CN105313908B - Facility scanning means by a kind of rail - Google Patents
Facility scanning means by a kind of rail Download PDFInfo
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- CN105313908B CN105313908B CN201510853390.1A CN201510853390A CN105313908B CN 105313908 B CN105313908 B CN 105313908B CN 201510853390 A CN201510853390 A CN 201510853390A CN 105313908 B CN105313908 B CN 105313908B
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Abstract
The invention discloses facility scanning means by a kind of rail, including Laser Radar Scanning device (1), camera of finding a view (2), mast (3), battery power supply system (4), crossbeam (5), rail wheel (6), detachable lateral support (7), run-length encoding device (8), gigabit networking system controller (9), embedded controller (10), industrial computer (11), obliquity sensor (12), equipment is assembled, the switch that switches on power starts industrial computer (11), operating measurement program；Synchronous acquisition to data such as radar data, view data, inclination datas and storage again, using lead high stagger, three-dimensional image segmentation scheduling algorithm extracts final data, generation chart be shown.The functions such as the present invention has to trackside facility 3D modeling, scene is toured around, the export of equipment geometric data.
Description
Technical field
The present invention relates to facility scanning means by track detecting field, more particularly to a kind of rail.
Background technology
Track is made up of multiple materials such as soil, rock, steel, timber, concrete, and it is different from house, bridge
It is a kind of more loose architecture structure form Deng building.Under train and the effect of various external force, allow certain bullet be present
Property and plastic deformation.The state of track structure constantly changes in use, produces various track irregularities.With train
Run without interruption, track irregularity is inevitable.The effect that train wheel goes round and begins again in orbit, its wheel-rail force make rail
Road irregularity constantly occurs, develops deterioration.Various track irregularities are to train operation stationarity, riding comfort, safe for operation
Property, wheel-rail force, vehicle and the service life of track component, the speed of worsening of track condition have considerable influence.Track is not
The change of smooth-going will also result in the hurt aggravation and the reduction of service life of rail vehicle operation part, serious track irregularity
Train overturning or derailing can be caused.Track condition and the interaction relationship of train operation, direct relation safety of railway traffic effect
Benefit, so must pay much attention to.
With the speed-raising year after year of railway, railway track inspection work can effectively work shorter and shorter without the car time, original people
Work bracing wire detection method does not adapt to public affair testing requirements, and portable railway detection car can increase substantially railway track inspection
The detection efficiency of work, mitigate the labor intensity of trackwalker, it is that work is engaged in enter row line routine testing using portable railway detection car
The inexorable trend of detection.
Orbit parameter detection is divided into dynamic detection and Static Detection, and dynamic detection is that detection circuit is being transported in rolling stock
The elastic deformation and permanent deformation occurred under dynamic action in row is detected, and it is high speed track checking car that it, which predominantly detects equipment,
But high-speed rail inspection car is expensive, it is difficult to extends to track division use；Static Detection is examined with rail checking instrument or manual method
The rail of survey line road rail is to, the geometric parameter such as height, gauge.Artificial detection means are to use artificial string pulling by experienced worker
Method carries out rail to measurement, using track gauge detect rail to and gauge.Because of hand inspection, speed to be present slow, unreliable etc. many to ask
Topic, have started to study fast, the easy to use track detector of detection speed in this year with instead of hand inspection.
The content of the invention
The present invention overcomes the shortcomings of the prior art, and technical problem to be solved is a kind of simple in construction to provide, behaviour
Make simplicity, efficiency high, data type is enriched, facility scanning means by the rail shortened working hours.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is:
Facility scanning means by a kind of rail, including Laser Radar Scanning device 1, camera 2 of finding a view, mast 3, electricity
Pond electric power system 4, crossbeam 5, rail wheel 6, detachable lateral support 7, run-length encoding device 8, gigabit networking system controller 9, insertion
Formula controller 10, industrial computer 11, obliquity sensor 12, the rail wheel 6 have two groups, and the detachable lateral support 7 has two, often
The group rail wheel 6 is arranged in a detachable lateral support 7, and the detachable lateral support 7 is arranged on the two of crossbeam 5
Side, the middle of the crossbeam 5 install the mast 3, the Laser Radar Scanning device are installed on the mast 3
1, three mutually perpendicular cameras 2 of finding a view, the obliquity sensor are installed in the side of the Laser Radar Scanning device 1
12 are arranged on the underface of the mast 3, and the industrial computer 11 and the battery are installed respectively in the both sides of the crossbeam 5
Electric power system 4, the embedded controller 10 and the gigabit networking system controller are installed in the side of the industrial computer 11
9, the run-length encoding device 8 is arranged in detachable lateral support 7.
