CN105313908A - Scanning device for facilities beside railway track - Google Patents
Scanning device for facilities beside railway track Download PDFInfo
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- CN105313908A CN105313908A CN201510853390.1A CN201510853390A CN105313908A CN 105313908 A CN105313908 A CN 105313908A CN 201510853390 A CN201510853390 A CN 201510853390A CN 105313908 A CN105313908 A CN 105313908A
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Abstract
The invention discloses a scanning device for facilities beside a railway track. The scanning device comprises a laser radar scanning device (1), view finding cameras (2), a mast support (3), a battery power supply system (4), a transverse beam (5), track wheels (6), detachable edge supports (7), a stroke encoder (8), a gigabit network system controller (9), an embedded controller (10), an industrial personal computer (11) and a tilt angle sensor (12); the device is assembled, a power switch is switched on to start the industrial personal computer (11), and a measuring program is operated; data such as radar data, image data and tilt angle data are synchronously collected and stored, the final data are extracted out through a conductor height and stagger value algorithm, a three-dimensional image segmentation algorithm and the like, and a diagram is generated and displayed. The scanning device has the functions such as 3D model building, scene round travelling and equipment geometric data exporting on the facilities beside the railway track.
Description
Technical field
The present invention relates to track detecting field, particularly relate to the other facility scanner unit of a kind of rail.
Background technology
Track is made up of multiple materials such as earth, rock, steel, timber, cement concretes, and it is different from the building such as house, bridge, is a kind of comparatively loose architecture structure form.Under train and various External Force Acting, allow to there is certain elasticity and plastic deformation.In use the state of track structure constantly changes, and produces various track irregularity.With the uninterrupted operation of train, track irregularity is inevitable.The effect that train wheel goes round and begins again in orbit, its wheel-rail force makes track irregularity constantly occur, develops deterioration.Various track irregularity all has considerable influence to the service life of train operation stationarity, travelling comfort, safety in operation, wheel-rail force, vehicle and track component, the speed of worsening of track condition.The change of track irregularity also can cause rail vehicle to run hurt aggravation and the minimizing in service life of parts, and serious track irregularity can cause train overturning or derailing.The interaction relationship of track condition and train operation, direct relation safety of railway traffic benefit, so must pay much attention to.
Along with the speed-raising year after year of railway, it is shorter and shorter without the car time that railway track inspection work can effectively work, original artificial bracing wire method of inspection can not adapt to public affair testing requirement, portable railway inspection vehicle can increase substantially the detection efficiency of railway track inspection work, alleviate the labour intensity of track walker, using portable railway inspection vehicle to carry out circuit routine testing is the inexorable trend that work business detects.
Orbit parameter detects and is divided into detection of dynamic and Static Detection, detection of dynamic detects in the elastic deformation occurred under the operating dynamic action of rolling stock detection line and deformation set, its main check implement is high speed track checking car, but high-speed rail inspection car is expensive, is difficult to extend to track division and uses; Static Detection be with the rail of rail checking instrument or manual method detection line rail to, just, the geometric parameter such as gauge.Manual detection means are adopted by experienced workman manually to draw string method to carry out rail to measurement, use track gauge detect rail to and gauge.The problems such as to there is speed slow because of hand inspection, unreliable, have begun one's study detection speed track detector fast, easy to use to replace hand inspection in this year.
Summary of the invention
The present invention overcomes the deficiency that prior art exists, and technical matters to be solved is for providing a kind of structure simple, and easy and simple to handle, efficiency is high, and data type is enriched, the other facility scanner unit of the rail of shortening working hours.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
The other facility scanner unit of a kind of rail, comprise Laser Radar Scanning device 1, to find a view camera 2, mast 3, battery power supply system 4, crossbeam 5, rail wheel 6, detachable lateral supports 7, run-length encoding device 8, gigabit networking system controller 9, embedded controller 10, industrial computer 11, obliquity sensor 12, described rail wheel 6 has two groups, described detachable lateral supports 7 two, often organizing described rail wheel 6 is arranged in a described detachable lateral support 7, described detachable lateral supports the both sides that 7 are arranged on crossbeam 5, in the middle of described crossbeam 5, described mast 3 is installed, described mast 3 installs described Laser Radar Scanning device 1, the side of described Laser Radar Scanning device 1 install three mutually perpendicular described in find a view camera 2, described obliquity sensor 12 is arranged on immediately below described mast 3, in the both sides of described crossbeam 5, described industrial computer 11 and described battery power supply system 4 are installed respectively, described embedded controller 10 and described gigabit networking system controller 9 are installed in the side of described industrial computer 11, described run-length encoding device 8 is arranged on described detachable lateral and supports on 7.
