阅读说明：本技术 轨距实时动态检测系统 (Real-time dynamic gauge detection system ) 是由 杨明来 卞婷 曹振丰 汤凯 黄晓杰 陈宇磊 傅伟清 于 2019-10-10 设计创作，主要内容包括：本发明提供了一种轨距实时动态检测系统,包括激光位移传感器、轴角编码器、同步采集系统以及PC机；所述轴角编码器,用于发射多个脉冲,并将脉冲个数转化为轨道检测车的运行空间距离；所述激光位移传感器,用于根据所述轨道检测车的运行空间距离确定采样周期,以同步采集钢轨断面轮廓数据；所述同步采集系统,用于获取所述钢轨断面轮廓数据,并将所述钢轨断面轮廓数据发送至所述PC机；所述PC机,用于接受所述钢轨断面轮廓数据,并根据所述钢轨断面轮廓数据计算出轨距值。本发明通过激光位移传感器的三角测量原理对钢轨进行非接触检测,并通过同步采集系统实现轨距的同步采集、传输以及储存,能够提高检测速度和效率。(the invention provides a real-time dynamic track gauge detection system, which comprises a laser displacement sensor, a shaft-position encoder, a synchronous acquisition system and a PC (personal computer); the shaft angle encoder is used for transmitting a plurality of pulses and converting the number of the pulses into the running space distance of the track detection vehicle; the laser displacement sensor is used for determining a sampling period according to the running space distance of the track detection vehicle so as to synchronously acquire the profile data of the section of the steel rail; the synchronous acquisition system is used for acquiring the steel rail section contour data and sending the steel rail section contour data to the PC; and the PC is used for receiving the steel rail section contour data and calculating a gauge value according to the steel rail section contour data. The invention carries out non-contact detection on the steel rail by the triangulation principle of the laser displacement sensor, realizes synchronous acquisition, transmission and storage of the gauge by the synchronous acquisition system, and can improve the detection speed and efficiency.)

1. A real-time dynamic track gauge detection system is characterized by comprising a laser displacement sensor, a shaft angle encoder, a synchronous acquisition system and a PC (personal computer);

The shaft angle encoder is used for transmitting a plurality of pulses and converting the number of the pulses into the running space distance of the track detection vehicle;

the laser displacement sensor is used for determining a sampling period according to the running space distance of the track detection vehicle so as to synchronously acquire the profile data of the section of the steel rail;

The synchronous acquisition system is used for acquiring the steel rail section contour data and sending the steel rail section contour data to the PC;

And the PC is used for receiving the steel rail section contour data and calculating a gauge value according to the steel rail section contour data.

2. the real-time dynamic gauge detection system according to claim 1, wherein the laser displacement sensor comprises a first 2D laser displacement sensor and a second 2D laser displacement sensor;

The first 2D laser displacement sensor is used for collecting the profile data of the section of the steel rail on one side, and the second 2D laser displacement sensor is used for collecting the profile data of the section of the steel rail on the other side.

3. The real-time dynamic gauge detection system according to claim 1, wherein the shaft encoder is disposed on a front wheel shaft of the rail detection vehicle and rotates with the wheel.

4. The real-time dynamic gauge detecting system according to claim 2, wherein the first 2D laser displacement sensor and the second 2D laser displacement sensor are respectively mounted on left and right side supports of a lower detecting beam of a bogie of the rail detecting vehicle.

5. The system for real-time dynamic gauge detection according to claim 1, wherein said synchronous acquisition system comprises a first data acquisition card, a second data acquisition card and a third data acquisition card;

the first data acquisition card is electrically connected with the first 2D laser displacement sensor through a first CAN protocol-based transmission bus;

The second data acquisition card is electrically connected with the second 2D laser displacement sensor through a second CAN protocol-based transmission bus;

And the third data acquisition card is connected with the shaft angle encoder through an I/0 interface.

6. The real-time dynamic gauge detecting system according to claim 1, wherein when the gauge point is determined during the calculation of the gauge value from the rail section profile data, the system comprises the following steps:

step S1: extracting characteristic points of the collected profile data of the section of the steel rail to extract characteristic points of the gauge and determine the position of the center of the rail surface;

step S2: performing linear fitting on the collected steel rail tread data to generate a steel rail tread datum line, and translating the steel rail tread datum line vertically downwards to obtain a gauge line parallel to the tread datum line;

step S3: and searching a coordinate point closest to the gauge line in a data area where the gauge line passes through the inner side of the steel rail, and determining the coordinate point as a gauge point.