Further, the Laser Radar Scanning device 1 scans section information of the rail side facility in current mileage.
Further, what the Laser Radar Scanning device 1 measured is the profile data in whole space.
Further, the camera 2 of finding a view is taken pictures to the top of current mileage and the left and right sides, is found a view described in three
Camera 2 is mutually perpendicular to so that three photos can splice, the central region and the laser radar of the covering of camera 2 of finding a view
The scan line center superposition of scanning means 1.
Further, the mast 3 causes the space of the Laser Radar Scanning device 1 and the camera 2 of finding a view
Image and section information are mutually corresponding.
Further, the battery power supply system 4 is the power suppling part point of complete machine.
Further, the crossbeam 5 is the supporting construction across track both ends, and complete machine and other equipment can be arranged on
Above the crossbeam 5.
Further, there is a projection 14 side of the rail wheel 6.
Further, the run-length encoding device 8 is the device for recording mileage, and measurement signal is provided to device.
Further, for the embedded controller 10 using arm-m3 controller, it is device to external equipment
With the middle controller of power-supply system, the inclination data of the industrial computer 11 and the processing task of encoded signal are shared.
Further, the gigabit networking controller 9 is the controller of instrument data transmission, data is quickly and accurately passed
It is defeated by industrial computer 11.
Further, for the industrial computer 11 using intel corei7 controller, it is the data record of device
And processing core.
Further, the obliquity sensor 12 with crossbeam 5 is horizontal and vertical aligns installation, accurate measurement pitch angles
Spend and the angle that tilts, the obliquity sensor 12 is the sensor of tape deck athletic posture in orbit, to rear issue
According to the compensation for carrying out processing and locus.
Further, the run-length encoding device 8 is arranged on a detachable lateral and supported on 7 movable axis, run-length encoding device
Wheel 13 abuts the rail wheel 6, makes direct abrasion of run-length encoding device wheel 13 not by track, and distance measurement result is more accurate.
The operating method of facility scanning means, comprises the following steps by a kind of rail：
(1) equipment is transported to and assembled crossbeam 5, detachable lateral support 7 after measure field, ensure both sides rail wheel 6
Projection 14 it is accurate be stuck on the inside of track, ensure that equipment can stabilized walking in orbit；
(2) remainder is installed, and is sequentially connected the communication line and power circuit of equipment；
(3) switch that switches on power starts industrial computer 11, operating measurement program；
(4) for process of measurement under the instruction of operating personnel, the pulse sent using run-length encoding device 8 obtains current device
Displacement, the synchronous acquisitions of data such as radar data, view data, inclination data are carried out on the position of pre-determined distance and are deposited
Storage.
(5) record data and after importing data, in processing routine, is calculated using high stagger, three-dimensional image segmentation etc. is led
Method extracts final data, and generation chart is shown.Three-dimensional data can also be included generating outside chart three
Dimension demonstration is toured around in interface, and operating personnel can browse in this interface to the scene at scene.
Beneficial effects of the present invention：
(1) present invention has the functions such as tour around, equipment geometric data exports to facility 3D modeling, scene by rail.Allow
Technical staff can not have to go to scene again behind scanning scene, and the scene that later-stage utilization scan data reproduces is carried out to trackside facility
Browse and make the decision-making of correlation.
(2) present invention is realized to the measurement of the physical dimension of trackside building structure facility, including pillar, davit, hard crossbeam,
The trackside facility such as tunnel, sound barrier.By data analysis, the letters such as the slope of pillar and davit, side gauge, tunnel cross-section are obtained
Breath, and provide the risk judgment for whether having intrusion track clearance.
(3) present invention is simple in construction, and easy to operate, the hardware platform and software processing platform of system are set using modularization
Meter, realizes the measurement to span and rail superelevation inclination angle.
(4) present invention is adopted using computer vision and the technological means of image co-registration to facilities information by rail
Collection and analysis, shorten the working time, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the side view of the present invention.
Fig. 4 is the top view of the present invention.
Fig. 5 is the principle schematic of the present invention.