Further, described Laser Radar Scanning device 1 scans the section information of the other facility of rail at current mileage.
Further, the profile data in what described Laser Radar Scanning device 1 was measured is whole space.
Further, described camera 2 of finding a view is taken pictures to the top of current mileage and the left and right sides, camera 2 of finding a view described in three is mutually vertical, and three photos can be spliced, described in find a view the scanning line center superposition of central region that camera 2 covers and described Laser Radar Scanning device 1.
Further, described mast 3 make the spatial image of described Laser Radar Scanning device 1 and described camera 2 of finding a view and section information mutually corresponding.
Further, described battery power supply system 4 is that the power suppling part of complete machine divides.
Further, described crossbeam 5 is the supporting constructions across track two ends, and complete machine and other equipment all can be arranged on above described crossbeam 5.
Further, there is a projection 14 side of described rail wheel 6.
Further, described run-length encoding device 8 is devices of record mileage, provides measurement signal to device.
Further, the controller of what described embedded controller 10 adopted is arm-m3, it is device to the middle controller of external device and power-supply system, shares the described inclination data of industrial computer 11 and the Processing tasks of code signal.
Further, described gigabit networking controller 9 is controllers of instrument data transmission, makes data be transferred to industrial computer 11 quickly and accurately.
Further, the controller of what described industrial computer 11 adopted is intelcorei7, it is data logging and the process core of device.
Further, described obliquity sensor 12 aligns installation with crossbeam 5 is horizontal and vertical, Measurement accuracy pitch angle and to tilt angle, described obliquity sensor 12 is sensors of recording device athletic posture in orbit, processes and the compensation of locus to late time data.
Further, described run-length encoding device 8 is arranged on a detachable lateral and supports on the movable axis of 7, and run-length encoding device wheel 13 is near described rail wheel 6, and make run-length encoding device wheel 13 not by the direct wearing and tearing of track, range measurement is more accurate.
A method of operation for the other facility scanner unit of rail, comprises the steps:
(1) after transporting equipment to measure field, crossbeam 5, detachable lateral are supported and 7 to be assembled, ensure that the projection 14 of both sides rail wheel 6 is accurately stuck in inside track, the equipment that ensures can stabilized walking in orbit;
(2) remainder is installed, and the communication line of connecting device and power circuit successively;
(3) switch on power switch activated industrial computer 11, operating measurement program;
(4) measurement procedure is under the instruction of operating personal, and the pulse utilizing run-length encoding device 8 to send obtains the miles of relative movement of current device, and the position of predeterminable range is carried out synchronous acquisition and the storage of the data such as radar data, view data, inclination data.
(5) record data and after importing data, in handler, utilize and lead high stagger, final data extracts by three-dimensional image segmentation scheduling algorithm, generating chart and show.Outside generation chart, three-dimensional data can also be presented at three-dimensional demonstration tours around in interface, and operating personal can be browsed the scene at scene in this interface.
Beneficial effect of the present invention:
(1) the present invention have rail other facility 3D modeling, scene are toured around, the function such as equipment geometric data derivation.Allow technical personnel can need not go to scene again behind scanning scene, relevant decision-making is browsed and made to the scene that later-stage utilization scan-data reproduces to trackside facility.
(2) present invention achieves the physical dimension of trackside building structure facility is measured, comprise the trackside facility such as pillar, davit, hard crossbeam, tunnel, sound barrier.By data analysis, obtain the information such as slope, side gauge, tunnel cross-section of pillar and davit, and provide the risk judgment whether having and invade track clearance.