7. The system for real-time dynamic gauge detection according to claim 5, wherein said first data acquisition card and said second data acquisition card are data acquisition cards of type NI PXI-8531;

The third data acquisition card adopts a data acquisition card of NI PXIe-6361.

8. the system for real-time dynamic gauge detection according to claim 7, wherein the synchronous acquisition system employs a PXIe-1082 chassis, and the NI PXIe-8531 data acquisition card and the NI PXIe-6361 data acquisition card are loaded in the chassis.

9. The system for real-time and dynamic track gauge detection according to claim 1, wherein the angle between the measuring laser center line of the laser displacement sensor and the horizontal plane is 45 °.

10. The real-time dynamic gauge detection system according to claim 1, wherein the laser displacement sensor detects 100-500 points of each section, the sampling frequency is 2KHZ, and the rail section profile is detected by a non-contact oblique triangulation method.

Technical Field

The invention relates to the field of design of track detection, in particular to a track gauge real-time dynamic detection system.

background

In recent years, the urban rail transit industry in China develops rapidly, but the stability of train operation and the comfort of passengers are seriously affected by the problems of rail irregularity and the like after the subway is built and operates, and the detection and maintenance work of the subway rail and the rail gauge must be enhanced to ensure the stable operation and the driving safety of the train.

the gauge is an important geometric parameter in the process of railway construction and operation, and is defined as the minimum distance between two working edges of a steel rail within 16mm below a tread of the steel rail. At present, the standard gauge of the operation railway and the urban rail transit in China is 1435 mm. Along with the increase of the number of subway tracks, the traditional manual static detection method has the defects of low efficiency, low precision and high cost, for example, the detection speed of the hand-push type track detection vehicle measurement and control system for detecting the track is low, the data processing efficiency is low, and the requirement of high-efficiency detection cannot be met.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a real-time dynamic track gauge detection system, which is used for carrying out non-contact detection on a steel rail by using the triangulation principle of a laser displacement sensor, realizing synchronous acquisition, transmission and storage of the track gauge by using a synchronous acquisition system and improving the detection speed and efficiency.

The real-time dynamic track gauge detecting system provided by the invention comprises a laser displacement sensor, a shaft angle encoder, a synchronous acquisition system and a PC (personal computer);

the shaft angle encoder is used for transmitting a plurality of pulses and converting the number of the pulses into the running space distance of the track detection vehicle;

The laser displacement sensor is used for determining a sampling period according to the running space distance of the track detection vehicle so as to synchronously acquire the profile data of the section of the steel rail;

The synchronous acquisition system is used for acquiring the steel rail section contour data and sending the steel rail section contour data to the PC;

and the PC is used for receiving the steel rail section contour data and calculating a gauge value according to the steel rail section contour data.

Preferably, the laser displacement sensor comprises a first 2D laser displacement sensor and a second 2D laser displacement sensor;

the first 2D laser displacement sensor is used for collecting the profile data of the section of the steel rail on one side, and the second 2D laser displacement sensor is used for collecting the profile data of the section of the steel rail on the other side.

preferably, the shaft encoder is arranged on a front wheel shaft of the track detection vehicle and rotates along with the wheel.

Preferably, the first 2D laser displacement sensor and the second 2D laser displacement sensor are respectively mounted on left and right side supports of a lower detection beam of the bogie of the rail detection vehicle.

preferably, the synchronous acquisition system comprises a first data acquisition card, a second data acquisition card and a third data acquisition card;

The first data acquisition card is electrically connected with the first 2D laser displacement sensor through a first CAN protocol-based transmission bus;

the second data acquisition card is electrically connected with the second 2D laser displacement sensor through a second CAN protocol-based transmission bus;

And the third data acquisition card is connected with the shaft angle encoder through an I/0 interface.

preferably, when the track gauge point is determined in the process of calculating the track gauge value through the rail section profile data, the method comprises the following steps:

Step S1: extracting characteristic points of the collected profile data of the section of the steel rail to extract characteristic points of the gauge and determine the position of the center of the rail surface;

Step S2: performing linear fitting on the collected steel rail tread data to generate a steel rail tread datum line, and translating the steel rail tread datum line vertically downwards to obtain a gauge line parallel to the tread datum line;

Step S3: and searching a coordinate point closest to the gauge line in a data area where the gauge line passes through the inner side of the steel rail, and determining the coordinate point as a gauge point.

