Research On Real-time Detection System Of Roller Coaster Track State

Train track detection is of great significance for track maintenance and maintenance.It can effectively guarantee the safety of trains and has been widely used in railway systems.The roller coaster track is different from the ordinary track,its track path is tortuous,and the train driving posture is complicated and changeable.At present,there are few researches on the real-time monitoring of the roller coaster track state,and there are insufficient means to obtain the spatial position and attitude information of the measurement system.Therefore,an effective system is urgently needed to provide real-time detection of spatial position and attitude information,making the measurement system more accurate.The main problems existing in current track inspection vehicles are:multiple measurement units and decentralization,lack of integration;because the coordinates of the measurement curve are based on the track inspection vehicle,the measurement data does not correspond to the true orbital space location,and manual correction is required;these problems are addressed.This paper proposes a method that combines the image and inertial measurement techniques together to measure.The Inertial Measurement Unit(IMU)is a measuring instrument that measures the triaxial acceleration and attitude angle of an object.In general,the most basic inertial measurement unit consists of a triaxial accelerometer and a triaxial gyroscope.The accelerometer is responsible for measuring the triaxial acceleration data of the object in the carrier coordinate system,and the gyroscope is used to obtain the carrier relative to The three-axis angular velocity data of the navigation coordinate system is used to measure the angular velocity and acceleration of the object in the three-dimensional space,and the pose information of the object is calculated.In this thesis,the image and inertial measurement technology are applied to the roller coaster track measurement.The roller coaster is simulated with a small vehicle,and the feasibility of the IMU and CCD camera applied to the detection of the roller coaster track is verified by a preliminary principle.In this dissertation,the CCD camera is used to measure the gauge and track surface profile;the inertial measurement unit and the CCD are used to measure and display the orbital space attitude image;at the same time,the existing attitude calculation function is expanded,and the trajectory projection measurement energy is added,so that the system can measure The orbital space track.This dissertation mainly focuses on the analysis of the theory of image and inertial measurement,the design of algorithm and the development and application of application software.The main tasks of this paper are:(1)An inertial image measuring device based on IMU and CCD camera was built to realize real-time measurement of track gauge,track surface state,object attitude and trajectory.(2)A set of compensation algorithms based on quaternion coordinate transformation to measure velocity,displacement,and attitude are designed and programmed.A complementary filter was used to correct the quaternion,and the displacement of the object to be measured was obtained through integration.(3)Designed and completed a set of application software based on MFC and Matlab.