CN105806219B - The method for detecting III type track plates apparent size deviation of CRTS - Google Patents
The method for detecting III type track plates apparent size deviation of CRTS Download PDFInfo
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- CN105806219B CN105806219B CN201610171840.3A CN201610171840A CN105806219B CN 105806219 B CN105806219 B CN 105806219B CN 201610171840 A CN201610171840 A CN 201610171840A CN 105806219 B CN105806219 B CN 105806219B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses a kind of methods for detecting III type track plates apparent size deviation of CRTS, the described method comprises the following steps: the first step, using absolute laser tracker and handheld laser scanners combination technique, quick obtaining track plate surface magnanimity laser point cloud；Second step establishes track plates local coordinate system, and laser point cloud is corrected from scanner coordinate system to track plates local coordinate system；Third step realizes the extraction of track plates model parameter using the algorithm of point cloud classifications and model sampling consistency；4th, known models parameter in the model parameter of extraction and design document is compared and analyzed, realizes that track plates apparent size detects automatically.The present invention realizes the apparent size for rapidly and accurately detecting III type fragment-free track slab of CRTS, and detection speed is fast, accuracy is high；It is simple and efficient to handle it is not necessary that fixed test place is arranged in track plates processing workshop.
Description
Technical field
The present invention relates to train rail field of measuring technique.It is more particularly related to which III type of high-speed railway is without the tiny fragments of stone, coal, etc.
The detection of track plates apparent size.
Background technique
The track plates of III type of CRTS are the entirely autonomous intellectual property research and development in China, one-time formed New-type plate without tiny fragments of stone, coal, etc. rail
Road promotes and applies in national high-speed rail project at present.Opposite I type, II type fragment-free track slab.Due to be time processing at
Type, type III non-fragment orbit require processing dimension stringent very stringent, it is desirable that processing dimension error (means suitable in limit difference
0.5mm).Total 2013 ﹞ 125 and No. 162 documentation requirements of science and technology ﹝ of iron: III plate must be detected one by one.Detection is divided into: 10 is big
The detection of class, 19 item datas.It mainly include base plate appearance three-dimensional dimension；Measurement ruler cun, bottom slope in track；Service sleeve
Centre distance, the linearity, profile grade etc..
Currently, III type fragment-free track slab apparent size of high-speed railway detection there are mainly two types of means: (1) being based on motor
Driving total station+special tooling mode: on the basis of II type fragment-free track slab size detection, tooling type is changed
Into, to total station data obtain and analyze software upgrade, realize III type fragment-free track slab apparent size detection.Domestic market
On have the track plates detection system of southern mapping, Chengdu Pu Luo meter Xin, the units development such as 12 innings of middle iron.Such method is current
Using most detection means, it can be achieved that track plates apparent size directly detects in engineering.It, be to one piece of rail according to code requirement
Guidance tape apparent size is completely detected, and the detection time of a whole set of process about 40 minutes.Realize each piece of track plates detection, effect
It is difficult to meet track plates factory in rate and actually generates demand.(2) it is based on close-range photogrammetry+Mechanical Driven mode: liberation army information
Lu's book and China Mining University Fan Shenghong of engineering university discuss the method.Automation inspection based on close range photogrammetric system
Examining system allows video camera to carry out dollying along the route of setting above track plates by stepper motor actuated camera.
The quick obtaining of track plates apparent size may be implemented in such method, then by the processing of analysis software, realizes track plates appearance
Size results automatically generate.Although such method is greatly improved in efficiency, needs change detection scene
It makes, the mechanical device of scanner motion is complex, can not achieve flexible data acquiring mode.In addition, the method needs
Track plate surface projects the laser beam of visible light source, then obtains the corresponding rail of laser beam automatically by computer processing
Guidance tape coordinate.Due to the laser beam limited amount of track inner surface, acquired each planar point quantity only has about 6
A, this mode is unable to the refined model of each plane of perfect reconstruction.
Application No. is 201310747631.5, the patent Shen of entitled " ballastless track slab dimension detection method and device "
Please in, this method obtains the multiple of fragment-free track slab using from different directions and position shoots the fragment-free track slab
Image photograph, since each sheet photo is all opposite, if the photograph of all shootings is stitched together, it is necessary to each
Sheet photo and model are fitted splicing, could obtain entire track Slab, very complicated.
