Method of check of spatial position of railroad, and system of its implementation

FIELD: instrumentation.

SUBSTANCE: present group of inventions relates to measuring equipment, and can be used to check the railroad, in particular to determine deviation of the railroad from the design position. Method of check of spatial position of railroad means that using the receiving and analyzing systems two images of space adjacent to the railroad are obtained. Using the processing and control block the reference mark is detected on the obtained images, and coordinates of the reference elements of the reference mark are determined by preliminary measurements of the mutual spatial position of the check elements. Then displacement of the check elements relatively to the base point of the devices coordinate system in vertical, longitudinal and transverse directions are determined, angles of rotation of the reference mark around the vertical and longitudinal axes, as well as angle of system rotation relatively to the transverse axes is measured. Set of obtained values of displacement of each check element relative to the datum point of the devices coordinate system is compared with the pre-measured mutual spatial position of the mass elements. Based on the results of such comparison the displacements of the reference mark in vertical, longitudinal and transverse directions are determined. Correction of the obtained displacements is made considering the obtained angles of rotation, and railroad position is determined.

EFFECT: reduced error of determination of the railroad position.

2 cl, 1 dwg

 

Present group of inventions relates to measuring technique and can be used to monitor railway tracks, in particular to determine the deviation of the railway track from design position.

Known opto-electronic system to control the spatial position of a railway track (EN 2387561, publ. 27.04.2010, IPC6 UK 9/08, EV 35/00) comprising at least one radiation source, measuring the trolley mounted on the track that contains the processing unit and the photodetector unit, associated with the optical radiation source, characterized in that the radiation source is made with possibility of installation on structures outside of the track and located in the travel direction of the measuring cart, wherein the photodetector unit comprises two receiving and analyzing systems, the tilt angle sensor photodetector unit, a control module, the output of which is connected to the input of the processing unit, the other input of which is connected to the output of the sensor of the angle of the photodetector unit, and the indicator measuring the passage of a cart of the radiation source, the output of which is connected to the input of the control module, each receiving and analyzing system includes a lens and a position-sensitive receiver of optical radiation, installed�th in the plane of analysis of the image of the radiation source and whose output is connected to the input of the processing unit.

From the description of this system known method of controlling the position of a railway track, comprising that at the moment of passing the measuring cart fiducial marks defined by the indicator on the returned signal from the reflector, the indicator generates a signal frame capture optical receiving and analysing systems. This signal is supplied to the processing unit, after which the memory modules each measuring channel is stored frames received at this point from the optical receiving and analyzing systems and containing images of the radiation source (reference mark). The definition of the displacement of the radiation source relative to the base point of the instrument coordinate system in the vertical and lateral directions is performed in two stages. Early on in the processing unit calculates the vertical coordinates of energy centers of gravity of the image in pixels. Then, on the basis of a mathematical model to calculate the offset relative to the base point determining the spatial position of the railway track.

This known method and the system are chosen as prototypes for the proposed method and system, respectively, since they have the largest number of essential features, coinciding with the essential features of the claimed technical solutions.

However,�known method and system have a significant disadvantage namely, a high accuracy of determining the position of the path, due to the fact that it uses one control element (radiation source to the reference mark), this, in turn, imposes a restriction on the number of measured coordinates. In addition, the efficiency of detection of the reference marks is determined not only by the quality settings of the indicator, but also depends on the uniformity of the characteristics of the reference reflector brand, as well as weather conditions (e.g. rain drops on benchmark Marche can cause the radiation to a narrow beam laser sensor will not return to the receiver of the indicator passing through the measuring bogie of the radiation source) that increases the probability of undetected marks. Also false detection is possible in case of contact with the field of view of the specified indicator interference, similar reflective characteristics with the reference mark, which will lead to an incorrect determination of the position coordinates of the shackles in this point.

The aim of the present group of inventions is to provide a novel method of controlling the position of a railway track and the system it implements, allowing you to achieve the following technical result, namely, the reduction in the error of determining the position of a railway track.

