CN106931885A - The quick, intelligent detecting system of track traffic basic component size and method - Google Patents

The quick, intelligent detecting system of track traffic basic component size and method Download PDF

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Publication number
CN106931885A
CN106931885A CN201710250185.5A CN201710250185A CN106931885A CN 106931885 A CN106931885 A CN 106931885A CN 201710250185 A CN201710250185 A CN 201710250185A CN 106931885 A CN106931885 A CN 106931885A
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China
Prior art keywords
track
basic component
point cloud
laser
track plates
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CN201710250185.5A
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Inventor
王长进
许磊
孟宪军
李亚辉
康占龙
谭兆
张志刚
李新增
铁骊山
秦守鹏
林勇威
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Third Railway Survey and Design Institute Group Corp
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Third Railway Survey and Design Institute Group Corp
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Priority to CN201710250185.5A priority Critical patent/CN106931885A/en
Publication of CN106931885A publication Critical patent/CN106931885A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/002Measuring arrangements characterised by the use of optical means for measuring two or more coordinates
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures

Abstract

The invention discloses a kind of quick, intelligent acquisition system of track traffic basic component size, including laser range finder, basic component type identification device and laser point cloud acquisition system.The range information of laser range finder real-time follow-up basic component;Basic component type identification device is used to obtain the design parameter information of basic component;Laser point cloud acquisition system includes industrial robot, laser scanner and optical tracker.Industrial robot drives the laser point cloud data on laser scanner dynamic access basic component surface, optical tracker to track laser scanner, and for laser scanner provides real-time locus and attitude information.The invention also discloses track traffic basic component dimensional discrepancy detecting system and detection method.The method is intervened without testing staff, realizes automation, intelligentize and informatization detection to the large foundation component such as fragment-free track slab, compared with conventional method, more than 5 times of its improved efficiency, and accuracy of detection improves an order of magnitude.

Description

The quick, intelligent detecting system of track traffic basic component size and method
Technical field
The present invention relates to high speed railway fragments-free track slab detection field, more particularly to a kind of track traffic basic component chi Very little quick, intelligent detecting system and detection method.
Background technology
The type fragment-free track slabs of high-speed railway CRTS III are popularized in an all-round way in high speed railway construction, and the track plates use factory Change prefabricated, one-shot forming production.Used as the basis of bearing track, the type fragment-free track slabs of CRTS III directly influence the smooth-going of track Property, so the making required precision to track plates is very high.According to iron [2013] No. 125 (post stretching) and [2013] of total science and technology No. 162 (pre-tensioning system) documentation requirements, each block of plate all has to pass through comprehensive detection, and generates detection data report, detects work Measure very huge.
The current type fragment-free track slab detection techniques of CRTS III are the improvement carried out to CRTSII templates detection technique, mainly Completed using steel ruler, slide measure, isograph, total powerstation and matching tooling.This set system completes one piece of time of plate detection About 50 minutes, averagely the quantity of production fragment-free track slab was about 100 pieces, current detection effect daily for each fragment-free track slab factory Rate far can not meet the actual demand of track plates production.Existing use total powerstation coordinates the actual measurement of measuring system of frock Precision is about 0.3mm, and the mismachining tolerance that track plates are allowed is 0.5mm, and current detecting system can not fully meet in precision The requirement of size detection error.
The content of the invention
It is an object of the present invention to provide a kind of quick, intelligent detecting system of track traffic basic component size.
It is a further object of the present invention to provide one kind the type non-fragment orbit board sizes of CRTS III are carried out using said detecting system The method of detection.
Therefore, technical scheme is as follows:
A kind of quick, intelligent detecting system of track traffic basic component size, including laser range finder, basic component type Identifying device, laser point cloud acquisition system, Model Reconstruction system and offset detection system, the laser range finder real-time tracking are surveyed The range information of basic component is measured, and whether judgement basis component is in detection zone;The basic component type identification device For reading the pre-buried electronic chip information of basic component or the serial number of basic component side spraying in detection zone, with data Basic component parameter in storehouse is matched, and then obtains the design parameter information of basic component;The laser point cloud collection system System includes industrial robot, laser scanner and optical tracker, and the industrial robot drives laser scanner dynamic access The laser point cloud data on the basic component surface, the optical tracker tracks the laser scanner, and is laser scanning Instrument provides real-time locus and attitude information;The Model Reconstruction system is fast to track traffic basic component laser point cloud The laser point cloud data of fast intelligent acquisition system collection is processed, and rebuilds the 3-D geometric model of each part of basic component;Institute 3-D geometric model of the offset detection system using each part of basic component rebuild is stated, basis is calculated by space geometry The physical dimension of each part of component, then be compared with design size, and then obtain the machining deviation of basic component appearance and size And form examining report.