Conventional method directly measures the position of ball-type prism centers point using total station, belongs to One-Point Location measurement, generally
It is measurement 2~3 times, takes the average value of measurement, due to not having excess observation component, compensating computation can not be carried out, precision is lower, generally
For 0.3mm positional accuracy.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
Convenient, quick and high-precision detection method that it is a still further object of the present invention to provide a kind of realization track plates.
In order to realize these purposes and other advantages according to the present invention, a kind of track plates for detecting III type of CRTS are provided
The method of apparent size deviation, the track plates include at least track and service sleeve, comprising the following steps:
S1, high-speed railway track plate to be detected is scanned using laser tracker combination handheld laser scanner, obtained
The point cloud data of the track plate surface；
S2, track plates local coordinate system is established, the point cloud data is corrected into so far coordinate system, obtained track plates and locally sit
Point cloud data under mark system；
S3, classify to the point cloud data under the coordinate system, obtain the point of track inner surface and service sleeve
Cloud data；
S4, joined using plane fitting method from the model that the point cloud data of the track inner surface extracts track inner surface
Number, while using spherical model fitting process from the parameter of the point cloud data of service sleeve extraction service sleeve；
S5, the track inner surface of extraction and the parameter of service sleeve, comparison track plates design document, calculating track are utilized
Board size deviation.
Preferably, the parameter of the track inner surface includes support rail face parameter and the institute of the track soffit plane
State the vice jaw surface parameter of two side plane of track.
Preferably, the central three-dimensional coordinate of the service sleeve by scanning be inserted into the service sleeve from return heart ball
Spherical model surface obtains at the top of type tooling；
Wherein, the bottom from return heart tooling is the taper cork that can be inserted into service sleeve, the taper cork
Bottom plane and the support rail face paste are closed.
Preferably, the method that the point cloud data in support rail face is classified in the step 3 are as follows:
S3-1, support rail face boundary envelope polygon, the packet are defined according to the boundary coordinate of the track bottom plane
Network polygon is the two-dimensional surface polygon for ignoring support rail face elevation information；
The monolith track plates point cloud that S3-2, traverse scanning obtain judges that each is put whether in the envelope polygon,
The preliminary classification in support rail face is completed in XOY projection plane；
S3-3, certain elevation is set using the method for elevation filtering according to the maximum value and minimum value for holding height above rail surface
Threshold value, the point cloud data of traversal previous step rectangle segmentation, judge the corresponding height value of this point cloud data whether in this elevation range,
Point within the scope of this elevation is defined as support rail face point cloud data.
Preferably, model the Leica AT960, the laser scanner model Leica T- of the laser tracker
Scan5。
Preferably, the laser scanner to the laser tracker distance is 1-10 meters.
The present invention is include at least the following beneficial effects:
1, detection efficiency: total station+tooling mode, one piece plate the whole series detection time about 40 minutes, seriously affect normal
Production process；Laser tracking and hand held scanner combination technique only need 3~5 minutes, do not influence normal production process, efficiency is excellent
Gesture is obvious.
2, personnel put into: total station+tooling mode, need two technical staff to cooperate with and complete；Laser is tracked and is held and sweeps
It retouches instrument combination technique and only needs a people, if automatic detection may be implemented using mechanical arm assist in scanning；
3, Result Precision: total station range error is about 0.3mm, is difficult to realize the required precision of 0.5mm detection error, sweeps
Instrument precision is retouched to substantially meet；0.06mm, track plates may be implemented in the overall precision of laser tracking and hand held scanner combination technique
Inspection criterion requirement.
4, detection effect: detection a little, laser tracking and hand held scanner group can only be fixed in total station+tooling mode
Comprehensive and systematic detection may be implemented in conjunction technology, just as doing a whole body health inspection to track plates, does not lose any position
Machining deviation.
5, it operating cost: is saved 40 minutes according to every 100 kilometers of 30,000 6 thousand blocks of plates, every block of plate, saves 20,000 4 thousand hours, press
According to daily 8 hours dutys, 3,000 working days can be saved, according to 200 yuan for each person every day, per 100 km can save 120
Ten thousand yuan of labour cost.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the structural schematic diagram of the track plates of P5600 model；
Fig. 3 a is track service sleeve centre distance figure on the left of track plates；
Fig. 3 b is track service sleeve centre distance figure on the right side of track plates.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be noted that experimental method described in following embodiments is unless otherwise specified conventional method, institute
Reagent and material are stated, unless otherwise specified, is commercially obtained；In the description of the present invention, term " transverse direction ", " vertical
To ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", the instructions such as "outside" side
Position or positional relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and simplification of the description,
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, because
This is not considered as limiting the invention.
