CN114739423A - Automatic calibration device and method for ultrahigh channel of track detection system - Google Patents

Abstract

The invention provides an automatic calibration device and method for an ultra-high channel of a track detection system. In a space rectangular coordinate system with X, Y and Z axes as coordinate axes, the automatic calibration device of the ultra-high channel of the track detection system includes: The connecting rod (2), the corner table connecting seat (3) and the corner table (4) are connected in sequence, the connecting rod (2) extends along the X-axis direction, and the corner table (4) includes an upper turntable (41) arranged up and down ) and the lower base (42), the upper turntable (41) can rotate around a first straight line, and the first straight line is parallel to the Y axis. The automatic calibration device and method of the ultra-high channel of the orbit detection system drives the attitude change of the inertial component by precisely controlling the changes of angle and time, identifies the sensor data curve, and precisely controls the ultra-high calibration device to perform the ultra-high automatic calibration of the orbit detection system, instead of The previous manual calibration improves the calibration efficiency and accuracy.

Description

An automatic calibration device and method for an ultra-high channel of a track detection system

technical field

The invention relates to an automatic calibration device of an ultra-high channel of a track detection system, and also relates to an automatic calibration method of an ultra-high channel of a track detection system.

Background technique

The track detection system is a set of instruments installed on the train or EMU (or detection beam) to perform dynamic real-time detection of the geometric irregularity of the track. The track detection system generally adopts the principle of inertial measurement and machine vision measurement technology. , industrial cameras and other sensors to measure the position of the left and right rails relative to the detection device and the posture of the detection device, so as to calculate the horizontal and vertical geometric unevenness and mutual position relationship of the left and right rails. The main measurement parameters are gauge, left (right) height, left (right) track, level, triangular pit, superelevation and so on.

The track detection system is mainly composed of inertial components, sensors such as laser displacement meters, signal processing parts and data processing parts. Since the scale coefficient of the sensor will change with the long-term application, the gain and phase of the signal processing channel of the sensor need to be checked regularly. Calibration to make the sensor meet the design requirements of the detection system. The main method is to adjust the gain and phase of the sensor's signal processing channel by inputting standard quantities. Since it is inconvenient to disassemble the equipment installed on the vehicle, it is necessary to use on-site calibration tools for calibration.

Superelevation refers to the difference in the height of the top surfaces of the left and right rails on the same cross-section of the track, which is obtained by calculating the angle between the running surface and the horizontal reference surface. It is mainly measured by three sensors, the gyro 62 , the inclinometer 61 and the displacement measuring sensor 63 . The inclinometer 61 (INCL) and the gyro 62 (ROLL) are used together to measure the roll angle θ _c of the mounting carrier (detection beam). The gyro 62 measures the high frequency component θ _cH in θ _c . The inclinometer 61 measures the low frequency component in θ _c (including the inclination angle when the vehicle body is stationary) θ _cL . The sum of θ _cH and θ _cL is θ _c . The displacement measuring sensor 63 (calibrated before leaving the factory) measures the relative angle θ _ct between the detection beam and the track plane. The track inclination angle θ _t is the algebraic sum of the rolling angle θ _c of the vehicle body and the angle θ _ct between the vehicle body and the axle. From θ _t and the distance D between the centerlines of the two rails (eg 1506mm), the superelevation value is calculated, as shown in the following formula 1 and Figure 1.

H=D×sin(θ _t ) Formula 1

Among them, H is the superelevation value, the unit is mm; D is the interval between the center lines of the two rails, the unit is mm.

The gyroscope 62 and the inclinometer 61 are usually designed to be installed as a whole, which is called the inertial assembly 6 (also called a gyro platform or inertial platform) in the orbit detection system. Among them, the calibration of the inertial component 6 is mainly to adjust the gain of the signal processing channel of the inclinometer 61, and to adjust the gain and phase of the signal processing channel of the gyro 62 through the calibrated inclinometer 61 to make it meet the inclination angle in the detection system. The meter 61 mainly measures low frequencies, and the gyro 62 measures the requirements of mutual compensation for high frequencies.