Above-mentioned laser range finder is arranged on the ground at 0.5 meter of track plates short side, basic component type identification dress Put on the support being arranged at 0.5 meter of rail plate long side.
The basic component type identification device is the radio frequency knowledge that identification technology reads the pre-buried electronic chip information of track plates The industrial camera of other system or the serial number sprayed by character recognition technology reading track plates side.
The industrial robot includes a mechanical arm and its controller, and the laser scanner is arranged on the mechanical arm Lower end, the upper end of mechanical arm is arranged on an accurate slide rail and can be moved along the accurate slide rail;The optical tracker passes through one Universal turning bench and a support frame are arranged on a straight line slide unit and can be moved along the straight line slide unit.
In one embodiment of the invention, conveyer belt, the optical tracker peace are installed on the straight line slide unit On the conveyer belt, the conveyer belt is moved under the control of a stepper motor.
The optical tracker is realized self-positioning by the 3 d space coordinate of dynamic access target, and the target is provided with Multiple, each target is separately mounted to a target and installs on workpiece, and target installs the horizontal stroke that workpiece is arranged on workpiece mounting bracket Liang Shang.
In one embodiment of the invention, the both sides of workpiece mounting bracket basic component in the detection zone One is each provided with, 2 crossbeams, 2 crossbeams and the basic component are provided with one of workpiece mounting bracket Horizontal range and vertical range are differed, and are distinguished the multiple targets in equal face in 2 crossbeams and are installed workpiece.
The type ballastless track slab dimension detection methods of a kind of CRTS III, it is characterised in that comprise the following steps:
S1. track plates surface laser cloud data automatic data collection:
1) track plate transporting is transported into detection zone, by the laser range finder real-time follow-up track plates that pre-set Whether range information, judge track plates in detection zone;
2) after judging that track plates are had been enter into detection zone, start basic component type identification device, obtain the track The design parameter information of plate;
3) laser point cloud acquisition system is started, Synchronization Control mechanical arm, laser scanner and optical tracker are dynamic in real time Obtain the laser point cloud of track plate surface;
S2. track plates reconstructing three-dimensional model:Using laser point cloud acquisition system to the support rail of the type fragment-free track slabs of CRTS III The model of platform, service sleeve and base plate is rebuild, extraction model parameter;
S3. each parts variation detection of track plates:Using offset detection system, according to the model parameter calculation rail extracted in S2 The size value of guidance tape corresponding component, then be compared with design load, obtain the dimension deviation value of each part of track plates.
In step sl, the pre-buried electronic chip information of track plates is read or by Text region skill by REID Art reads the serial number of track plates side spraying, then is matched with the track board parameter in database, and then obtains the track The design parameter information of plate.
In step S2, Model Reconstruction is carried out to track and is comprised the following steps:
(1) the space three-dimensional model in the support rail face of the vice jaw surface and bottom of fragment-free track slab track both sides is rebuild, it is described The geometric parameter of space three-dimensional model is calculated using formula (1):
V1-ax+by+cz+d (1)
In formula:
Vi:The residual error of obserred coordinate value;
a、b、c:Vice jaw surface and or support rail face normal vector;
d:Vice jaw surface and or support rail face equation the 4th parameter;
x、y、z:Laser point coordinates on vice jaw surface or support rail face,
Used as observed quantity, sampling least square method algorithm can be calculated laser spots three-dimensional coordinate on vice jaw surface or support rail face Tetra- values of parameter of a, b, c, d.