As shown in Figure 1, the present invention provides a kind of detection high-speed railway CRTS III type fragment-free track slab apparent size deviation
Method, the track plates include at least track and service sleeve, comprising the following steps:
S1, high-speed railway track plate to be detected is scanned using laser tracker combination handheld laser scanner, obtained
The point cloud data of the track plate surface；
S2, track plates local coordinate system is established, the point cloud data is corrected into so far coordinate system, obtained track plates and locally sit
Point cloud data under mark system；
S3, classify to the point cloud data under the coordinate system, obtain the point of track inner surface and service sleeve
Cloud data；
S4, joined using plane fitting method from the model that the point cloud data of the track inner surface extracts track inner surface
Number, while using spherical model fitting process from the parameter of service sleeve point cloud data extraction service sleeve；
S5, the track inner surface of extraction and the parameter of service sleeve, comparison track plates design document, calculating track are utilized
Board size error.
This method is laser tracker and hand held scanner combination technique, and laser tracker provides real-time to hand held scanner
Position and posture, scanning element cloud are not need to carry out model splicing in the same coordinate system.Distinguished by the method for models fitting
Plane fitting is carried out to the support rail face (soffit plane) of track, vice jaw surface (two side planes), it is quasi- to carry out ball-type to service sleeve
It closes.
Since only 25.5mm, depth reach 141mm to service sleeve diameter, it is direct to be unfavorable for scanner for such dimension scale
Point cloud data on the inside of service sleeve is obtained, therefore in order to obtain the service sleeve central three-dimensional coordinate of track bottom insertion, i.e.,
The intersecting point coordinate of service sleeve central axes and support rail face, the applicant devises from return heart ball-type tooling, described from return heart tooling
Design are as follows: its bottom is the taper cork that can be inserted into service sleeve, the putting down from return heart tooling bottom after being inserted into service sleeve
Face is tightly bonded with support rail face, and the height of bottom surface to the top ball from return heart ball-type tooling after fitting is fixed value, and can be with
Accurately measured by vernier caliper, in this method from return heart ball-type tooling height H be 120mm, from return heart ball-type tooling top
Subpoint of the ball center in portion on support rail face is service sleeve central point, and can pass through vernier caliper precise measurement ball
Radius, the radius of a ball that this method uses is 45mm.By scanning from return heart ball-type tooling mode, indirect gain service sleeve center
Three-dimensional coordinate.In the step S1, it when scanning track, will be inserted into from return heart ball-type tooling in corresponding service sleeve, scanning
From spherical model surface at the top of return heart ball-type tooling.Using from by the way of return heart tooling, indirect gain service sleeve center is swept
Efficiency is retouched to significantly improve.
In order to realize from the monolith track plates surface point cloud data that scanning obtains, the support rail face of track bottom is sorted out
And the laser point cloud of the vice jaw surface of two sides, the step S3 includes the following steps, each when being designed due to high-speed railway
Block track plates can design an all fronts and uniquely number, and the track plates of this number can provide design parameter, include in design parameter
The size of track plates component and relative position, therefore support rail face is defined according to the boundary coordinate of this track plates track bottom plane
Boundary envelope polygon, this envelope polygon are the two-dimensional surface polygon for ignoring support rail face elevation information, then traverse scanning obtains
The monolith track plates point cloud taken judges each point (equally ignoring height value a little) whether in this polygon, using this
Kind method, completes the preliminary classification in support rail face in XOY projection plane；Secondly as can be defined in the design document of track plates
Minimum point, highest point and the plane value of slope in support rail face, therefore, as shown in formula 1, according to the maximum value for holding height above rail surface and most
Small value, the method filtered using elevation set certain elevation threshold value, the point cloud data of traversal previous step rectangle segmentation, judgement
Whether the corresponding height value of this point cloud data is in this elevation range, and point within the scope of this elevation is defined as support rail millet cake cloud.Together
The vice jaw surface point cloud classifications of track two sides can be obtained in reason.