In the prior art, a common practice for the gain calibration of the signal processing channel of the inclinometer 61 is to use a rigid ruler with a length of 1.5 meters (standard distance between the centerlines of two rails), and fix the inertial component in the middle of the rigid ruler according to the direction of use. , raise one end of the rigid ruler to keep the rigid ruler at a certain angle, and adjust the parameters of the signal processing channel of the inclinometer 61 so that the change angle of the system angle is consistent with the change angle of the rigid ruler. When calibrating the signal processing channel of the gyro 62, a screwdriver is usually used to manually move the gyro platform to simulate and detect the changes of the vehicle on the curve. By adjusting the parameters and observing the characteristic points on the curve, it is judged whether the detection requirements are met, as shown in Figure 2. Show.

The method of using a rigid ruler as the calibration device is inconvenient to carry due to its large size. The manual calibration method requires the calibration personnel to have rich experience. More importantly, due to the continuous improvement of the data accuracy requirements for track detection, the on-site steel ruler and manual prying methods cannot form standard and high-precision input, and it is difficult to meet the accuracy requirements of the current system.

SUMMARY OF THE INVENTION

In order to solve the problem of low calibration accuracy of the existing inertial components, the present invention provides an automatic calibration device and method for the ultra-high channel of the orbit detection system. The automatic calibration device and method for the ultra-high channel of the orbit detection system can accurately control the angle and time. The change of the inertial component drives the attitude change of the inertial component, identifies the sensor data curve, and precisely controls the ultra-high calibration device to perform the ultra-high automatic calibration of the orbit detection system, replacing the previous manual calibration and improving the calibration efficiency and accuracy.

The technical scheme adopted by the present invention to solve its technical problems is:

An automatic calibration device for an ultra-high channel of a track detection system, in a space Cartesian coordinate system with X, Y, and Z axes as coordinate axes, the automatic calibration device for the ultra-high channel of the track detection system comprises connecting rods connected in sequence, The corner table is connected to the corner table. The connecting rod extends along the X-axis direction. The corner table includes an upper turntable and a lower abutment set up and down. The lower abutment is connected to the corner table connection seat. The upper surface of the upper turntable can be parallel On the plane where the X axis and the Y axis are located, the upper turntable can rotate around a first straight line, and the first straight line is parallel to the Y axis.

An automatic calibration method for an ultra-high channel of a track detection system, the automatic calibration method of the ultra-high channel of the track detection system adopts the above-mentioned automatic calibration device of the ultra-high channel of the track detection system, and the automatic calibration device of the ultra-high channel of the track detection system is used. The calibration device also includes a computer and a control box connected in sequence, the corner stage is an electric control corner stage, the corner stage is connected with the control box, and the computer can control the rotation angle of the upper turntable;

The automatic calibration method of the ultra-high channel of the track detection system comprises the following steps:

Step 1. On-site equipment installation;

The two ends of the connecting rod are respectively placed on the two steel rails, and the inertial assembly is installed on the upper turntable. The inertial assembly contains an inclinometer and a gyroscope, and the inertial assembly is connected with the computer;

Step 2, calibrate the gain of the inclinometer;

Step 3. Calibrate the gain and phase of the gyro.

The beneficial effects of the present invention are: the automatic calibration device and method of the ultra-high channel of the track detection system drives the attitude change of the inertial component by precisely controlling the change of angle and time, identifies the sensor data curve, and precisely controls the ultra-high calibration device to perform track detection. The ultra-high automatic calibration of the system replaces the previous manual calibration and improves the calibration efficiency and accuracy.

Description of drawings

The accompanying drawings forming a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

Figure 1 is a schematic diagram of superelevation measurements and calculations.

FIG. 2 is a schematic diagram of an existing inertial component calibration mode.

FIG. 3 is a schematic diagram of an automatic calibration device for an ultra-high channel of a track detection system.

Fig. 4 is a schematic diagram of the part of the rail connection assembly.

Figure 5 is a schematic view of a connecting rod.

FIG. 6 is a schematic diagram of a corner table connecting seat.

Figure 7 is a schematic diagram of a corner stage.

FIG. 8 is a schematic diagram of the rotation of the upper turntable of the corner table.