(2) tree form data structure of fragment-free track slab original point cloud is set up, is easy to carry out fast search to laser point cloud;
(3) using the laser point cloud of nearly neighborhood search method fast search track region from track plates point cloud;
(4) laser point cloud at vice jaw surface and support rail face is split respectively using rectangle partitioning algorithm and elevation filtering algorithm;
(5) the plane sampled point cloud of support rail face and vice jaw surface is obtained using the stochastical sampling consistency algorithm of areal model;
(6) least-squares algorithm is used, respectively the geometric parameter of Calculation Plane model, to track vice jaw surface and support rail face Plane be fitted.
The service sleeve of fragment-free track slab is before track plates are poured, to be installed on the insulation on railway plate die pilot pin Sleeve pipe.Service sleeve is standard element, and its length is 141mm, and top is cylinder, and its body diameter is 25.5mm, and bottom is Female thread structure.In step S2, Model Reconstruction is carried out to service sleeve and is comprised the following steps:
(1) top cylindrical body three-dimensional models are rebuild, the geometric parameter of cylinder includes cylinder axis normal vector N (NX、NY、 NZ), cylinder axis point coordinates P (PX、PY、PZ) and cylinder radius R, the Space geometric parameter of cylinder model is according to public affairs Formula (2) is calculated::
In formula:
Vi:The residual error of obserred coordinate value;
Nx、Ny、Nz:The normal vector of cylinder;
Px、Py、Pz:The axis point of cylinder;
xi、yi、zi:Laser point coordinates on cylinder;
R:Radius threshold;
Laser spots three-dimensional coordinate inside service sleeve as observed quantity, least square method algorithm of sampling, calculate Nx, Ny, Nz、 x0、y0、z0, seven parameters such as R.
(2) tree form data structure of track plates original point cloud is set up, is easy to carry out fast search to laser point cloud;
(3) laser spots using nearly neighborhood search method from track plates point cloud in fast search service sleeve region Cloud;
(4) laser point cloud of service sleeve is split respectively using rectangle partitioning algorithm and elevation filtering algorithm;
(5) cylinder sampled point cloud is obtained using the stochastical sampling consistency algorithm of cylinder model;
(6) geometric parameter of cylinder model is calculated using least-squares algorithm, the cylinder to service sleeve is fitted.
In step S2, it is to the method that track plates base plate carries out Model Reconstruction:Using cubic type track plates base plate corner Plane computations chassis corner three-dimensional coordinate, with reference to the method being fitted to the plane of track to track plates base plate Areal model be fitted, obtain the plane fitting result of the angle framework of base plate four.
Beneficial effects of the present invention are as follows:
The present invention is based on laser point cloud Processing Algorithm, rebuilds the three of track plate pre-buried sleeve, track and track plates base plate Dimension module, it is automatic to calculate each component geometry size of track plates based on the geometrical model rebuild, then by result of calculation and design parameter It is compared, and counts appearance and size deviation, deviation is automatically generated the detection form of code requirement.Data acquisition and number Automatically controlled according to place's reason detecting system, intervened without testing staff.The method is applicable not only to the size and size of track plates Separate-blas estimation, applies also for the detection of other track traffic basic component sizes and dimensional discrepancy.
Detecting system of the invention is integrated with the key equipments such as industrial robot, laser scanner, optical tracker, and energy Intelligent Measurement is carried out to the fragment-free track slab based on points cloud processing algorithm, is realized big to fragment-free track slab (I/II/III types) etc. The automation of type basic component, intelligentize and informatization detection, with the manual detection side that traditional use total powerstation coordinates frock Formula is compared, more than 5 times of its improved efficiency, and accuracy of detection improves an order of magnitude.
Brief description of the drawings
Fig. 1 is the stereochemical structure of the track traffic quick, intelligent acquisition system of basic component size of one embodiment of the invention Schematic diagram;
Fig. 2 is the partial enlargement structural representation of Fig. 1;
Fig. 3 is the front view structure of the track traffic quick, intelligent acquisition system of basic component size of one embodiment of the invention Schematic diagram;
Fig. 4 is the plan structure of the track traffic quick, intelligent acquisition system of basic component size of one embodiment of the invention Schematic diagram;
Fig. 5 is the structural representation of target erector's part in the present invention;
Fig. 6 is the schematic diagram of target erecting device structure in the present invention;
Fig. 7 is the mounting structure schematic diagram of tracing positioning apparatus in the present invention;
Fig. 8 is the flow chart of the type fragment-free track slab dimensional discrepancy detection methods of CRTS of the present invention III;
During Fig. 9 is one embodiment of the invention, track vertical deviation precision statisticses result figure.