Formula 1:Zmin-δ≤Zpi≤Zmax+δ；
The calculation formula of elevation filtering is carried out to point cloud data
Wherein, Zmin: the minimum height value of support rail face or vice jaw surface is defined in track plates design document；
Zmax: the highest elevation value of support rail face or vice jaw surface is defined in track plates design document；
δ: the threshold value in the filtering of laser point cloud elevation can be set according to scanner precision；
Zpi: the corresponding height value of point cloud data to be sorted.
Further, since in high-speed railway, in design, the parameter of each piece of fragment-free track slab can be designed, the parameter packet
The relative position coordinates of service sleeve are contained, following steps are the design three-dimensional coordinate meter under the local coordinate system of service sleeve center
Calculation process: it is illustrated with the track plates of P5600 model, as shown in Fig. 2, the service sleeve of this model is by 9*4 matrix form arrangement group
At (picture turns counterclockwise 90 ° of observations).It can be read from track plates design standard plan view: unilateral track service sleeve
Central plane distance W1For 233.3mm, two sides track service sleeve ymmetry center plane distance W2For 1515.6mm, unilateral phase
The plan range L of adjacent track service sleeve symmetrical centre is 630mm, and two sides support rail face is both designed as tilting on the inside of route,
Gradient S is 1:40.Track plates part is defined as along the first left service sleeve center of track on the left of line direction
Coordinate origin, point number are defined as T11, coordinate value is (0,0,0), and any other service sleeve point number is defined as Tij(wherein i is
The line number of service sleeve, j are the row number of service sleeve), the local coordinate system at any service sleeve center of P5600 model track plates
Design coordinate value are as follows:
Yij={ YT11+L* (i-1)=630* (i-1) mm
Wherein, i: track line number, j: track row number, W1: unilateral track service sleeve central plane distance, W2: two
Side track service sleeve ymmetry center plane distance, L: the plan range of unilateral adjacent support rails platform service sleeve symmetrical centre,
S: two sides support rail is towards gradient on the inside of route.
The module extender board (P4925, P4856) of other two kinds of models can also calculate pre-buried set according to above-named formula
D coordinates value of the pipe design centre under track plates local coordinate system.Curve ruler exists relative to module extender board, corresponding track
Route is transversely and horizontally mobile to be adjusted, moves longitudinally up and down adjustment in route, and specific adjusted value is clear in design document.If
The D coordinates value under the engineering coordinate system at each piece of each service sleeve center of plate is given in design document, it can be assumed that edge
First, line direction lower left corner service sleeve center is track plates local coordinate system origin, other service sleeve centers are in track
Design coordinate value under plate local coordinate system can be converted by coordinate system and be obtained.
It will be placed at service sleeve from return heart ball-type tooling, and recycle handheld laser scanner to obtain described from return heart
Ball-type tooling surface laser point cloud, since the height from ball-type center to tooling bottom at the top of return heart ball-type tooling can be measured in advance
It surveys, can be calculated from the center theory three-dimensional coordinate of ball at the top of return heart ball-type tooling.
Since mismachining tolerance is typically small, the position of each service sleeve is substantially stationary, the track plates corrected by coordinate system
Point cloud data can set a certain distance threshold value, using the algorithm of half path search shown in formula 2, carry out half path search, can
Realization is classified automatically from return heart ball-type tooling laser point cloud.This method obtains ball table by scanning precision machined ball-type surface
The a large amount of laser point datas in face (about 50 laser point/balls), then by the method for models fitting, measurement accuracy, precision can be improved
The about positional accuracy of 0.03mm.
Formula 2:(R+ δ)2≤(Xi-X0)*(Xi-X0)+(Yi-Y0)*(Yi-Y0)+(Zi-Z0)*(Zi-Z0)
The calculation formula of half path search is carried out to point cloud data
Wherein, Xi\Yi\Zi: the three-dimensional coordinate of track plates laser point cloud data；
X0\Y0\Z0: defined in track plates design document at the top of service sleeve from return heart spherical shape tooling sphere centre coordinate；
R: from return heart spherical shape tooling spherical radius value；
δ: the distance threshold of half path search of laser point cloud can be set according to scanner precision.