(3) structure of the present invention is simple, and easy to operate, hardware platform and the software processing platform of system all adopt modular design, achieve the measurement to span and rail superelevation inclination angle.
(4) the present invention utilizes the technological means of computer vision and image co-registration, gathers and analyzes, shorten work-hours, improve work efficiency the other facilities information of rail.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is front elevation of the present invention.
Fig. 3 is lateral plan of the present invention.
Fig. 4 is birds-eye view of the present invention.
Fig. 5 is principle schematic of the present invention.
In figure: 1-Laser Radar Scanning device, 2-finds a view camera, 3-mast, 4-battery and electric power system, 5-crossbeam, 6-rail wheel, 7-detachable lateral supports, 8-run-length encoding device, 9-gigabit networking system controller, 10-embedded controller, 11-industrial computer, 12-obliquity sensor, 13-run-length encoding device wheel, 14-is protruding.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is further detailed explanation.
Below in conjunction with embodiment, the present invention is described in further detail, but the invention is not restricted to given embodiment:
The other facility scanner unit of a kind of rail, comprise Laser Radar Scanning device 1, to find a view camera 2, mast 3, battery power supply system 4, crossbeam 5, rail wheel 6, detachable lateral supports 7, run-length encoding device 8, gigabit networking system controller 9, embedded controller 10, industrial computer 11, obliquity sensor 12, rail wheel 6 has two groups, detachable lateral supports 7 two, often organizing rail wheel 6 is arranged in a detachable lateral support 7, detachable lateral supports the both sides that 7 are arranged on crossbeam 5, in the middle of crossbeam 5, mast 3 is installed, mast 3 is installed Laser Radar Scanning device 1, three mutually perpendicular cameras 2 of finding a view are installed in the side of Laser Radar Scanning device 1, obliquity sensor 12 is arranged on immediately below mast 3, industrial computer 11 and battery power supply system 4 are installed respectively in the both sides of crossbeam 5, in the side of industrial computer 11, embedded controller 10 and gigabit networking system controller 9 are installed, run-length encoding device 8 is arranged on detachable lateral and supports on 7.
Laser Radar Scanning device 1 scans the section information of the other facility of rail at current mileage, camera 2 of finding a view is taken pictures to the top of current mileage and the left and right sides, three cameras 2 of finding a view are mutually vertical, ensure that three photos can splice, the scanning line center superposition of the central region that camera 2 of finding a view covers and Laser Radar Scanning device 1; What Laser Radar Scanning device 1 was measured is the profile data in whole space.Mast 3 make Laser Radar Scanning device 1 and the spatial image of camera 2 of finding a view and section information mutually corresponding.
Crossbeam 5 is the supporting constructions across track two ends, and complete machine and other equipment all can be arranged on above crossbeam 5, and there is a projection 14 side of rail wheel 6, and anti-locking apparatus drops from track.
Run-length encoding device 8 is arranged on a detachable lateral and supports on the movable axis of 7, run-length encoding device wheel 13 is near rail wheel 5, make run-length encoding device wheel 13 not by the direct wearing and tearing of track, make range measurement more accurate, it is the device of record mileage, in order to provide measurement signal to device, embedded controller 10 is devices to the middle controller of external device and power-supply system, shares the inclination data of industrial computer 11 and the Processing tasks of code signal.
Gigabit networking controller 9 is controllers of instrument data transmission, makes data can be transferred to industrial computer 11 quickly and accurately, and industrial computer 11 is data logging and the process core of device.
Obliquity sensor 12 aligns installation with crossbeam 5 is horizontal and vertical, ensure that pitch takes measurement of an angle and tilt the accuracy taken measurement of an angle, obliquity sensor 12 is sensors of recording device athletic posture in orbit, is used for carrying out the process of late time data and the compensation of locus.