Specific embodiment
The quick, intelligent detecting system of track traffic basic component size of the invention mainly includes 3 parts:Track traffic base The quick, intelligent acquisition system of plinth scantling, Model Reconstruction system and offset detection system.By the industry of data collecting system Robot carries the laser point cloud of laser scanner dynamic access track plate surface, optical tracker real-time tracking laser scanning Instrument, obtains locus and the attitude information of laser scanner, then scan data is merged, and obtains track plates integral surface Laser point cloud;Laser point cloud data is processed by Model Reconstruction system, rebuilds the three-dimensional geometry of each part of track plates Model, obtains track, service sleeve, the three-dimensional modeling data of base plate;It is several using the part rebuild by offset detection system What model, the physical dimension of each part of track plates is calculated by space geometry, then is compared with design size, and then To track plates appearance and size machining deviation and form examining report.
Detecting system of the invention and detection method are described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1-Fig. 7, in detecting system of the invention, the quick, intelligent acquisition system of track traffic basic component size Including laser range finder (not showing in figure, be arranged on the ground at 0.5 meter of track plates short side), basic component type identification Device (not showing in figure, be arranged on the support at 0.5 meter of rail plate long side) and laser point cloud acquisition system.Laser ranging The range information of instrument real-time follow-up basic component, and whether judgement basis component is in detection zone;Basic component type Identifying device is used to read the pre-buried electronic chip information of basic component or the flowing water of basic component side spraying in detection zone Number, matched with the basic component parameter in database, and then obtain the design parameter information of basic component.The laser spots Cloud acquisition system includes industrial robot 11, laser scanner 12 and optical tracker 13.Industrial robot 11 drives laser to sweep The laser point cloud data on the dynamic access basic component surface of instrument 12, the tracking laser scanner 12 of optical tracker 13 are retouched, and is sharp Photoscanner 12 provides real-time locus and attitude information.
Wherein, described basic component type identification device can be that identification technology reads the pre-buried electronic chip letter of track plates The industrial phase of the radio-frequency recognition system of breath, or the serial number sprayed by character recognition technology reading track plates side Machine.
In one embodiment of the invention, basic component is the type fragment-free track slabs 10 of CRTS III, and industrial robot 11 is One mechanical arm, laser scanner 12 is arranged on the lower end of mechanical arm, and the upper end of mechanical arm is arranged on an accurate slide rail 14 and energy Moved along the accurate slide rail, the umbrella-shaped structure in figure represents the following range of optical tracker 13.Referring to Fig. 7, optical tracker 13 are arranged on straight line slide unit 17 and can be moved along straight line slide unit 17 by a universal turning bench 15 and a support frame 16.
Optical tracker 13 is realized self-positioning by the 3 d space coordinate of dynamic access target, and the target is provided with many Individual, referring to Fig. 6, each target is separately mounted to a target for cylinder and installs on the inclined-plane of workpiece 18, and target installs workpiece The angle between plane where 18 upper surface and the inclined-plane of bottom is preferably 60 degree.Multiple targets are installed workpiece 18 and are arranged on On the crossbeam 20 of workpiece erecting device 19, its arrangement and quantity should be guaranteed that when there is overcover to block optical tracker can be examined Measure at least more than 5 positioning target points.
In the embodiments illustrated in the figures, it is each provided with one group of (3) workpiece erecting device in the both sides of track plates to be measured 19, and the height of the workpiece erecting device of both sides is different.Wherein 2 crossbeams are provided with 3 workpiece erecting devices of side The height of 20,2 crossbeams 20 and differed with the distance of track plates 10.
In detecting system of the invention, the Model Reconstruction system is quick, intelligent to track traffic basic component laser point cloud The laser point cloud data of acquisition system collection is processed, and rebuilds the 3-D geometric model of each part of basic component;The deviation Detecting system is calculated basic component each using the 3-D geometric model of each part of basic component rebuild by space geometry The physical dimension of part, then be compared with design size, and then obtain the machining deviation of basic component appearance and size and formed Examining report.