Fig. 9 is the connection block diagram of the automatic calibration device of the ultra-high channel of the track detection system.

FIG. 10 is a schematic diagram of the relationship between the ultra-high signal processing channel, the inclinometer signal processing channel and the gyro signal processing channel.

FIG. 11 is a schematic diagram of the state of the upper turntable at different times.

FIG. 12 is a schematic diagram of insufficient gain of the gyro signal processing channel.

FIG. 13 is a schematic diagram showing that the gain of the gyro signal processing channel is too large.

Figure 14 is a schematic diagram of a gyro signal processing channel in equilibrium.

1. Rail connection components; 2. Connecting rods; 3. Corner platform connection seat; 4. Corner platform; 5. Rails; 6. Inertia components;

11. Upper pipe clamp; 12. Lower locking seat; 13. Upper quick release screw; 14. Upper locking block; 15. Inner locking block;

21. Connecting rod; 22. External thread barrel;

31. Base plate; 32. Lower pipe clamp; 33. Lower quick release screw;

41. Upper turntable; 42. Lower abutment; 43. Stepper motor;

51. Rail head;

61, inclinometer; 62, gyro; 63, displacement measurement sensor; 64, ultra-high signal processing channel; 65, inclinometer signal processing channel; 66, gyro signal processing channel.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

An automatic calibration device for an ultra-high channel of a track detection system. In a space rectangular coordinate system with X, Y, and Z axes as coordinate axes, the automatic calibration device for the ultra-high channel of the track detection system includes connecting rods 2 connected in sequence. , corner table connection seat 3 and corner table 4, connecting rod 2 extends along the X-axis direction, corner table 4 contains an upper turntable 41 and a lower abutment 42 arranged up and down, and the lower abutment 42 and corner table connection seat 3 Connected, the upper surface of the upper turntable 41 can be parallel to the plane where the X-axis and the Y-axis are located, and the upper turntable 41 can rotate around a first straight line parallel to the Y-axis, as shown in FIG. 3 .

The automatic calibration device of the ultra-high channel of the track detection system (also called the automatic calibration device of the ultra-high signal processing channel) can be installed on the track for on-site calibration, and the high-precision corner stage is installed on the track detection system through the connecting rod. on the rail 5 near the detection beam. The inertial assembly 6 is mounted on the corner table 4 . The corner table 4 is connected to the computer of the detection system through the following control box. The inertial assembly 6 is also connected to the computer of the detection system through a data line. The computer drives the attitude change of the inertial component 6 by precisely controlling the change of angle and time.

In this embodiment, both ends of the connecting rod 2 are provided with a rail connecting assembly 1. The function of the rail connecting assembly 1 is to connect and fix the connecting rod 2 and the steel rail 5. The rail connecting assembly 1 includes the upper pipe clamp 11 and The lower locking seat 12 and the upper pipe clamp 11 can clamp and fix the connecting rod 2, and the lower locking seat 12 can be connected and fixed with the steel rail 5, and the steel rail 5 extends along the Y-axis direction.

In this embodiment, the upper pipe clamp 11 is connected with an upper quick release screw 13, and the lower locking seat 12 includes an upper locking block 14 and an inner locking block 15, and the upper locking block 14 and the inner locking block 15 can form a clamp The bayonet can be matched and snapped with the inner side of the rail head 51 of the rail 5 . The upper locking block 14 and the inner locking block 15 can be connected as a whole, and the upper locking block 14 and the inner locking block 15 can also be detachably connected.

Preferably, the upper locking block 14 and the inner locking block 15 are detachably connected. For example, the upper part of the inner locking block 15 and the upper locking block 14 are connected by bolts. When the lower locking seat 12 is connected to the rail head 51 of the rail 5, the upper locking block 14 is located above the rail head 51, and the inner locking block 15 is located inside the rail head 51, as shown in FIG. 4 .