In figure：1- Laser Radar Scanning devices, 2- find a view camera, 3- masts, 4- batteries and electric power system, and 5- is horizontal
Beam, 6- rail wheels, the support of 7- detachable laterals, 8- run-length encoding devices, 9- gigabit networking system controllers, 10- embedded controllers,
11- industrial computers, 12- obliquity sensors, 13- run-length encodings device wheel, 14- are raised.
Embodiment
With reference to specific embodiment, the present invention is further detailed explanation.
With reference to embodiment, the present invention is described in further detail, but the invention is not restricted to given implementation
Example：
Facility scanning means by a kind of rail, including Laser Radar Scanning device 1, camera 2 of finding a view, mast 3, electricity
Pond electric power system 4, crossbeam 5, rail wheel 6, detachable lateral support 7, run-length encoding device 8, gigabit networking system controller 9, insertion
Formula controller 10, industrial computer 11, obliquity sensor 12, rail wheel 6 have two groups, and detachable lateral support 7 has two, every group of rail wheel
6, which are arranged on a detachable lateral, supports on 7, and detachable lateral support 7 is arranged on the both sides of crossbeam 5, the middle installation mast of crossbeam 5
Support 3, Laser Radar Scanning device 1 is installed on mast 3, three are installed in the side of Laser Radar Scanning device 1 mutually
Perpendicular camera 2 of finding a view, obliquity sensor 12 are arranged on the underface of mast 3, distinguish erector in the both sides of crossbeam 5
Control machine 11 and battery power supply system 4, embedded controller 10 and gigabit networking system controller are installed in the side of industrial computer 11
9, run-length encoding device 8 is arranged in detachable lateral support 7.
Laser Radar Scanning device 1 scans by rail that facility is in the section information of current mileage, and camera 2 of finding a view is to current
The top and the left and right sides of mileage are taken pictures, and three cameras 2 of finding a view are mutually perpendicular to, and are ensured that three photos can splice, are found a view
The scan line center superposition of the central region that camera 2 covers and Laser Radar Scanning device 1；Laser Radar Scanning device 1 measures
Be whole space profile data.Mast 3 cause Laser Radar Scanning device 1 and find a view camera 2 spatial image and
Section information is mutually corresponding.
Crossbeam 5 is the supporting construction across track both ends, and complete machine and other equipment can be arranged on above crossbeam 5,
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 supported on 7 movable axis, and run-length encoding device wheel 13 abuts track
Wheel 6, makes direct abrasion of run-length encoding device wheel 13 not by track, makes distance measurement result more accurate, and it is the dress for recording mileage
Put, to provide measurement signal to device, embedded controller 10 is that device is controlled external equipment and the middle of power-supply system
Device, share the inclination data of industrial computer 11 and the processing task of encoded signal.
Gigabit networking controller 9 is the controller of instrument data transmission, data is quickly and accurately transferred to industry control
Machine 11, industrial computer 11 are the data record and processing core of device.
Obliquity sensor 12 and crossbeam 5 are horizontal and vertical to align installation, ensures pitch measurement angle and tilts
The accuracy of measurement angle, obliquity sensor 12 are the sensors of tape deck athletic posture in orbit, for carrying out the later stage
The processing of data and the compensation of locus.
The operating method of facility scanning means, comprises the following steps by a kind of rail：
(1) equipment is transported to and assembled crossbeam 5, detachable lateral support 7 after measure field, ensure both sides rail wheel 6
Projection 14 it is accurate be stuck on the inside of track, ensure that equipment can stabilized walking in orbit；
(2) remainder is installed, and is sequentially connected the communication line and power circuit of equipment；
(3) switch that switches on power starts industrial computer 11, operating measurement program；
(4) for process of measurement under the instruction of operating personnel, the pulse sent using run-length encoding device 8 obtains current device
Displacement, the synchronous acquisitions of data such as radar data, view data, inclination data are carried out on the position of pre-determined distance and are deposited
Storage.
(5) record data and after importing data, in processing routine, is calculated using high stagger, three-dimensional image segmentation etc. is led
Method extracts final data, and generation chart is shown.Three-dimensional data can also be included generating outside chart three
Dimension demonstration is toured around in interface, and operating personnel can browse in this interface to the scene at scene.
The principle of the present invention is as follows：
Field scan：The tape deck of obliquity sensor 12 athletic posture in orbit, run-length encoding device 8 record mileage,
Thermometer measure prevailing circumstances temperature, by the data transfer of three's record into embedded controller 10, embedded controller 10
It is device to external equipment and the middle controller of power-supply system, shares the processing of the inclination data and encoded signal of industrial computer 11
Task, industrial computer 11 are the data record and processing core of device, and camera 2 of finding a view is carried out above current mileage with the left and right sides
Take pictures, Laser Radar Scanning device 1 scans the section information of facility by rail in current mileage, by the spatial image of gained and
Section information is transferred in industrial computer 11, then is transferred data to by radio node in operation terminal.