The type ballastless track slab dimension detection methods of CRTS of the invention III are described in detail with reference to Fig. 8.
The detection method is comprised the following steps:
S1. track plates surface laser cloud data automatic data collection:
For quick obtaining track plates surface laser cloud data, laser scanner is manipulated to track using industrial robot Plate carries out dynamic scan.The step of automatic data collection, is as follows:
1. track plate transporting is transported to detection zone by track plates with regard to bit platform automatically, by the laser range finder for pre-setting, Whether real-time follow-up track plates range information, judge track plates in detection zone;
2. track plates enter in detection zone, start track plates identification system, by REID (Radio Frequency Identification, RFID), the pre-buried electronic chip information of track plates is read, or by character recognition technology (Optical Character Recognition, OCR), reads the serial number of track plates sides spraying, then with rail in database Road board parameter is matched, and then obtains the design parameter information of the track plates;
3. after obtaining track board parameter to be detected, laser point cloud acquisition system, Synchronization Control industrial robot, laser are started Scanner and optical tracker, real-time dynamic access track plates surface laser point cloud.
S2. track plates reconstructing three-dimensional model:
The type fragment-free track slabs of high-speed railway CRTS III are mainly made up of track and track plates base plate.《High-speed railway CRTS III plate-type non-fragment orbit pretensioning prestressed concrete track plates, the provisional technology bar of ballastless track of high-speed railway caulking material Part》(iron total science and technology [2013] No. 162) file, to track plates appearance and size deviation and examination requirements in, enumerate track plates detection Project and tolerance.In addition to track plates sealer Thickness sensitivity, other every contents can by track and The geometrical model of track plates base plate is calculated.So, carry out track plates appearance and size separate-blas estimation using three-dimensional laser point cloud Committed step be to rebuild the threedimensional model of track, service sleeve and base plate.
(1) method of track Model Reconstruction is as follows:
The track of fragment-free track slab is made up of the vice jaw surface of both sides and the support rail face of bottom, rebuilds track threedimensional model It is the space three-dimensional model for rebuilding this 3 planes respectively, the Space geometric parameter of areal model can be calculated according to formula 1.
Y1-ax+by+cz+d (1)
In formula:
Vi:The residual error of obserred coordinate value;
a、b、c:The normal vector of plane;
d:4th parameter of plane equation.
Used as observed quantity, sampling least square method algorithm can be calculated laser spots three-dimensional coordinate on vice jaw surface or support rail face Tetra- values of parameter of a, b, c, d.
The track plates surface laser point cloud gathered using laser point cloud acquisition system rebuilds track vice jaw surface or support rail face Threedimensional model, mainly have following steps:
1. the tree form data structure of track plates original point cloud is set up, is easy to carry out fast search to laser point cloud;
2. nearly neighborhood search method, the laser point cloud of fast search track region from track plates point cloud;
3., using rectangle partitioning algorithm and elevation filtering algorithm, the laser point cloud at vice jaw surface and support rail face is split respectively;
4., using the stochastical sampling consistency algorithm (Random Sample Consensus, RANSAC) of areal model, obtain Obtain the plane sampled point cloud of support rail face and vice jaw surface;
5. least-squares algorithm is used, respectively the geometric parameter of Calculation Plane model, to track vice jaw surface and support rail face Plane be fitted.
(2) method of service sleeve Model Reconstruction is as follows:
The service sleeve of fragment-free track slab is before track plates are poured, to be installed on the insulation on railway plate die pilot pin Sleeve pipe.Service sleeve is standard element, and its length is 141mm, and top is cylinder, and its body diameter is 25.5mm, and bottom is Female thread structure.Service sleeve reconstructing three-dimensional model is to rebuild top cylindrical body three-dimensional models, and the geometric parameter of cylinder includes:Circle Post axis normal vector N (NX、NY、NZ), cylinder axis point coordinates P (PX、PY、PZ), and cylinder radius R, cylinder model Space geometric parameter can be calculated according to formula (2).