Experiment and analysis
In order to evaluate the reliability and precision of introducing method herein, in certain visitor, specially certain plate factory is scanned experiment.The line is adopted
With III type track plates of CRTS, current detection method mainly uses automatic motor type total station+special tooling to realize.Herein
Selection Switzerland comes the laser tracker of card measuring system, the model Leica AT960 of absolute laser tracker, position precision
Are as follows: U_ (x, y, z)=0.015mm+0.006mm/m.Handheld laser scanners model Leica T-Scan5, precision are as follows:
0.060mm, maximum measurement rate are as follows: 210000 points/second.Laser tracker sets station in track plates near zone to be detected, holds
Scanner is to laser tracker distance controlling within the scope of 10 meters.
The track plates surface laser point cloud data that scanner is obtained imports track plates Point Cloud Processing software, passes through
Simple interactive operation produces the track plates apparent size detection content required in specification.Fig. 3 a shows a track plates left side
Side track service sleeve centre distance, Fig. 3 b show track service sleeve centre distance on the right side of track plates.This distance is only
It is a content in achievement, other each detections also generate similar table and corresponding curve graph.Due to laser characteristics and
The service sleeve skew required from return heart tooling, specification and 3 indexs of height of projection and protective layer thickness used can not
Measurement, can be by other tooling subsidiaries.
In order to verify detection method reliability proposed in this paper, accuracy assessment will be carried out in terms of two.Mould is analyzed first
The precision of type fitting, the standard deviation of ball-type fitting are 0.13mm, and the standard deviation of plane fitting is 0.06mm.Secondly, using tradition
Total station detection method measures service sleeve distance, as a result such as table 1.Due to using different equipment, so total station and scanning
Instrument precision is not quite identical, but deviation is almost the same.
The adjacent cannula center of same track two of 1 total station survey of table is away from table
Industrial applicibility of the invention
Using laser tracker+hand held scanner technology, the quick high accuracy that track plates surface point cloud may be implemented is obtained.
For the detection project that track plates inspection criterion requires, laser point cloud data processing software is write, point cloud classifications and sampling are passed through
Consistency algorithm extracts track plates partial model, then is compared with design document, and track plates apparent size can be realized automatically
Detection.Later period can dispose scanner on the robotic arm, realize that on-line automaticization scanning is analyzed with data.
1, detection efficiency: total station+tooling mode, one piece plate the whole series detection time about 40 minutes, seriously affect normal
Production process；Laser tracking and hand held scanner combination technique only need 3~5 minutes, do not influence normal production process, efficiency is excellent
Gesture is obvious.
2, personnel put into: total station+tooling mode, need two technical staff to cooperate with and complete；Laser is tracked and is held and sweeps
It retouches instrument combination technique and only needs a people, if automatic detection may be implemented using mechanical arm assist in scanning；
3, Result Precision: total station range error is about 0.3mm, is difficult to realize the required precision of 0.5mm detection error, sweeps
Instrument precision is retouched to substantially meet；0.06mm, track plates may be implemented in the overall precision of laser tracking and hand held scanner combination technique
Inspection criterion requirement.
4, detection effect: detection a little, laser tracking and hand held scanner group can only be fixed in total station+tooling mode
Comprehensive and systematic detection may be implemented in conjunction technology, just as doing a whole body health inspection to track plates, does not lose any position
Machining deviation.