In this embodiment, the automatic calibration device for the ultra-high channel of the track detection system includes two connecting rods 2 parallel to each other, the two connecting rods 2 are arranged at intervals along the Y-axis direction, and the connecting rod 2 contains a plurality of connecting rods 21 , a plurality of connecting rods 21 are arranged along the X-axis direction, and two adjacent connecting rods 21 are connected by external thread cylinders 22 . For example, each connecting rod 2 contains four connecting rod links 21 and three external thread barrels 22, as shown in FIG. 5 .

In this embodiment, the corner table connecting seat 3 includes a base plate 31 and a lower pipe clamp 32 connected up and down, the lower pipe clamp 32 is connected with a lower quick release screw 33, the connecting rod 2 has a cylindrical structure, and the corner table The connecting seat 3 can move along the extending direction of the connecting rod 2 , the lower pipe clamp 32 clamps and fixes the connecting rod 2 , and the upper surface of the base plate 31 is parallel to the plane where the X and Y axes are located, as shown in FIG. 6 .

In this embodiment, the automatic calibration device for the ultra-high channel of the track detection system also includes a computer and a control box connected in sequence, and the corner stage 4 can be an existing electronically controlled corner stage. The control box is connected, the computer can control the rotation angle of the upper turntable 41, and the computer is installed with the software to realize the automatic calibration of the ultra-high channel. The control box is equipped with components such as motor power supply and driver. The computer sends the rotation command to the control box, and the driver in the control box drives the motor to run according to the command, as shown in Figure 7.

The corner stage 4 is an electronically controlled corner stage, which adopts a worm gear structure to convert the rotational motion of the motor into an electric device that swings at a certain point in the table space. The transmission mode is that the stepping motor 43 drives the worm to rotate through the coupling, and the worm drives the turbine to slide along the guide rail through the gear teeth. By controlling the stepping motor 43, the rotation angle of the upper turntable 41 can be controlled. The angle selection and variation range of the angle stage 4 is ±10 degrees, the angular resolution is less than 0.001 degrees, and the repeated positioning angle is less than 0.0001 degrees, which meets the requirement that the system calibration is not greater than 0.03, as shown in Figure 8.

The following introduces an automatic calibration method for the ultra-high channel of the track detection system. The automatic calibration method for the ultra-high channel of the track detection system adopts the above-mentioned automatic calibration device for the ultra-high channel of the track detection system. The ultra-high channel of the track detection system The purpose of the automatic calibration method is to automatically calibrate the ultra-high signal processing channel of the inertial assembly 6 of the existing track detection system, and the ultra-high signal processing channel 64 is the inclinometer signal processing channel 65 plus the gyro signal processing channel 66, as shown in Figure 9 and shown in Figure 10.

The automatic calibration method of the ultra-high channel of the track detection system (also known as the automatic calibration method of the ultra-high signal processing channel) identifies the sensor data curve through a computer, and accurately controls the ultra-high calibration device to perform the ultra-high automatic calibration method of the track detection system. , to replace the previous manual calibration and improve the calibration efficiency and accuracy.

Auto-calibration is accomplished by running an auto-calibration program on the inspection system's computer. The calibration program adds a user interface, a synthetic data measurement module, a control module and a parameter adjustment module to the original computer acquisition and calculation module. An automatic calibration program is designed on the user interface, and two buttons "Zero" and "Balance" are designed on the program interface. It corresponds to the whole process of zero adjustment and automatic calibration of the gyro platform, respectively. The principle of automatic calibration of this scheme is to use the computer to control the high-precision corner stage 4, so that the inertial component 6 installed on the corner stage 4 rotates as required, and automatically adjust the sensor channel by calculating the sensor data in the inertial component 6. parameters, so that the gain and phase can meet the system detection requirements and achieve the function of automatic calibration of the system. The functional block diagram is shown in Figure 9.