In formula:
Vi:The residual error of obserred coordinate value;
Nx、Ny、Nz:The normal vector of cylinder;
x0、y0、z0:The axis point of cylinder;
xi、yi、zi:Laser point coordinates on cylinder;
R:Radius threshold;
Laser spots three-dimensional coordinate inside service sleeve as observed quantity, least square method algorithm of sampling, calculate Nx, Ny, Nz、x0、y0、z0, seven parameters such as R.
The track plates surface laser point cloud gathered using laser point cloud acquisition system rebuilds the threedimensional model bag of service sleeve Include following steps:
1. the tree form data structure of track plates original point cloud is set up, is easy to carry out fast search to laser point cloud;
2. nearly neighborhood search method, the laser point cloud from track plates point cloud in fast search service sleeve region;
3., using rectangle partitioning algorithm and elevation filtering algorithm, the laser point cloud of service sleeve is split respectively;
4., using the stochastical sampling consistency algorithm (Random Sample Consensus, RANSAC) of cylinder model, obtain Obtain cylinder sampled point cloud;
5. least-squares algorithm is used, the geometric parameter of cylinder model is calculated, service sleeve cylinder is fitted.
(3) method of track plates base plate Model Reconstruction is as follows:
Track plates back-plane design type is cubical types, using the plane of track plates base plate corner, calculates chassis The three-dimensional coordinate of corner.Areal model fitting algorithm obtains the plan of base plate corner frame plane with reference to the plane fitting of track Close result.
S3. each parts variation detection of track plates:
In iron [2013] No. 162 files of total science and technology, the type track plates apparent size deviations of CRTS III and inspection are itemized in It is required that, mainly comprising deviation requirements such as track plates apparent size, service sleeve, track, fastener spacing, plate top surface flatness. According to the model parameter extracted in above-mentioned steps S2, using offset detection system, corresponding size value can be calculated, then with design Value is compared, you can obtain each component processing dimensional discrepancy value of track plates, wherein relatively important project is only enumerated here.Example Such as, track service sleeve centre distance, can calculate bolt hole center according to the service sleeve of models fitting and support rail face intersection point Actual range, then be compared (design load is 233.3mm) with standard value, you can calculate the machining deviation of bolt hole center.Again Such as, single support rail vice jaw distance, can be parallel upwards along Z axis by support rail surface model according to the areal model parameter of models fitting Mobile 28mm, intersecting for the support rail face for moving up and vice jaw surface is parallel lines, two space lengths of parallel intersection, as singly Individual support rail vice jaw (small jaw) distance.
Experiment and analysis
(1) data description
In order to evaluate the reliability and precision of the inventive method, fragment-free track slab size detection laboratory is established.Experiment System is made up of equipment such as industrial robot (mechanical arm), accurate slide rail, laser scanner and optical trackers.Industrial robot It is the SR10AL models of Shenyang company of Xin Song robots, load capacity:10KG;Repetitive positioning accuracy:±0.06mm;Maximum functional Radius:1957mm;The repetitive positioning accuracy of accurate slide rail:±0.08mm;Maximum speed:5000mm/s;Slide unit length: 7000mm.Laser scanner and optical tracker are the MetroScan750Elite models of Canadian Creaform companies, volume Precision:0.078mm@16.6m3, measure speed:480000 measurement/seconds;Track plates are the rectilinear orbit plate of P5600 types.Rail Road plate top surface is the automatic podium level design in place of 1m, i.e. reference rail plate apart from ground level.
(2) testing result
Fragment-free track slab size detecting system automatically processes track plates surface laser cloud data.Based on laser point cloud treatment Algorithm, rebuilds the threedimensional model of track plate pre-buried sleeve, track and track plates base plate, based on the geometrical model rebuild, automatically Each component geometry size of track plates is calculated, then result of calculation is compared with design parameter, and count appearance and size deviation, Deviation is automatically generated the detection form of code requirement.Data acquisition and data processing are automatically controlled by detecting system, without Testing staff intervenes.Fragment-free track slab dimensional discrepancy examining report is as shown in the table:
Track plates appearance and size inspection card
Track plates appearance and size inspection card
(3) precision analysis
The quick, intelligent detecting system of track board size carries out duplicate detection 20 to P5600 type rectilinear orbit plates to be detected It is secondary.The indoor temperature and humidity relative constancy of detection, a whole set of detecting system is disturbed without external shock.The vertical deviation detection of track It is related to the unilateral all tracks of track plates, testing equipment coverage is larger, is that a whole set of detecting system precision controlling is relatively weak Link.In track plates actual production process, influenceed due to being crept by embedded bar prestressing force, this detection project is also most to hold Easily beyond the deviation of code requirement.Selection vertical deviation accuracy of detection carries out statistical analysis, and same track plates are repeatedly examined Survey data to be counted, the precision for analyzing track vertical deviation is as follows:Maximum difference:0.96, minimal difference:0.92mm, puts down Equal difference:0.94mm, the variance of difference:0.012, shown in vertical deviation precision statisticses result figure 9.