The task in part of the way is solved due to the fact that h�about in the known method of monitoring the spatial position of a railway track, comprising: obtaining two images of the space adjacent to the path, deaktivovana fiducial marks on the received image, determining coordinates of the control element fiducial marks, the determination of the quantities of displacement of the control element relative to the base point of the instrument coordinate system in the vertical and longitudinal directions, the measurement of the angle of rotation around the transverse axis, the adjustment of the obtained values of displacements taking into account the measured angle, determining the position of the path, according to the present invention, further comprising determining the displacement of the test element relative to the base point of the instrument coordinate system in the transverse direction, and apply a reference mark that contains an array of control elements, pre-measure the mutual spatial arrangement of the array elements which is compared with the set of obtained values of displacements of each of the control element relative to the base point of the instrument coordinate system, based on the results of the comparison determine the magnitude of the blends of the fiducial marks in a vertical, longitudinal and transverse directions, and also determine the angles of rotation of the fiducial marks around the vertical and longitudinal axes, optionally adjusting the values of the displacements taking into account the obtained values in�crystals of rotation, which determine the position of the path.

The task in part of the system is solved due to the fact that in the known control system the spatial position of a railway track that includes made with the possibility of location on the measuring trolley mounted on the track, the processing unit and management unit and the photodetector unit, optically associated with the reference mark, made with possibility of its installation on structures outside of the track and located in the travel direction of the measuring cart, wherein the photodetector unit comprises two receiving and analyzing systems, the tilt angle sensor photodetector unit, the output of which is connected to the input of the processing unit and control, each receiving and analyzing system includes a lens and a position-sensitive receiver of optical radiation, mounted in the plane of the image analysis fiducial marks and the output of which is connected to the input of the processing unit and control, according to the present invention photodetector unit further comprises a lighting module coupled to the processing unit and control, wherein the reference mark is optically conjugate with an illumination module and is made with the formation of the array of control elements, the number of which is not less than the number of points that uniquely opredelyayuschim fiducial marks.

Thus, the claimed technical solution to all your set of essential features allows to improve the accuracy of determining the position of the path by providing the possibility of measuring all six coordinates (three linear and three angular) and the subsequent correction of linear displacements with respect to the three angles of rotation fiducial marks, and also due to the approximation restored in the space of objects coordinates metrologically significant characteristics (control elements) fiducial marks spatial shape corresponding to the shape of the brand, by comparing the result of approximation with the template (pre-measured mutual spatial arrangement of the elements of the array reference marks), and repeating the operations of approximation and comparison for the remaining coordinates, by calculating the values of displacements and angles of rotation. The ability shestiseriynogo measurements provided by the reference implementation of the brand with the formation of the array of control elements, the number of which is not less than the number of points that uniquely determine the form of reference marks. With the help of lighting module to illuminate the reference mark to create an optimal signal-to-noise in the receiving and analyzing system, which improves the probability of correct detection of the brand.

The essence of the proposed JV�soba and systems it implements, and the possibility of their practical implementation is explained in the following description and the drawing.

The drawing shows a structural diagram of the system controlling the position of a railway track, where:

1 - block processing and management;

2 - photodetector unit;

3 - fiducial mark;

4 - receiving and analyzing system;

5 - angle sensor of inclination;

6 - lens;

7 is a position - sensitive receiver;

8 - lighting module;

9 control elements;

10 - optical filter.

Control system the spatial position of a railway track includes made with the possibility of location on the measuring carriage (not shown) mounted on rails (not shown), the unit 1 processing and management and the photodetector unit 2, optically associated with the reference mark 3, made with possibility of installation on structures (not shown), placed outside the track (not shown) and arranged in the travel direction of the measuring cart (not shown), this photodetector unit 2 has two receiving and analyzing systems 4, sensor 5 angle photodetector unit 2, the output of which is connected to the input unit 1 processing and management. Each receiving and analyzing the system 4 includes a lens 6 and position�-sensitive receiver 7 optical radiation, mounted in the plane of the image analysis reference mark 3 and the output of which is connected to the input unit 1 processing and management. This photodetector unit 2 further comprises an illumination module 8 connected to the unit 1 processing and management, and reference mark 3 is optically conjugate with an illumination module 8 and is made with the formation of the array of control elements 9, the number of which is not less than the number of points that uniquely determine the shape of the reference mark 3. For spectral matching receiving and analyzing systems 4 and emission illumination module 8 members of each receiving and analyzing systems 4 may include an optical filter 10.

