A device for determining the spatial position of the track

 

(57) Abstract:

The invention relates to systems designed to measure the spatial parameters of the rails or their deviations from the norm, and can be used to determine the surface characteristics, soil roughness artificial and natural origin in conditions that do not allow to make such measurements contact methods other than the normal atmospheric environment, limited visibility and human mobility, mainly control the underwater part of the track, designed for lifting and lowering vessels. The inventive device includes mounted on a moving path of the transport platform 1 sensor 5 trail gyroscopic sensor 2 of course, a gyro sensor 3 slope rate, the outputs of which are connected with registrysm unit 14. The device is equipped with a gyroscopic sensor 4 tilt the way in transverse profile, the sensor 6 mezhrelsovyh distance sensor 7 the depth of immersion, and the outputs of these sensors are connected to the switch 8 analog signals to alternately connect the output of each sensor on the output of the analog-to-digital Converter 9, otklucheny to the inputs of the switch 10 digital signals, the output of which is the communication line 15 is connected with the computing unit 13 to supply at its input sequential code signals, and the output of the latter is connected to the registering unit 14, and the control inputs of the switch 8 analog signals and switch 10 digital signals connected to the outputs of respectively high and low counter 11, an input connected to the output of the clock generator 12. 4 Il.

The invention relates to systems designed to measure the spatial parameters of the rails or their deviations from the norm and can also be used to determine the surface characteristics, soil roughness artificial and natural origin in conditions that do not allow to make such measurements contact methods other than the normal atmospheric environment, limited visibility and human mobility, mainly control the underwater part of the track, designed for lifting and lowering vessels.

The technical result achieved by the invention is a remote positioning path in three dimensions in inaccessible areas.

In Fig.1 shows a block diagram of the device of Fig.2 the changes mezhrelsovyh distances along the length of the path; in Fig.4 is a conventional isometric image slipaway plane.

The unit consists (see Fig.1) of the transport platform 1, where the sensors of the primary information. As sensors, primary data using a gyroscopic sensor 2 of course, a gyro sensor 3 angle on the course (pitch), a gyro sensor 4 pitch route in the transverse profile (tilt sensor), the sensor 5 trail sensor 6 mezhrelsovyh distance and the sensor 7 of the depth of immersion of the transport platform 1. Output of all sensors is a voltage whose magnitude is proportional associated with the respective measured parameter. The outputs of all sensors are connected to respective inputs of the switch 8 analog signals designed to alternately connect the outputs of the sensors 2-7 to the input of the analog-to-digital Converter (ADC) 9, and the code outputs the ADC 9 is connected to respective inputs of the switch 10 digital signals. Controls the switches 8, 9, the counter 11, the inlet of which is connected to the output of the clock generator 12. Computing unit 13 and the recording device 14 inpatient. The output of the computing unit 13 is connected to the input registeruser connection.

The device operates as follows.

The principle of operation of the apparatus for determining the spatial position of the rail track based on continuous registration information from the sensors 2 to 7, placed at a moving rail transport platform 1, the conversion of incoming information in digital form, the transfer of this information on stationary hosted computing unit 13, converting the received data into spatial coordinates of the track (in accordance with the following formula) and fixing these coordinates in the registering unit 14. The final results can be presented by the registering unit 14 in the form of tables with data about the three coordinates of each point on the path which was used for the measurement, and graphs (see Fig.2, 3) for one way or conditional isometric images to estimate relative position number of adjacent track (see Fig.4).

During movement of the platform 1 with the attached sensors 2-7 occurs alternately connecting the output of each sensor to the ADC input 9 through the switch 8 analog signals. ADC 9 converts the voltage supplied from the output sootvetstvuyuschego serial code through the communication line 15. To convert the parallel digital code in a consistent and designed the switch 10 digital signals. With it being alternately connecting the output bits of the ADC 8 to line 15 connection. Synchronization processes of survey sensors 2-7 and convert the parallel code in a sequential happen with the help of the counter 11 and the oscillator 12. The internal structure of these devices is known. As line 15 links may be used, for example, wired line on the basis of sealed flexible cable or optical channel (fiber-optic communication line or radio channel on the basis of standard or specialized transmitters. The information coming from sensors 2-7 in the computing unit 13, is used as follows.

The sensor 5 ways designed to obtain data about the length of the traversed path and bind it to data from other sensors. His testimony related to the angular position of one of the wheels of the transport platform 1, is used as a measurement. In the computing unit 13 is counting the number of revolutions of the measuring wheel during movement of the transport platform 1. The length L of the traversed path is defined as L=dln, (1) where L is the path length, p is the measuring wheel.

The gyroscopic sensor 2 course provides information about the direction of movement of the transport platform 1 in the horizontal plane. Combined with the information coming from the sensor 5 way, is the definition of the coordinate transport platform 1 in the horizontal plane. Recovery is the method of linear piecewise approximation in accordance with the formula X = cos(K(n))dl ; (2) Y = sin(K(n))dl ; (3) where X, Y and planning coordinates of the platform in the Cartesian coordinate system;

K(n) is the current angle of the course relative to the X-axis coinciding with the initial direction of movement of the transport platform 1.

Determining the coordinates of the transport platform 1 in the vertical plane is based on measurements of the gyro sensor 3 angle transport platform 1 from the initial direction in the vertical plane, and the information from the sensor 7, the depth of immersion. Recovery is also produced by the method of linear piecewise approximation in accordance with the formula H = sin(df(n) + fO)dl , (4) where N is the coordinate of the transport platform 1 in a vertical plane;

df - angle transport platform 1 from the initial direction in the vertical plane;

fo is the average angle s immersion in the final and initial points of the track;

Lp - distance between the destination and the starting point of the path.

Readings gyroscopic sensor 4 side and roll sensor 6 mezhrelsovyh distances are used to separately determine the height of the heads of the right and left rails in accordance with the formula: HL = H - (/2)sin (b); (6) HR = H + (B/2)sin (b); (7) where HL is the height of the left rail;

HR is the height of the right rail;

B - mezhrelsovyh length;

b - the angle of lateral tilt relative to the horizontal plane.

In addition, the sensor 6 mezhrelsovyh distances are used directly as one of the important information parameters, as the deviation of track gauge from the standard value allows to judge about the wear of the underwater part of the track. As such a sensor can be used with either a mechanical device that converts using a system of levers distance between the rails in the rotation angle of the measuring potentiometer, or ultrasonic echo-pulse range finder, the principle is based on the delay time change received echo pulse at varying distance to the reflecting plane.

As gyroscopic sensors 2 and 3 can be used which include a number of devices. For example, as a gyroscopic sensor 3 slope on the course and gyro sensor 4 side roll can use the device "Central gyroscopic vertical CFG-10". As a gyroscopic sensor of course you can use gyroscopic device HA-5.

After determining the spatial coordinates of the track in accordance with the above dependencies, the received data received from the computing unit 13 to the registering unit 14. Here the summary information is presented on the display screen in the form of graphs or tables of digital data, which may if necessary be transferred to paper by means of a recorder or printer. The internal structure of the computing unit 13 that implements the above mathematical relationships, and the registering unit 14 is known technical solution. These blocks can be implemented using digital circuitry using standard chips and circuit solutions or using computer equipment.

All power may be exercised as from stationary coastal network and the auxiliary power supply.

 

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