The automatic calibration method of the ultra-high channel of the track detection system comprises the following steps:

Step 1. On-site equipment installation;

The on-site calibration is generally carried out under the condition of a straight track, and the automatic calibration device of the ultra-high channel of the track detection system is installed on the steel rail 5 . The two ends of the connecting rod 2 are respectively placed on the two steel rails 5, the connecting rod 2 is connected and fixed with the steel rail 5 through the lower locking seat 12, the inertial assembly 6 is installed on the upper turntable 41, and the inertial assembly 6 is installed on the upper turntable 41 The above method is the same as the way that the inertial assembly 6 is installed on the detection beam. The inertial assembly 6 contains an inclinometer 61 and a gyro 62. The inertial assembly 6 is connected with the computer through the original signal cable of the detection system; the angle stage 4 is connected through the serial port. The bus is connected to the control box, and the control box is connected to the computer through a network cable or a serial cable, as shown in Figure 1 and Figure 9. At this time, since the track is basically straight, the rails 5 on both sides are basically on the same plane, and the inertial component 6 is also basically in a horizontal position. The actual output data value of the ultra-high signal processing channel should be near the zero line. The actual output data value of the ultra-high signal processing channel The output data values are displayed on the computer's monitor.

The track detection system is designed with a simulation running mode. The pulse signal is generated by the built-in counter card in the computer to make the detection program run. Different simulation speeds can be set in the program. To meet different calibration needs. Since the track detection system is designed for spatial sampling, the detection vehicle installed with the detection system samples each sensor signal once every 0.25 meters of distance. card to get. When performing calibration and sampling simulation operation mode, the sampling frequency is related to the set simulation speed parameter speed. According to the simulation speed of 72km/h, the number of sampling points per second is 72000m÷3600s÷0.25m/s=80 points. The calibration time can be known by the number of sampling points and the set simulation speed.

Step 2, calibrate the gain of the inclinometer 61; Step 2 includes the following steps:

First start the detection program, set the detection program to enter the simulation running state, and automatically set the simulation speed to 72km/h (the speed is appropriate, which is convenient for users to observe the waveform);

Step 2.1, the zero-setting function is run at the moment Tg0, and the upper turntable 41 is located at an angle of 0 degrees, that is, the scale value 0 of the upper turntable 41 corresponds to the scale value 0 of the lower base 42, so that the output data of the signal processing channel of the gyro 62 The value is 0mm. At this time, the output data value of the ultra-high signal processing channel only contains the output data value of the signal processing channel of the inclinometer 61. The output data value of the ultra-high signal processing channel should be 0mm. The actual output data value of the high signal processing channel, when the actual output data value of the super high signal processing channel is greater than or equal to the range of the target super high value corresponding to the 0 degree angle (such as 0±0.1mm), adjust the upper turntable 41 Rotate, so that the actual output data value of the ultra-high signal processing channel is less than the range of the target ultra-high value corresponding to the 0-degree angle;

For example, make the upper turntable 41 fine-tune clockwise or counterclockwise (when the range of the target superelevation value corresponding to 0 degree angle is less than 0-0.1mm, rotate the upper turntable 41 clockwise to raise the left side of the upper turntable 41, which is greater than 0 +0.1mm, rotate the upper turntable 41 counterclockwise to make the left side of the upper turntable 41 fall back, so that the actual output data value of the ultra-high signal processing channel is near the zero position, and record the signal processing channel of the inclinometer 61 at this time. Gain coefficient (experience value, generally a positive integer, used for fine-tuning on this basis).

Step 2.2, make the upper turntable 41 rotate the first degree angle, so that the output data value of the signal processing channel of the gyro 62 is still 0mm, judge the actual output data value of the ultra-high signal processing channel, when the ultra-high signal processing channel When the actual output data value is greater than or equal to the range of the target ultra-high value corresponding to the first degree angle, adjust the gain coefficient of the signal processing channel of the inclinometer 61 so that the actual output data value of the ultra-high signal processing channel is smaller than the first The range of the target superelevation value corresponding to the degree angle;

For example, at time Tg1, a serial port command is sent to rotate the upper turntable 41 clockwise by 5.69° (the first degree angle), and after about 10s (800 points), the actual output of the ultra-high signal processing channel is judged at this time. Whether the data value is within 150±0.5mm, if not, then finely adjust the gain coefficient of the signal processing channel of the inclinometer 61, and judge the actual output data value of the ultra-high signal processing channel after the gain coefficient is changed, so that the The actual output data value of the ultra-high signal processing channel is within 150±0.5mm. The calibration phase of the inclinometer 61 is now complete.