Photodetector unit 2 (stereoscopic type) consists of two optical receiving and analyzing systems 4 serving to receive the optical image from the reference mark 3 and its further conversion into digital electrical signals. Each of the optical receiving and analyzing systems 4 includes a lens 6 and a position-sensitive receiver of optical radiation 7, mounted in the plane of the image analysis reference mark 3. Moreover, the optical axis of these systems intersect at the point of maximum range of measurement.

The rotation angle photodetector unit 2 relative to the transverse axis is controlled by the sensor 5 angle, for example with �via inclinometer.

Aggregate data from the optical receiving and analyzing systems 4 and the sensor 5 angle coming into the unit 1 processing and management, which can be remotely associated with a Central processing unit (CCD).

An array of control elements 9 on reference Marche 3 can be formed, for example, using a stencil (not shown) deposited, for example, the reflector or lens (not shown) located on the base, made with possibility of mounting on structures (not shown), placed outside the track (not shown), for example, support of a contact network or other structures located along the railway track but the direction of motion of the machine and geodetic coordinates are defined. Stencil (not shown) are arranged to spatially modulate the light reflected from the reflector (not shown), and is formed, for example, a layer of transparent material with waterproof paint applied pattern, or a layer of opaque material with holes of arbitrary shape. Moreover, the mutual spatial arrangement of the array elements a priori known. To structures (not shown) reference mark 3 can be attached by any known means.

The lighting module 8 works�em in a pulsed mode and can be made in the form of a set of radiation sources, the emission spectrum of which has been agreed with the spectral characterization of position-sensitive detectors of optical radiation and the spectrum of transmittance of the optical filter and shaper angular divergence of radiation, made in the form, for example, mirror reflector, the reflecting surface of which is made in the form of a surface of the second order. In this case, the radiation source may be a diode, laser, incandescent, or any other, however, the spectral composition of radiation must be consistent with the material properties of the brand 3 reflect (scatter) radiation of this spectral structure, and the bandwidth of the optical filter 10, the angle of divergence of radiation should be sufficient to cover the entire measurement range (all possible positions of the reference marks 3) and the radiation power should be sufficient to form on the surface of the position-sensitive receiver 7 of the irradiance in the image reference mark 3, sufficient for its detection and measurements.

Lighting module 8 may be formed as one unit, located between the receiving and analysing systems 4 or as a set of two units, each located in each receiving and analyzing the system 4. The choice of the lighting module 8 about�caused by directivity reflection fiducial marks 3.

With this system perform the following method of controlling the position of the path, namely that through receiving and analyzing systems 4 get two of the image space adjacent to the path (not shown). Using the unit 1 processing and management shall deaktivovana reference mark 3 on the received images and determination of the coordinates of the control elements 9, the reference mark 3, pre-measuring the mutual spatial arrangement of the control elements 9. Then determine the magnitude of displacement of the control element 9 relative to the base point of the instrument coordinate system in the vertical, longitudinal and transverse directions, determine the angles of rotation of the reference mark 3 around the vertical and longitudinal axes, and measure the rotation around the transverse axis. Moreover, the angles of rotation of the reference mark 3 around the vertical and longitudinal axes define an angle of rotation of the system around the corresponding axes.