A method of operation for the other facility scanner unit of rail, comprises the steps:
(1) after transporting equipment to measure field, crossbeam 5, detachable lateral are supported and 7 to be assembled, ensure that the projection 14 of both sides rail wheel 6 is accurately stuck in inside track, the equipment that ensures can stabilized walking in orbit;
(2) remainder is installed, and the communication line of connecting device and power circuit successively;
(3) switch on power switch activated industrial computer 11, operating measurement program;
(4) measurement procedure is under the instruction of operating personal, and the pulse utilizing run-length encoding device 8 to send obtains the miles of relative movement of current device, and the position of predeterminable range is carried out synchronous acquisition and the storage of the data such as radar data, view data, inclination data.
(5) record data and after importing data, in handler, utilize and lead high stagger, final data extracts by three-dimensional image segmentation scheduling algorithm, generating chart and show.Outside generation chart, three-dimensional data can also be presented at three-dimensional demonstration tours around in interface, and operating personal can be browsed the scene at scene in this interface.
Principle of the present invention is as follows:
Field scan: obliquity sensor 12 recording device athletic posture in orbit, run-length encoding device 8 records mileage, thermometer measure prevailing circumstances temperature, data transmission three recorded is in embedded controller 10, embedded controller 10 is devices to the middle controller of external device and power-supply system, share the inclination data of industrial computer 11 and the Processing tasks of code signal, industrial computer 11 is data logging and the process core of device, camera 2 of finding a view is taken pictures to above current mileage and the left and right sides, Laser Radar Scanning device 1 scans the section information of the other facility of rail at current mileage, by the spatial image of gained and section information transmission in industrial computer 11, transfer data on operating terminal through radio node again.
Late time data process: operating terminal and late time data processing platform carry out data transmission, eventually pass data processing platform (DPP) to data analysis, technical personnel can need not go to scene again behind scanning scene, and the scene that later-stage utilization scan-data reproduces is browsed the other facility of rail.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the other facility scanner unit of rail, it is characterized in that, comprise Laser Radar Scanning device (1), to find a view camera (2), mast (3), battery power supply system (4), crossbeam (5), rail wheel (6), detachable lateral supports (7), run-length encoding device (8), gigabit networking system controller (9), embedded controller (10), industrial computer (11), obliquity sensor (12), described rail wheel (6) has two groups, described detachable lateral supports (7) two, often organizing described rail wheel (6) is arranged on described detachable lateral support (7), described detachable lateral supports the both sides that (7) are arranged on described crossbeam (5), in the middle of described crossbeam (5), described mast (3) is installed, the described Laser Radar Scanning device (1) of the upper installation of described mast (3), the side of described Laser Radar Scanning device (1) install three mutually perpendicular described in find a view camera (2), described obliquity sensor (12) is arranged on immediately below described mast (3), described industrial computer (11) and described battery power supply system (4) are installed respectively in the both sides of described crossbeam (5), described embedded controller (10) and described gigabit networking system controller (9) are installed in the side of described industrial computer (11), described run-length encoding device (8) is arranged on described detachable lateral and supports on (7), the controller of what described embedded controller (10) adopted is arm-m3, the controller of what described industrial computer (11) adopted is intelcorei7.
2. the other facility scanner unit of a kind of rail according to claim 1, is characterized in that, described in find a view the scanning line center superposition of central region that camera (2) covers and described Laser Radar Scanning device (1).
3. the other facility scanner unit of a kind of rail according to claim 1, is characterized in that, the profile data in what described Laser Radar Scanning device (1) was measured is whole space.
4. the other facility scanner unit of a kind of rail according to claim 1, it is characterized in that, described obliquity sensor (12) aligns installation with crossbeam (5) is horizontal and vertical, Measurement accuracy pitch angle and the angle that tilts.
5. the other facility scanner unit of a kind of rail according to claim 1, it is characterized in that, described run-length encoding device (8) is arranged on a detachable lateral and supports on the movable axis of (7), and run-length encoding device wheel (13) is near described rail wheel (5).