Preferably, the first data acquisition card and the second data acquisition card are data acquisition cards with model number NI PXI-8531;

the third data acquisition card adopts a data acquisition card of NI PXIe-6361.

Preferably, the synchronous acquisition system adopts a PXIe-1082 chassis, and the NI PXI-8531 data acquisition card and the NI PXIe-6361 data acquisition card are loaded in the chassis.

Preferably, the included angle between the measuring laser central line of the laser displacement sensor and the horizontal plane is 45 degrees.

Preferably, the laser displacement sensor detects 100-500 points of each cross section, the sampling frequency is 2KHZ, and the profile of the cross section of the steel rail is detected by a non-contact oblique incidence triangulation method.

compared with the prior art, the invention has the following beneficial effects:

The invention can detect the subway track gauge information through the 2D laser displacement sensor and the shaft angle encoder, can realize the positioning of the abnormal track gauge position, realizes the synchronous acquisition of multi-sensor data through the synchronous acquisition system, transmits the track gauge information to the PC through the LABVIEW software, and can carry out more accurate detection, storage and analysis.

Drawings

other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic block diagram of a real-time dynamic gauge detection system according to the present invention;

FIG. 2 is a flowchart illustrating the steps of a method for determining a gauge point according to the present invention;

FIG. 3 is a data acquisition flow chart of the real-time dynamic track gauge detection system of the present invention.

Detailed Description

the present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

In this embodiment, fig. 1 is a schematic block diagram of a real-time dynamic track gauge detecting system according to the present invention, and as shown in fig. 1, the real-time dynamic track gauge detecting system provided by the present invention includes a laser displacement sensor, a shaft-angle encoder, a synchronous acquisition system, and a PC.

The shaft angle encoder is used for transmitting a plurality of pulses and converting the number of the pulses into the running space distance of the track detection vehicle;

The laser displacement sensor is used for determining a sampling period according to the running space distance of the vehicle body so as to synchronously acquire the profile data of the section of the steel rail;

The synchronous acquisition system is used for acquiring the steel rail section contour data and sending the steel rail section contour data to the PC;

and the PC is used for receiving the steel rail section contour data and calculating a gauge value according to the steel rail section contour data.

the laser displacement sensor adopts 2D laser displacement sensor, and sampling frequency CAN reach 2KHz at most, and the data transmission interface is the CAN bus, installs on the left and right sides support of detecting the roof beam under the track detection car bogie, CAN detect the gauge between the track of left and right sides track.

The triangulation principle of detection by the laser displacement sensor is as follows: when the rail detection vehicle runs, laser emitted by a semiconductor linear laser source in the laser displacement sensor forms a laser band on the surface of the steel rail, an included angle between a measuring laser center line of the laser displacement sensor and the horizontal plane is set to be 45 degrees, reflected light is received by a two-dimensional CMOS array installed at an angle of 45 degrees with the laser source, and coordinates of the profile of the section of the steel rail on the horizontal plane and the vertical plane are obtained after passing through a data processing unit in a PC.

in an embodiment of the invention, the 2D laser displacement sensor is an optimes model 2D laser displacement sensor manufactured by ELAG electronics ltd. The 2D laser displacement sensor detects 100-500 points of each section, the sampling frequency can reach 2KHZ, and the profile of the section of the steel rail is detected by a non-contact oblique incidence triangulation method.

And the shaft angle encoder is used for transmitting a plurality of pulses and converting the number of the pulses into the running space distance of the track detection vehicle. The shaft angle encoder is arranged on a front wheel shaft of the rail detection vehicle and rotates along with the wheel, so that the sampling period of the laser displacement sensor can be controlled according to the running space distance of the vehicle body, and the profile of the section of the steel rail can be synchronously acquired.