Step 3, calibrate the gain and phase of the gyro 62;

After the gain calibration of the inclinometer 61 is completed, the program sends an instruction to control the upper turntable 41 to return to the "zero position", that is, the upper turntable 41 returns to the position of 0 degree angle, so as to perform the balance calibration of the gyro 62 (that is, to the gain of the gyro 62 ). and phase calibration).

The principle of the balance calibration of the gyro 62 is to control the rotation of the upper turntable 41 of the angular stage 4 to make the inertial component 6 perform a set of actions of “lifting”, “holding” and “falling back” at a specified angle and speed, simulating the detection of the vehicle in the curve. By adjusting the gain and phase of the gyro 62, the super-high curve data synthesized by the signal of the gyro 62 and the signal of the inclinometer 61 (which has been calibrated) can meet the requirements of the system.

Step 3 contains the following steps:

Step 3.1. The upper turntable 41 is located at an angle of 0 degrees. After the first time period, the upper turntable 41 is rotated forward by a second angle (corresponding to the above-mentioned "lift"), and then the upper turntable 41 is maintained for the second time period (corresponding to the above-mentioned "lift"). In the above-mentioned "hold"), then the upper turntable 41 is rotated in the opposite direction for the second angle to hold (corresponding to the above-mentioned "falling back"), and then the upper turntable 41 is held for a third period of time, and the display of the computer outputs "time and overtime". Output data relationship diagram of high signal processing channel";

For example, the detection system (which can be understood as a computer) sets the simulated speed parameter speed to 16km/h (time Tb0), and waits for about 10S (180 sampling points). The computer sends a command to the control box through the serial port (at the time of Tb1), so that the upper turntable 41 is rotated, the left side of the inertial assembly 6 is lifted, the upper turntable 41 is stationary (from the time of Tb2 to the time of Tb3), and the upper turntable 41 falls (Tb3 to Tb4), The left side of the inertial assembly 6 falls back, three steps. The corresponding moments and actions are:

Time Tb0 to Tb1 (t1 time period): static for 10s (first time period);

Time Tb1 to Tb2 (t2 time period): lift angle 1 degree (second degree angle), speed 0.5 degrees/second; Tb2 to Tb3 time (t3 time period): keep still (second time period), time 2 seconds;

Time Tb3 to Tb4 (time period t4): return to zero, the angle is 1 degree (the second degree angle), and the speed is 0.5 degrees/second;

Time Tb4 to Tb5 (time period t5 ): static for 10 s (third time period), as shown in FIG. 11 .

Then, the computer outputs the relationship diagram between the time and the output data of the ultra-high signal processing channel, and the relationship diagram between the time and the output data of the ultra-high signal processing channel is displayed on the display of the computer, for example, in the form of a waveform.

Step 3.2, determine the slope of the line segment corresponding to the second time period in the relationship between the time and the output data of the ultra-high signal processing channel, when the slope of the line segment corresponding to the second time period is equal to 0 (ie When the absolute value of the slope is as close as possible to 0), proceed to the next step; when the slope of the line segment corresponding to the second time period is greater than 0, the main reason is that the gain of the gyro channel is not enough, and the signal of the gyro 62 is increased. For the gain coefficient of the processing channel, as shown in Figure 12, step 3.1 is performed again, and steps 3.1 and 3.2 are repeated several times until the slope of the line segment corresponding to the second time period is equal to 0; When the slope of the corresponding line segment is less than 0, the main reason is that the gain of the gyro channel is too large, and the gain coefficient of the signal processing channel of the gyro 62 is reduced. As shown in Figure 13, go to step 3.1 again, and repeat steps 3.1 and 3.2, until the slope of the line segment corresponding to the second time period is equal to 0 (that is, the absolute value of the slope is as close to 0 as possible); thus, the gain calibration of the signal processing channel of the gyro 62 is completed, as shown in FIG. 14 .