Later data processing：Operation terminal carries out data transmission with later data processing platform, finally by data processing
Platform is analyzed data, and technical staff can not have to go to scene again behind scanning scene, and later-stage utilization scan data reproduces
Scene facility by rail is browsed.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (1)
1. facility scanning means by a kind of rail, it is characterised in that including Laser Radar Scanning device (1), camera of finding a view
(2), mast (3), battery power supply system (4), crossbeam (5), rail wheel (6), detachable lateral support (7), run-length encoding device
(8), gigabit networking system controller (9), embedded controller (10), industrial computer (11), obliquity sensor (12), the track
Wheel (6) has two groups, and the detachable lateral support (7) has two, and rail wheel (6) described in every group is arranged on a detachable lateral
Support on (7), the detachable lateral support (7) is arranged on the both sides of the crossbeam (5), and institute is installed among the crossbeam (5)
Mast (3) is stated, the Laser Radar Scanning device (1) is installed on the mast (3), swept in the laser radar
Three mutually perpendicular cameras (2) of finding a view are installed in the side of imaging apparatus (1), and the obliquity sensor (12) is arranged on described
The underface of mast (3), the industrial computer (11) and the battery powered system are installed respectively in the both sides of the crossbeam (5)
Unite (4), the embedded controller (10) and the gigabit networking system controller are installed in the side of the industrial computer (11)
(9), the run-length encoding device (8) be arranged on the detachable lateral support (7) on, the embedded controller (10) using
Arm-m3 controller, the industrial computer (11) is using intel corei7 controller, camera of finding a view (2) covering
Central region and the Laser Radar Scanning device (1) scan line center superposition, the Laser Radar Scanning device (1) surveys
Amount be whole space profile data, the obliquity sensor (12) with crossbeam (5) is horizontal and vertical aligns installation, accurate survey
Amount pitch angle and the angle that tilts, the run-length encoding device (8) are arranged on the activity that a detachable lateral supports (7)
On axle, run-length encoding device wheel (13) abuts the rail wheel (6), and there are one raised (14) side of the 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105313908A CN105313908A (en) | 2016-02-10 |
| CN105313908B true CN105313908B (en) | 2018-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510853390.1A Active CN105313908B (en) | 2015-11-30 | 2015-11-30 | Facility scanning means by a kind of rail |
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| ES2691145B2 (en) * | 2017-05-23 | 2020-04-08 | Univ Madrid Carlos Iii | Unmanned railway vehicle, system and procedure for the inspection of railway infrastructure and superstructure. |
| 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 |
| CN110001710B (en) * | 2019-04-04 | 2021-06-04 | 同济大学 | Magnetic suspension track three-dimensional scene rapid reconstruction system, method and application |
| 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 |
| 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 |
| 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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| US8958079B2 (en) * | 2004-06-30 | 2015-02-17 | Georgetown Rail Equipment Company | System and method for inspecting railroad ties |
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| CN101913368A (en) * | 2010-08-11 | 2010-12-15 | 唐粮 | System and method for fast precise measurement and total factor data acquisition of high speed railway |
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| CN105313908A (en) | 2016-02-10 |
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Effective date of registration: 20170616 Address after: 300250 Tianjin Fuyuan Wuqing Development Zone Wuqing Road No. 18 531-83 (central office) Applicant after: Tianjin railway electrification design and Research Institute Co Ltd Address before: 300000 Tianjin Binhai New Area Airport Economic Zone West Road No. 166 A2-372 Applicant before: China Railway Electrification Survey Design & Research Institute Co., Ltd. |
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Address after: Room 125, 36 Central West Road, pilot free trade zone (Airport Economic Zone), Binhai New Area, Tianjin Patentee after: CHINA RAILWAY ELECTRIFICATION SURVEY DESIGN & RESEARCH INSTITUTE Co.,Ltd. Address before: 531-83, No. 18, Fuyuan Road, Wuqing Development Zone (centralized office area) Patentee before: TIANJIN ZHONGTIE ELECTRIFICATION DESIGN RESEARCH INSTITUTE Co.,Ltd. |