6. the other facility scanner unit of a kind of rail according to claim 1, it is characterized in that, there is a projection (14) side of described rail wheel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853390.1A CN105313908B (en) | 2015-11-30 | 2015-11-30 | Facility scanning means by a kind of rail |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510853390.1A CN105313908B (en) | 2015-11-30 | 2015-11-30 | Facility scanning means by a kind of rail |
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| CN105313908A true CN105313908A (en) | 2016-02-10 |
| CN105313908B CN105313908B (en) | 2018-02-27 |
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Cited By (11)
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| CN108860214A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of medium-and low-speed maglev F type track detector with positioning function |
| CN108860213A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of band remotely monitors and the rail of wireless data transmission function examines instrument |
| ES2691145A1 (en) * | 2017-05-23 | 2018-11-23 | Universidad Carlos Iii De Madrid | Unmanned railway vehicle, system and procedure for the inspection of infrastructure and railway superstructure. (Machine-translation by Google Translate, not legally binding) |
| CN109443197A (en) * | 2018-10-15 | 2019-03-08 | 北京航天控制仪器研究所 | A kind of online cruising inspection system of contact net geometric parameter |
| CN110001710A (en) * | 2019-04-04 | 2019-07-12 | 同济大学 | System, method and application is reconfigured quickly in a kind of magnetic-levitation three-dimensional scenic |
| CN111079627A (en) * | 2019-12-12 | 2020-04-28 | 哈尔滨市科佳通用机电股份有限公司 | Railway wagon brake beam body breaking fault image identification method |
| CN112394357A (en) * | 2019-08-12 | 2021-02-23 | 天津泰恒电气科技有限公司 | Railway track scanning detection device |
| CN112389497A (en) * | 2019-08-12 | 2021-02-23 | 天津泰恒电气科技有限公司 | Device for continuously scanning and detecting railway |
| CN113223168A (en) * | 2021-03-29 | 2021-08-06 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN114485751A (en) * | 2022-01-21 | 2022-05-13 | 中国铁道科学研究院集团有限公司 | Spatial synchronization system and method for detection data of steel rail flaw detection vehicle |
| CN114802342A (en) * | 2022-04-24 | 2022-07-29 | 西南交通大学 | Visual self-walking inspection equipment for railway track machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2691145A1 (en) * | 2017-05-23 | 2018-11-23 | Universidad Carlos Iii De Madrid | Unmanned railway vehicle, system and procedure for the inspection of infrastructure and railway superstructure. (Machine-translation by Google Translate, not legally binding) |
| CN108860214A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of medium-and low-speed maglev F type track detector with positioning function |
| CN108860213A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of band remotely monitors and the rail of wireless data transmission function examines instrument |
| CN109443197A (en) * | 2018-10-15 | 2019-03-08 | 北京航天控制仪器研究所 | A kind of online cruising inspection system of contact net geometric parameter |
| CN110001710A (en) * | 2019-04-04 | 2019-07-12 | 同济大学 | System, method and application is reconfigured quickly in a kind of magnetic-levitation three-dimensional scenic |
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| CN112394357A (en) * | 2019-08-12 | 2021-02-23 | 天津泰恒电气科技有限公司 | Railway track scanning detection device |
| CN112389497A (en) * | 2019-08-12 | 2021-02-23 | 天津泰恒电气科技有限公司 | Device for continuously scanning and detecting railway |
| CN111079627A (en) * | 2019-12-12 | 2020-04-28 | 哈尔滨市科佳通用机电股份有限公司 | Railway wagon brake beam body breaking fault image identification method |
| CN113223168A (en) * | 2021-03-29 | 2021-08-06 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN113223168B (en) * | 2021-03-29 | 2023-06-30 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN114485751A (en) * | 2022-01-21 | 2022-05-13 | 中国铁道科学研究院集团有限公司 | Spatial synchronization system and method for detection data of steel rail flaw detection vehicle |
| CN114485751B (en) * | 2022-01-21 | 2023-09-12 | 中国铁道科学研究院集团有限公司 | System and method for spatially synchronizing detection data of rail flaw detection vehicle |
| CN114802342A (en) * | 2022-04-24 | 2022-07-29 | 西南交通大学 | Visual self-walking inspection equipment for railway track machine |
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