坐标系中的横坐标X和纵坐标Y；211) Extract all the detection data of the sensor (3) on the F track (4), each detection data includes the abscissa X and the ordinate Y in the image coordinate system of the sensor (3) ;

212)获取最小的纵坐标Y _min； 212) Obtain the minimum ordinate Y _min ;

213)获取所述纵坐标Y在(Y _min-c*Y _min)内的所有所述检测数据； 213) Obtain all the detection data of the ordinate Y within (Y _min -c*Y _min );

214)根据所述步骤213)所选取的所述检测数据计算所述F轨特征点的横坐标X _F和纵坐标Y _F； 214) Calculate the abscissa X _F and ordinate Y _F of the feature points of the F track according to the detection data selected in the step 213);

其中，c的取值范围为100％-150％；Wherein, the value range of c is 100%-150%;

所述步骤214)中：计算所述F轨特征点的横坐标X _F，包括步骤： In the step 214): calculating the abscissa X _F of the feature point of the F track, including steps:

2141)在所述步骤213)所选取的所述检测数据中，提取所有所述横坐标X中第一分位数X _1max和第二分位数X _1min，根据X _F＝(X _1max+X _1min)/2，计算所述F轨特征点的横坐标X _F； 2141) From the detection data selected in step 213), extract the first quantile X _1max and the second quantile X _1min in all the abscissa X, according to X _F =(X _1max +X _1min )/2, calculate the abscissa X _F of the feature point of the F track;

所述步骤214)中：计算所述F轨特征点的纵坐标Y _F，包括步骤： In the step 214): calculating the ordinate Y _F of the feature point of the F track, including the steps of:

2142)在所述步骤213)所选取点的所述检测数据中，提取所有所述横坐标X中第三分位数以上的检测数据；2142) From the detection data of the points selected in step 213), extract all detection data above the third quantile in the abscissa X;

2143)在所述步骤2142)所选取点的所述检测数据中，提取所有所述纵坐标Y中第四分位数Y _1min； 2143) Extracting the fourth quantile Y _1min of all the ordinate Y from the detection data of the point selected in the step 2142);

2144)在所述步骤213)所选取点的所述检测数据中，提取所有所述横坐标X中第五分位数以下的点数据；2144) From the detection data of the points selected in step 213), extract all point data below the fifth quantile in the abscissa X;

2145)在所述步骤2144)所选取点的所述检测数据中，提取所有所述纵坐标Y中第六分位数Y _2min； 2145) Extracting the sixth quantile Y _2min of all the vertical coordinates Y from the detection data of the points selected in the step 2144);

2146)根据Y _F＝(Y _1min+Y _2min)/2，计算所述F轨特征点的纵坐标Y _F； 2146) According to Y _F =(Y _1min +Y _2min )/2, calculate the ordinate Y _F of the feature point of the F track;

所述第一分位数和所述第二分位数不等，所述第三分位数和所述第五分位数不等。The first quantile is not equal to the second quantile, and the third quantile is not equal to the fifth quantile.
根据权利要求9所述的检测方法，其特征在于，所述车体(1)的待测位置为四个，分别为第一待测位置(11)、第二待测位置(12)、第三待测位置(13)、和第四待测位置(14)，所述第一待测位置(11)和所述第二待测位置(12)位于所述车体(1)的同侧，所述第三待测位置(13)和所述第四待测位置(14)位于所述车体(1)的同侧，所述第一待测位置(11)和所述第三待测位置(13)位于所述车体(1)长度方向的同一位置，所述第二待测位置(12)和所述第四待测位置(14)位于所述车体(1)长度方向的同一位置，所述第一待测位置(11)和所述第二待测位置(12)之间的纵向距离为L _a；所述第一待测位置(11)和所述第三待测位置(13)之间的横向距离为L _b； The detection method according to claim 9, characterized in that, the vehicle body (1) has four positions to be tested, namely the first position to be tested (11), the second position to be tested (12), the second position to be tested Three positions to be measured (13), and a fourth position to be measured (14), the first position to be measured (11) and the second position to be measured (12) are located on the same side of the vehicle body (1) , the third to-be-tested position (13) and the fourth to-be-tested position (14) are located on the same side of the vehicle body (1), the first to-be-tested position (11) and the third to-be-tested position The measuring position (13) is located at the same position in the longitudinal direction of the vehicle body (1), and the second to-be-measured position (12) and the fourth to-be-measured position (14) are located in the longitudinal direction of the vehicle body (1). The same position, the longitudinal distance between the first position to be tested (11) and the second position to be tested (12) is L _a ; the first position to be tested (11) and the third position to be tested The lateral distance between the measuring positions (13) is L _b ;