5, it operating cost: is saved 40 minutes according to every 100 kilometers of 30,000 6 thousand blocks of plates, every block of plate, saves 20,000 4 thousand hours, press
According to daily 8 hours dutys, 3,000 working days can be saved, according to 200 yuan for each person every day, per 100 km can save 120
Ten thousand yuan of labour cost.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (5)
1. a kind of method for detecting III type track plates apparent size deviation of CRTS, the track plates include at least track and pre-buried
Casing, which comprises the following steps:
S1, high-speed railway track plate to be detected is scanned using laser tracker combination handheld laser scanner, described in acquisition
The point cloud data of track plate surface；
S2, track plates local coordinate system is established, the point cloud data is corrected into so far coordinate system, obtains track plates local coordinate system
Under point cloud data；
S3, classify to the point cloud data under the coordinate system, obtain the point cloud number of track inner surface and service sleeve
According to；
S4, the model parameter for extracting track inner surface from the point cloud data of the track inner surface using plane fitting method,
Extract the parameter of service sleeve from the point cloud data of the service sleeve using spherical model fitting process simultaneously；
S5, the track inner surface of extraction and the parameter of service sleeve, comparison track plates design document, calculating track board foot are utilized
Very little deviation；
The method of the point cloud data classification in support rail face in the step S3 are as follows:
S3-1, track inner surface boundaries envelope polygon is defined according to the boundary coordinate of the track bottom plane, it is described
Envelope polygon is the two-dimensional surface polygon for ignoring track inner surface elevation information；
The monolith track plates point cloud that S3-2, traverse scanning obtain judges that each is put whether in the envelope polygon,
The preliminary classification of track inner surface is completed in XOY projection plane；
S3-3, certain height is set using the method for elevation filtering according to the maximum value and minimum value of track inner surface elevation
Whether journey threshold value, the point cloud data of traversal previous step rectangle segmentation, judge the corresponding height value of this point cloud data in this elevation model
It encloses, the point within the scope of this elevation is defined as support rail face point cloud data.
2. the method for detection III type track plates apparent size deviation of CRTS as described in claim 1, which is characterized in that described to hold
The parameter of rail platform inner surface includes the pincers of two side plane of support rail face parameter and the track of the track soffit plane
Entrance parameter.
3. the method for detection III type track plates apparent size deviation of CRTS as claimed in claim 2, which is characterized in that described pre-
The central three-dimensional coordinate of bushing burying by scanning be inserted into the service sleeve from spherical model surface at the top of return heart ball-type tooling
It obtains；
Wherein, the bottom from return heart tooling is the taper cork that can be inserted into service sleeve, the bottom of the taper cork
Plane is bonded with the track inner surface.
4. the method for detection III type track plates apparent size deviation of CRTS as described in claim 1, which is characterized in that described to swash
Model the Leica AT960, the laser scanner model Leica T-Scan5 of optical tracker system.
5. the method for detection III type track plates apparent size deviation of CRTS as described in claim 1, which is characterized in that described to swash
Photoscanner to the laser tracker distance is 1-10 meters.
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| CN107101586A (en) * | 2017-04-24 | 2017-08-29 | 沪杭铁路客运专线股份有限公司 | A kind of method and device for being used to detect CRTS II type fragment-free track slab space geometry morphemes |
| CN107246851B (en) * | 2017-07-26 | 2023-09-08 | 中铁四局集团第一工程有限公司 | CRTSIII type track plate shape measuring device and control method thereof |
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| CN110031248B (en) * | 2019-05-20 | 2020-06-23 | 西南交通大学 | Performance analysis and operation precision evaluation method for track slab automatic detection system |
| CN110134743B (en) * | 2019-05-20 | 2021-03-16 | 西南交通大学 | Database management system and method for overall dimension of finished board |
| CN111504225B (en) * | 2020-04-30 | 2022-05-31 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN112907508B (en) * | 2021-01-14 | 2022-08-16 | 中国第一汽车股份有限公司 | Point cloud virtual matching device and method with tool as carrier |
| CN112945103A (en) * | 2021-03-09 | 2021-06-11 | 中国铁路设计集团有限公司 | Rapid and automatic detecting method and device for contour dimension of tunnel segment and segment mould |
| CN116543037B (en) * | 2023-07-05 | 2024-03-26 | 中国铁路设计集团有限公司 | Method for extracting center of track bearing platform of CRTSIII ballastless track plate |
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| CN101387494B (en) * | 2008-10-06 | 2010-08-25 | 天津大学 | Geometrical dimensional measurement apparatus and method for large-sized tunnel tunnel segment component |
| CN201844816U (en) * | 2010-11-12 | 2011-05-25 | 中建铁路建设有限公司 | Detection tool for space position of embedded pipe of finished board of CRTS (China railway track system) III type track slab |
| CN102607457B (en) * | 2012-03-05 | 2014-12-10 | 西安交通大学 | Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology |
| CN103697813B (en) * | 2013-12-31 | 2016-08-17 | 中建铁路建设有限公司 | Ballastless track slab dimension detection method and device |
| CN105241378B (en) * | 2015-09-21 | 2017-12-12 | 国家电网公司 | Transformer station's 3D outdoor scenes based on laser tracking technology redraw method |
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