In one embodiment of the invention, the axial angle encoder is an IXARC series programmable increment encoder of POSITAL (Boster) company, the resolution can be adjusted within the range of 1 to 16384PPR, and the output signal is a 5VTTL signal. The shaft angle encoder obtains the running space distance of the track detection vehicle in a pulse signal counting mode, and the 2D laser displacement sensor sampling period is controlled by the aid of the running space distance of the vehicle in cooperation with a system, so that synchronous data acquisition is achieved in cooperation.

The synchronous acquisition system comprises a first data acquisition card, a second data acquisition card and a third data acquisition card, the first data acquisition card adopts an NI PXI-8531 data acquisition card, and the first data acquisition card is a single-port CANopen PXI data acquisition module.

In the embodiment of the invention, 2 NI PXI-8531 data acquisition cards are adopted to realize data communication with the 2D laser displacement sensor through a CAN protocol-based transmission bus.

the third data acquisition card adopts an NI PXIe-6361 data acquisition card, the NI PXIe-6361 data acquisition card comprises 16 paths of 16-bit AI, and the sampling rate can reach 2MS/s at most. 2 paths of A0 and 24 paths of DIO and 4 32-bit counters/timers collect pulse data sent by the shaft angle encoder through an NI PXIe-6361 data acquisition card.

The synchronous acquisition system is a PXIe-1073 case of PXI series produced by NI corporation in America. The case is powered by alternating current, contains 8 slots, is loaded with a 100MHZ external clock, and is loaded with an NI PXI-8531 data acquisition card and an NI PXIe-6361 data acquisition card, so that synchronous acquisition of sensor data can be realized.

Labview software of NI company is installed on the PC, and data collection and storage are controlled on the PC.

Fig. 2 is a flowchart of steps of a track gauge point determining method in the present invention, and as shown in fig. 2, when a track gauge real-time dynamic detection system provided by the present invention is used to determine a track gauge point, the method includes the following steps:

step S1: extracting the gauge characteristic points of the acquired steel rail section profile data through self-adaptive filtering based on the discontinuity degree and a steel rail arc region characteristic extraction algorithm, and determining the position of the rail surface center;

step S2: performing linear fitting on the collected steel rail tread data to generate a steel rail tread datum line, and translating the line vertically along the Z-axis negative direction for 16mm downwards to obtain a gauge line parallel to the tread datum line;

step S3: and searching a coordinate point closest to the gauge line in a data area where the gauge line passes through the inner side of the steel rail to determine the coordinate point as a gauge point.

In the embodiment of the invention, when the position of the center of the rail surface cannot be determined, the rail section profile data is smoothed, a brand new surface curvature angle is calculated and generated, and then the characteristic point of the gauge is extracted. The rail tread data can be obtained from the rail section profile data.

fig. 3 is a data acquisition flow chart of the real-time dynamic track gauge detection system, and as shown in fig. 3, a LabVIEW data acquisition program running in the PC realizes communication and data transmission between the upper computer and the data acquisition card, and the operations of opening, setting, querying, acquiring, stopping and closing the data acquisition board card are completed by calling a dynamic function library.

When the real-time dynamic track gauge detection system provided by the invention is used, the sampling period and the sampling point of the 2D laser displacement sensor are determined by the number of pulses sent by the shaft angle encoder, so that the synchronous acquisition of sensor data is realized, the transmission of the profile data of the section of the steel rail is completed by a transmission bus based on a CAN protocol, the coordinates of a track gauge point are recorded by an upper computer LabVIEW application program, and meanwhile, a track gauge value is calculated according to a trigonometric function basic formula and is stored in an Excel table, so that the effective detection of the track gauge is realized, the track gauge is prevented from exceeding an alarm threshold value, and the real-time dynamic track gauge detection system has important.

In this embodiment, the invention can detect the subway track gauge information through the 2D laser displacement sensor and the shaft-to-shaft encoder, can realize the positioning of the track gauge abnormal position, realizes the synchronous acquisition of multi-sensor data through the synchronous acquisition system, and can perform more accurate detection, storage and analysis by transmitting the track gauge information to the PC through the LABVIEW software. The method can realize the real-time and dynamic property of the acquisition of the subway tunnel steel rail section information data, and lays a foundation for the fusion and analysis of post-processing gauge data.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.