For example, the line segment corresponding to the second time period is the line segment cd, and the slope of the line segment cd is k=(dy-cy)/(dx-cx), where dy is the superelevation value at point d, and cy is the superelevation value at point c. value, dx is the sampling point number of point d, and cx is the sampling point number of point c. Among them, point a, point b, point c, point d, point e and point f are in one-to-one correspondence with time Tb0, time Tb1, time Tb2, time Tb3, time Tb4 and time Tb5.

Step 3.3, determine the slope of the line segment corresponding to the second time period and the third time period in the relationship between the time and the output data of the ultra-high signal processing channel, when the second time period and the third time period When the slopes of the corresponding line segments are all equal to 0, the calibration is completed (that is, the phase calibration of the signal processing channel of the gyro 62); when the slopes of the line segments corresponding to the second time period or the third time period are not equal to 0, adjust the The phase coefficient of the signal processing channel of the gyro 62, then only step 3.1 is performed without step 3.2, and step 3.1 and step 3.3 are repeated many times until the slopes of the line segments corresponding to the second time period and the third time period are equal. It is equal to 0 (that is, the absolute value of the slope is as close to 0 as possible), thereby completing the phase calibration of the signal processing channel of the gyro 62 .

For example, the slopes of the line segment cd and the line segment ef are close to 0, and the phase coefficient of the signal processing channel of the gyro 62 is finely adjusted to minimize the absolute values of the slopes of the line segment cd and the line segment ef. Thus, the phase calibration of the signal processing channel of the gyro 62 is completed, as shown in FIG. 14 .

The above descriptions are only specific embodiments of the present invention, and cannot limit the scope of implementation of the invention. Therefore, the replacement of equivalent components, or the equivalent changes and modifications made according to the scope of the patent protection of the present invention should still be covered by this patent. category. In addition, technical features and technical features, technical features and technical solutions, and technical solutions and technical solutions in the present invention can be freely combined and used.

Claims (10)

1. The utility model provides an automatic calibration device of track detecting system superelevation passageway, in the space rectangular coordinate system who uses the X, Y, Z axle as the coordinate axis, its characterized in that, the automatic calibration device of track detecting system superelevation passageway is including connecting rod (2), angle position platform connecting seat (3) and angle position platform (4) that connect gradually, and connecting rod (2) extend along X axle direction, and angle position platform (4) contain upper turntable (41) and lower base station (42) that set up from top to bottom, and lower base station (42) are connected with angle position platform connecting seat (3), and the upper surface of upper turntable (41) can be on a parallel with the plane at X axle and Y axle place, and upper turntable (41) can rotate around first straight line, first straight line is parallel with the Y axle.

2. The automatic calibration device for the ultrahigh channel of the track detection system according to claim 1, wherein the two ends of the connecting rod (2) are respectively provided with a steel rail connecting assembly (1), the steel rail connecting assembly (1) comprises an upper pipe clamp (11) and a lower locking seat (12) which are vertically arranged, the upper pipe clamp (11) can clamp and fix the connecting rod (2), the lower locking seat (12) can be fixedly connected with the steel rail (5), and the steel rail (5) extends along the Y-axis direction.

3. The automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 2, wherein the upper pipe clamp (11) is connected with an upper quick-release screw (13), the lower locking base (12) comprises an upper locking block (14) and an inner locking block (15), and the upper locking block (14) and the inner locking block (15) can form a bayonet which can be matched and clamped with the rail head (51) of the steel rail (5).

4. The automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 3, wherein the upper part of the inner locking block (15) is connected with the upper locking block (14) through a bolt, when the bayonet is matched and clamped with the rail head (51) of the steel rail (5), the upper locking block (14) is positioned above the rail head (51), and the inner locking block (15) is positioned at the inner side of the rail head (51).

5. The automatic calibration device for the ultra-high channel of the track detection system as claimed in claim 1, wherein the automatic calibration device for the ultra-high channel of the track detection system comprises two parallel connecting rods (2), the connecting rods (2) comprise a plurality of connecting rod sections (21), the plurality of connecting rod sections (21) are arranged along the X-axis direction, and two adjacent connecting rod sections (21) are connected through an external thread cylinder (22).