Detecting system of the invention is integrated with the key equipments such as industrial robot, laser scanner, optical tracker, and energy Intelligent Measurement is carried out to the fragment-free track slab based on points cloud processing algorithm, is realized big to fragment-free track slab (I/II/III types) etc. The automation of type basic component, intelligentize and informatization detection, with the manual detection side that traditional use total powerstation coordinates frock Formula is compared, more than 5 times of its improved efficiency, and accuracy of detection improves an order of magnitude.

Claims (13)

1. a kind of quick, intelligent detecting system of track traffic basic component size, it is characterised in that:Including laser range finder, basis Element type identifying device, laser point cloud acquisition system, Model Reconstruction system and offset detection system,
The range information of the laser range finder real-time follow-up basic component, and whether judgement basis component is in detection zone It is interior;
The basic component type identification device is used to read the pre-buried electronic chip information or base of basic component in detection zone The serial number of plinth component side spraying, is matched with the basic component parameter in database, and then obtains setting for basic component Meter parameter information;
The laser point cloud acquisition system includes industrial robot, laser scanner and optical tracker, the industrial robot The laser point cloud data on basic component surface described in laser scanner dynamic access is driven, the optical tracker tracking is described to swash Photoscanner, and for laser scanner provides real-time locus and attitude information;
Laser point cloud of the Model Reconstruction system to the quick, intelligent acquisition system collection of track traffic basic component laser point cloud Data are processed, and rebuild the 3-D geometric model of each part of basic component;
The offset detection system is calculated using the 3-D geometric model of each part of basic component rebuild by space geometry To the physical dimension of each part of basic component, then it is compared with design size, and then obtains adding for basic component appearance and size Work deviation simultaneously forms examining report.
2. the quick, intelligent detecting system of track traffic basic component size according to claim 1, it is characterised in that:It is described Basic component type identification device is that identification technology reads the radio-frequency recognition system of the pre-buried electronic chip information of track plates or passes through Character recognition technology reads the industrial camera of the serial number of track plates side spraying.
3. the quick, intelligent detecting system of track traffic basic component size according to claim 1, it is characterised in that:It is described Industrial robot includes mechanical arm and its controller, and the laser scanner is arranged on the lower end of the mechanical arm, mechanical arm Upper end is arranged on an accurate slide rail and can be moved along the accurate slide rail;The optical tracker passes through a universal turning bench and one Support is arranged on a straight line slide unit and can be moved along the straight line slide unit.
4. the quick, intelligent detecting system of track traffic basic component size according to claim 1, it is characterised in that:It is described Optical tracker is realized self-positioning by the 3 d space coordinate of dynamic access target, and the target is provided with multiple, each mark Target is separately mounted to a target and installs on workpiece, and target is installed workpiece and is arranged on the crossbeam of workpiece mounting bracket.
5. the track traffic quick, intelligent detecting system of basic component size according to any one of claim 1-5, it is special Levy and be:The basic component is the type fragment-free track slabs of CRTS III.