所述步骤22)具体为：所述处理器根据所述传感器(3)对所述车体(1)的检测数据计算所述第一待测位置(11)相对于F轨特征点的第一横向偏移ΔX ₁和第一纵向偏移ΔY ₁、所述第二待测位置(12)相对于F轨特征点的第二横向偏移ΔX ₂和第二纵向偏移ΔY ₂、所述第三待测位置(13)相对于F轨特征点的第三横向偏移ΔX ₃和第三纵向偏移ΔY ₃、所述第四待测位置(14)相对于F轨特征点的第四横向偏移ΔX ₄和第四纵向偏移ΔY ₄； The step 22) is specifically: the processor calculates the first position of the first position to be measured (11) relative to the feature point of the F rail according to the detection data of the vehicle body (1) by the sensor (3). The lateral offset ΔX ₁ and the first longitudinal offset ΔY ₁ , the second lateral offset ΔX ₂ and the second longitudinal offset ΔY ₂ of the second position to be measured (12) relative to the F track feature point, the second The third lateral offset ΔX ₃ and the third vertical offset ΔY ₃ of the three positions to be measured (13) relative to the feature points of the F track, and the fourth transverse offset of the fourth position to be measured (14) relative to the feature points of the F track offset ΔX ₄ and fourth longitudinal offset ΔY ₄ ;

所述步骤23)包括步骤：Said step 23) comprises the steps of:

根据ΔY＝(ΔY ₁+ΔY ₂+ΔY ₃+ΔY ₄)/4，计算所述车体(1)的垂向位移偏移ΔY； Calculate the vertical displacement offset ΔY of the vehicle body (1) according to ΔY=(ΔY ₁ +ΔY ₂ +ΔY ₃ +ΔY ₄ )/4;

根据Δα＝[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]/2L _b，计算所述车体(1)的侧滚角度偏移； Calculate the roll angle offset of the vehicle body (1) according to Δα=[(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )]/2L _b ;

根据Δγ＝[(ΔY ₁+ΔY ₃)-(ΔY ₂+ΔY ₄)]/2L _a，计算所述车体(1)的点头角度偏移Δγ； Calculate the nodding angle offset Δγ of the vehicle body (1) according to Δγ=[(ΔY ₁ +ΔY ₃ )-(ΔY ₂ +ΔY ₄ )]/2L _a ;

根据Δβ＝[(ΔX ₁+ΔX ₃)-(ΔX ₂+ΔX ₄)]/2L _a，计算所述车体(1)的摇头角度偏移Δβ； According to Δβ=[(ΔX ₁ +ΔX ₃ )-(ΔX ₂ +ΔX ₄ )]/2L _a , calculate the swing angle offset Δβ of the vehicle body (1);

若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相同，根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4-ΔY*tanΔα，计算所述车体(1)的横向位移偏移ΔX；若(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)与[(ΔY ₁+ΔY ₂)-(ΔY ₃+ΔY ₄)]的数学符号相反，根据ΔX＝(ΔX ₁+ΔX ₂+ΔX ₃+ΔX ₄)/4+ΔY*tanΔα，计算所述车体(1)的横向位移偏移ΔX。 If (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-(ΔY ₃ +ΔY ₄ )] have the same mathematical symbols, according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ + ΔX ₄ )/4-ΔY*tanΔα, calculate the lateral displacement offset ΔX of the vehicle body (1); if (ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ ) and [(ΔY ₁ +ΔY ₂ )-( The mathematical sign of ΔY ₃ +ΔY ₄ )] is opposite, and the lateral displacement offset ΔX of the vehicle body (1) is calculated according to ΔX=(ΔX ₁ +ΔX ₂ +ΔX ₃ +ΔX ₄ )/4+ΔY*tanΔα.