6. The automatic calibration device for the ultrahigh channel of the track detection system according to claim 1, wherein the angle table connecting seat (3) comprises a base plate (31) and a lower pipe clamp (32) which are arranged up and down, the lower pipe clamp (32) is connected with a lower quick-release screw (33), the lower pipe clamp (32) clamps the fixed connecting rod (2), and the upper surface of the base plate (31) is parallel to the plane where the X axis and the Y axis are located.

7. The automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 1, further comprising a computer and a control box connected in sequence, wherein the angular position table (4) is an electrically controlled angular position table, the angular position table (4) is connected with the control box, and the computer can control the rotation angle of the upper turntable (41).

8. An automatic calibration method for the ultrahigh channel of the track detection system is characterized in that the automatic calibration method for the ultrahigh channel of the track detection system adopts the automatic calibration device for the ultrahigh channel of the track detection system as claimed in claim 1, the automatic calibration device for the ultrahigh channel of the track detection system further comprises a computer and a control box which are sequentially connected, an angle station (4) is an electric control angle station, the angle station (4) is connected with the control box, and the computer can control the rotation angle of an upper rotating table (41);

the automatic calibration method for the ultrahigh channel of the track detection system comprises the following steps:

step 1, field equipment installation;

two ends of a connecting rod (2) are respectively placed on two steel rails (5), an inertia assembly (6) is installed on an upper rotary table (41), the inertia assembly (6) comprises an inclinometer (61) and a gyroscope (62), and the inertia assembly (6) is connected with the computer;

step 2, calibrating the gain of the inclinometer (61);

and step 3, calibrating the gain and the phase of the gyroscope (62).

9. The automatic calibration method for the ultra-high channel of the track inspection system as claimed in claim 8, wherein the step 2 comprises the steps of:

step 2.1, the upper rotary table (41) is located at the position of 0 degree, the actual output data value of the ultrahigh signal processing channel is judged, and when the actual output data value of the ultrahigh signal processing channel is larger than or equal to the range of the target ultrahigh value corresponding to the 0 degree, the rotating angle of the upper rotary table (41) is adjusted, so that the actual output data value of the ultrahigh signal processing channel is smaller than the range of the target ultrahigh value corresponding to the 0 degree;

and 2.2, rotating the upper rotating table (41) by a first angle to enable the output data value of the signal processing channel of the gyroscope (62) to be still 0mm, judging the actual output data value of the ultrahigh signal processing channel, and adjusting the gain coefficient of the signal processing channel of the inclinometer (61) to enable the actual output data value of the ultrahigh signal processing channel to be smaller than the range of the target ultrahigh value corresponding to the first angle when the actual output data value of the ultrahigh signal processing channel is larger than or equal to the range of the target ultrahigh value corresponding to the first angle.

10. The automatic calibration method for the ultra-high channel of the track inspection system as claimed in claim 8,

step 3 comprises the following steps:

3.1, the upper rotary table (41) is located at the position of an angle of 0 degree, after a first time period, the upper rotary table (41) rotates forwards by a second angle, then the upper rotary table (41) keeps the second time period, then the upper rotary table (41) rotates reversely by the second angle, then the upper rotary table (41) keeps the third time period, and the computer outputs a relation graph of time and output data of the ultrahigh signal processing channel;

step 3.2, judging the slope of the line segment corresponding to the second time period in the output data relation graph of the time and ultrahigh signal processing channel, and carrying out the next step when the slope of the line segment corresponding to the second time period is equal to 0; when the slope of the line segment corresponding to the second time period is greater than 0, increasing the gain coefficient of a signal processing channel of the gyroscope (62), and performing step 3.1; when the slope of the line segment corresponding to the second time period is smaller than 0, reducing the gain coefficient of a signal processing channel of the gyroscope (62), and performing step 3.1;

step 3.3, judging the slopes of the line segments corresponding to the second time period and the third time period in the output data relation graph of the time and ultrahigh signal processing channel, and finishing calibration when the slopes of the line segments corresponding to the second time period and the third time period are both equal to 0; and when the slope of the line segment corresponding to the second time period or the third time period is not equal to 0, adjusting the phase coefficient of the signal processing channel of the gyroscope (62), and then only performing the step 3.1 without performing the step 3.2.

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