6. type ballastless track slab dimension detection methods of a kind of CRTS III, it is characterised in that comprise the following steps:
S1. track plates surface laser cloud data automatic data collection:
1) track plate transporting is transported into detection zone, the distance of the laser range finder real-time follow-up track plates by pre-setting Whether information, judge track plates in detection zone;
2) after judging that track plates are had been enter into detection zone, start basic component type identification device, obtain the track plates Design parameter information;
3) laser point cloud acquisition system, Synchronization Control mechanical arm, laser scanner and optical tracker, real-time dynamic access are started The laser point cloud of track plate surface;
S2. track plates reconstructing three-dimensional model:Using laser point cloud acquisition system to the track of the type fragment-free track slabs of CRTS III, pre- The model of bushing burying and base plate is rebuild, extraction model parameter;
S3. each parts variation detection of track plates:Using offset detection system, according to the model parameter calculation track plates extracted in S2 The size value of corresponding component, then be compared with design load, obtain the dimension deviation value of each part of track plates.
7. type ballastless track slab dimension detection methods of CRTS according to claim 6 III, it is characterised in that:In step S1 In, the pre-buried electronic chip information of track plates is read by REID or track plates side is read by character recognition technology The serial number of spraying, then matched with the track board parameter in database, and then obtain the design parameter information of the track plates.
8. type ballastless track slab dimension detection methods of CRTS according to claim 6 III, it is characterised in that in step S2, Model Reconstruction is carried out to track to comprise the following steps:
(1) the space three-dimensional model in the support rail face of the vice jaw surface and bottom of fragment-free track slab track both sides, the space are rebuild The geometric parameter of threedimensional model is calculated using formula (1):
V1-ax+by+cz+d (1)
In formula:
Vi:The residual error of obserred coordinate value;
a、b、c:Vice jaw surface and or support rail face normal vector;
d:Vice jaw surface and or support rail face equation the 4th parameter;
x、y、z:Laser point coordinates on vice jaw surface or support rail face,
(2) tree form data structure of fragment-free track slab original point cloud is set up, is easy to carry out fast search to laser point cloud;
(3) using the laser point cloud of nearly neighborhood search method fast search track region from track plates point cloud;
(4) laser point cloud at vice jaw surface and support rail face is split respectively using rectangle partitioning algorithm and elevation filtering algorithm;
(5) the plane sampled point cloud of support rail face and vice jaw surface is obtained using the stochastical sampling consistency algorithm of areal model;
(6) least-squares algorithm is used, the geometric parameter of Calculation Plane model, puts down to track vice jaw surface with support rail face respectively Face is fitted.
9. type ballastless track slab dimension detection methods of CRTS according to claim 6 III, it is characterised in that in step S2, Model Reconstruction is carried out to service sleeve to comprise the following steps:
(1) top cylindrical body three-dimensional models are rebuild, the geometric parameter of cylinder includes cylinder axis normal vector N (NX、NY、NZ), Cylinder axis point coordinates P (PX、PY、PZ) and cylinder radius R, the Space geometric parameter of cylinder model is according to formula (2) Calculated:
V i = ( x i - P x ) 2 + ( y i - P y ) 2 + ( z i - P z ) 2 - [ N x ( y i - P y ) + N y ( y i - P y ) + N z ( z i - P z ) ] 2 - R - - - ( 2 )
In formula:
Vi:The residual error of obserred coordinate value;
Nx、Ny、Nz:The normal vector of cylinder;
Px、Py、Pz:The axis point of cylinder;
xi、yi、zi:Laser point coordinates on cylinder;
R:Radius threshold;
(2) tree form data structure of track plates original point cloud is set up, is easy to carry out fast search to laser point cloud;
(3) laser point cloud using nearly neighborhood search method from track plates point cloud in fast search service sleeve region;
(4) laser point cloud of service sleeve is split respectively using rectangle partitioning algorithm and elevation filtering algorithm;
(5) cylinder sampled point cloud is obtained using the stochastical sampling consistency algorithm of cylinder model;
(6) geometric parameter of cylinder model is calculated using least-squares algorithm, the cylinder to service sleeve is fitted.
10. type ballastless track slab dimension detection methods of CRTS according to claim 6 III, it is characterised in that in step S2, It is to the method that track plates base plate carries out Model Reconstruction:Using the plane computations chassis of cubic type track plates base plate corner The three-dimensional coordinate of corner, the method being fitted with reference to the plane to track is intended the areal model of track plates base plate Close, obtain the plane fitting result of the angle framework of base plate four.
CN201710250185.5A 2017-04-17 2017-04-17 The quick, intelligent detecting system of track traffic basic component size and method Pending CN106931885A (en)

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