The obtained values of displacements of each control element 9 relative to the base point of the instrument coordinate system is compared with previously measured mutual spatial arrangement of the elements of the array. Based on the results of this comparison determine the magnitude of displacement of the reference mark 3 in a vertical, longitudinally� and transverse directions. Produce correction of the obtained values of displacements taking into account the obtained values of angles of rotation, for example, by the following expression:

where X, Y, Ζ - coordinate displacements inerney brand 3 in transverse, vertical and longitudinal directions, α,β,γ are the angles of rotation of the reference mark 3 about axes transverse, vertical and longitudinal directions, XCorr, YCorr, Z - adjusted the obtained values of angles of rotation coordinates of the displacement of the reference mark 3 in transverse, vertical and longitudinal directions, and which determine the position of the mutual arrangement of the system, measuring 'truck and the track.

The claimed method and system implements it, work as follows.

Unit 1 processing and management reads from the sensor 5 of the angle of the rotation about the transverse direction. Further, the unit 1 processing and management with some frequency generates a signal to activate the lighting module 8, which illuminates the reference mark 3. Formed receiving and analysing systems 4 image reference mark 3 is stored in the memory unit 1 processing and management. After that, the processing unit 1 and the control generates a signal off of the lighting module 8 and analyzes saved from�'s views on the presence of image fiducial mark 3. If at least one of the stored images have the image reference mark 3, both the saved images produce positioning metrologically significant elements, namely the coordinates of the images of the control elements 10. Next on the found coordinates determine the position of all control elements in the space of 10 items, for example, by the method of triangulation. Since the thus obtained three-dimensional coordinates contains an error, caused by the error of determining the coordinates of the images of the control elements 10, and error recovery in the space of objects (triangulation), we obtained three-dimensional coordinates of the control elements 10 some approximate spatial figure, the corresponding a priori known surface location of the control elements 10 in the space, such as a plane. After that found three-dimensional coordinates of the reference element 10 is projected onto this spatial figure. The thus obtained refined three-dimensional coordinates of the control elements 10 are compared with three-dimensional pattern, known a priori to the appropriate arrangement of the control elements 10 reference mark 3 in space. Since the three-dimensional coordinates of the template defined relative to the beginning of the instrumental system to the CCW�of dint, then the comparison result is matched rotation angles and three-dimensional displacement of the template relative to the base point of the instrument coordinate system and a priori selected primary orientation of this template. Rotation angles and three-dimensional displacement pick the best match with specified three-dimensional coordinates of the control elements 10 reference mark 3, which determines the amount of displacement of the reference mark 3 with respect to the transverse, vertical and longitudinal directions. Found of displacement of the reference mark 3 and the angles of rotation around the longitudinal and vertical directions and rotation about the transverse direction obtained from the sensor 5 angle, used for correction of results, for example, according to the above equation.

For best results, measure the stages of approximation, projection and pattern matching may be repeated several times after the preliminary drop of coordinates of images a certain number of control elements 10 reference mark 3 from consideration.

Thus, the technical result of the claimed group of inventions, namely the reduction in the error of determining the position of a railway track.

1. The way to control the spatial position of a railway track, including�schy obtaining two images of space adjacent to the path, the detection of the fiducial marks on the received image, determining coordinates of the control element fiducial marks, the determination of the quantities of displacement of the control element relative to the base point of the instrument coordinate system in the vertical and longitudinal directions, the measurement of the angle of rotation around the transverse axis, the adjustment of the obtained values of displacements taking into account the measured angle, determining the position of the path, characterized in that it further determine the displacement of the test element relative to the base point of the instrument coordinate system in the transverse direction, and apply a reference mark that contains an array of control elements, pre-measure the mutual spatial arrangement of the array elements which is compared with the set of obtained values of displacements of each of the control element relative to the base point of the instrument coordinate system, based on the results of the comparison determine the magnitude of the displacements of fiducial marks in a vertical, longitudinal and transverse directions, and also determine the angles of rotation of the fiducial marks around the vertical and longitudinal axes, optionally adjusting the values of the displacements taking into account the obtained values of the rotation angles, which determine the position of the path.

2. ICU�EMA control the spatial position of a railway track, includes made with the possibility of location on the measuring trolley mounted on the track, the processing unit and management unit and the photodetector unit, optically associated with the reference mark, made with possibility of its installation on structures outside of the track and located in the travel direction of the measuring cart, wherein the photodetector unit comprises two receiving and analyzing systems, the tilt angle sensor photodetector unit, the output of which is connected to the input of the processing unit and control, with each receiving and analyzing system includes a lens and a position-sensitive receiver of optical radiation, mounted in the plane of the image analysis fiducial marks and the output of which is connected to the input of the processing unit and control, characterized in that the photodetector unit further comprises a lighting module coupled to the processing unit and control, wherein the reference mark is optically conjugate with an illumination module and is made with the formation of the array of control elements, the number of which is not less than the number of points that uniquely determine the form of reference marks.



 

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2 cl, 5 dwg

FIELD: transport.

SUBSTANCE: invention relates to control instruments. Proposed system comprises radiation source 2 and signal processor 3 and photo receiver 1 made up of level transducer 21 and receiving analyser system 11 including lens 13 and position-sensitive optical radiation receiver 15, arranged on control truck 9 arranged on track 10. Output of photo receiver 1 is connected to input of signal processor 3. Radiation source is arranged on at least one contact-wire line support 4 or other structure, and is made up of reference mark containing at least two modulated light diodes 5 and photo receiver (b) and radiation source control circuit connected to independent power supply input 7. Photo receiver unit comprises extra receive-and-analyse system 12, control module 17 including at least one light diode radiator 18, photo receiver 18 and data signal processing circuit 20 with its output connected with input of second processing unit 3 with third input connected to level transducer 21 rigidly coupled with photo receiver 1.

EFFECT: higher accuracy of measurement.

2 dwg

FIELD: transport.

SUBSTANCE: invention relates to railway transport. Proposed method comprises measuring rails spacing by means of contact and contactless (laser) metres. Distances between rails measured by contact and contactless metres are compared. If discrepancy in readings of said metres falls below tolerance, mean arithmetic values is entered into memory. If discrepancy in readings of said metres exceeds tolerance for straight track section, readings of contactless metre are entered in memory. In control track curved section, track curve radius is defined.

EFFECT: higher accuracy of control.

6 dwg, 2 ex

FIELD: transport.

SUBSTANCE: set of inventions relates to railway transport. Proposed method comprises measuring rail profile, track gauge and distance to rails with the help of beams of two laser senders arranged on track-tester car platform above the rails. Measured data is entered into onboard computer memory together with data on run time to determine departure from preset values. Laser senders are secured to turn around. Turn of laser senders is synchronised. Proposed track-tester car comprises two laser senders secured on car platform above the rails and connected via controller to computer. Said senders encased in protective enclosures arranged to turn relative the axis perpendicular to lengthwise axis of senders and are connected with, at least, one drive, e.g. hydraulic cylinder with rod.

EFFECT: higher accuracy of measurements.

11 cl, 10 dwg

FIELD: transport.

SUBSTANCE: invention relates to railway transport. Proposed device comprises transducer of distance covered and displacement transducer to measure distance between rails, controller, processor and storage unit mounted on truck. Said truck comprises measuring rule with support and measuring wheels articulated with platform by means of hinged tie rod. Measuring wheel is spring loaded in direction opposite the support wheel and fitted on axle that can axially displace to get in contact with displacement transducer. Hinged tie-rod comprises pins coupled with angular turn transducers electrically connected with processor.

EFFECT: higher accuracy of measurements.

4 cl, 9 dwg

FIELD: electricity.

SUBSTANCE: longitudinal stress values are defined continuously during the motion of a rolling stock at the mechanical interaction of a rolling railroad wheel with a rail when mechanical oscillations are excited at tested sections of rail bars with recording, converting of the received oscillations to acoustic oscillations with signal amplification, and at the analysis of spectrum of the excited oscillations in frequency and amplitude depending on a value of longitudinal mechanical stress at the rail bar sections. According to results of data processing changes in the spectrum of the excited oscillations are analysed and sections of railroad tracks are identified with deviations in an amplitude-frequency curve in a real-time mode.

EFFECT: increased efficiency of control and safety of train traffic.

3 dwg

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