CN107255444A - A kind of laser scan type train loading detection means - Google Patents
A kind of laser scan type train loading detection means Download PDFInfo
- Publication number
- CN107255444A CN107255444A CN201710606042.3A CN201710606042A CN107255444A CN 107255444 A CN107255444 A CN 107255444A CN 201710606042 A CN201710606042 A CN 201710606042A CN 107255444 A CN107255444 A CN 107255444A
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- laser
- platform
- train loading
- detection means
- control
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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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention provides a kind of laser scan type train loading detection means, including：2 pairs of laser scanners, its each pair is separately positioned on the both sides of track；Displacement transducer, it is arranged on the sleeper of track, and it is used to sensing the distance between railway carriage and 2 pairs of laser scanners value；Control centre's platform, it is used to receive the data that institute's displacement sensors and 2 pairs of laser scanners are sent, and the data that control centre's platform is sent by displacement transducer calculate the laser scanner for opening optimum position；Control centre's platform constructs the dynamic envelope curve face of material in railway carriage according to the three-dimensional coordinate for receiving laser scanner transmission, and calculates real-time entrucking volume；Control cabinet, it is arranged on train loading station, and the control cabinet receives control centre's platform and sent after instruction, control cabinet alert.The present invention improves the intelligent level of train loading, reduces labor intensity, cost-effective.
Description
Technical field
The present invention relates to the metering of train useful load and monitoring technical field, more particularly to a kind of laser scan type train loading
Detection means.
Background technology
At home in many railway transportations, train loading enters thing in railway carriage, compartment using straddle truck loaded material
Expect that weight then estimates that then train is started charging area and weighed by track scale by loading operation personnel experience, often save thing in compartment
Expect up to predetermined weight scope, could transport away.This mode, which frequently results in train useful load deficiency or useful load, to transfinite.
When carrying capacity is not enough, the efficiency of transport is reduced, the cost of transport is added；And when useful load transfinites, railway fortune will be jeopardized
Defeated safety, it is necessary to return to stock ground and do unloading processing, greatly reduces entrucking efficiency and improves cost of transportation.
Laser detection is mainly used in displacement detecting, because laser displacement inspecting can realize non-contact detection, and
Detection speed is fast, precision is high, live strong antijamming capability the advantages of, quickly grown in industrial on-line checking field.Due to train
The particularity of carriage body construction, is not easy to directly measure the loading of freight waggon, while entrucking process is individual dynamic, during entrucking
Environment is complicated, and dust is more, and noise is big.The automatic detection and loading of material in train transport are how realized, the automatic of entrucking is realized
Change, improve the intelligent level of train loading system, reduce labor intensity, it is cost-effective, it is the technical problem for being badly in need of solving.
The content of the invention
The problem of for being previously mentioned, the invention provides a kind of laser scan type train loading detection means, including：
2 pairs of laser scanners, its each pair is separately positioned on the both sides of track, the line of a pair of laser scanners of homonymy with
Parallel track and apart from track distance be 5~10m, the laser scanner at set time intervals, continuous acquisition fire
Per frame material flow section profile acquisition point data and belt speed data in car compartment, the laser scanner is cut according to per frame material stream
Facial contour gathers point data and belt speed data set up the three-dimensional coordinate of every frame material flow section profile acquisition point；
Displacement transducer, it is arranged on the sleeper of track, and it is used to sense between railway carriage and 2 pairs of laser scanners
Distance value；
Control centre's platform, it is used to receive the data that institute's displacement sensors and 2 pairs of laser scanners are sent, the control
The data that central platform processed is sent by displacement transducer calculate the laser scanner for opening optimum position；In the control
Heart platform constructs the dynamic envelope curve face of material in railway carriage according to the three-dimensional coordinate for receiving laser scanner transmission, and
Calculate real-time entrucking volume；When the volume of entrucking is more than default volume A or less than default volume B, the control centre
Platform sends the instruction for stopping entrucking or having emptied；
Control cabinet, it is arranged on train loading station, and the control cabinet receives the stopping dress that control centre's platform is sent
After the instruction that car is instructed or emptied, control cabinet alert.
Preferred scheme is：The warning message is audible alarm or indicator light alarm.
Preferred scheme is：The indicator lamp is LED light.
Preferred scheme is：The control cabinet includes touch-screen, ground controller, I/O modular converters；Wherein described ground control
Device processed is connected with I/O modular converters；The touch-screen is connected with the ground controller, and the touch-screen is used to input control life
Order.
Preferred scheme is：Also include middle control intercommunication module, the control cabinet also includes intercommunication module, and middle control intercommunication module is led to
External interface is crossed to be connected and communicated with the intercommunication module.
Preferred scheme is：Scram button is provided with the control cabinet.
The present invention improves the intelligent level of train loading, reduces labor intensity, cost-effective.
Embodiment
The present invention is described in further detail below, to make those skilled in the art being capable of evidence with reference to specification word
To implement.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or many
The presence or addition of individual other elements or its combination.
The invention provides a kind of laser scan type train loading detection means, including：2 pairs of laser scanners, its each pair
The both sides of track are separately positioned on, the line of a pair of laser scanners of homonymy with parallel track and is 5 apart from the distance of track
~10m, the laser scanner at set time intervals, is adopted in continuous acquisition railway carriage per frame material flow section profile
Collect point data and belt speed data, the laser scanner is built according to per frame material flow section profile acquisition point data with belt speed data
The vertical three-dimensional coordinate per frame material flow section profile acquisition point, carries out gray proces by laser scanning image, obtains gray-scale map；It is right
Gray-scale map carries out threshold process, obtains remaining with the binary image of laser lines；Extract the laser lines in binary image
Center line；Feature Points Matching is carried out to center line, and calculates the three-dimensional point cloud obtained under camera coordinate；Three-dimensional point cloud is turned
Change the three dimensional point cloud under coordinate into；Displacement transducer, it is arranged on the sleeper of track, its be used to sensing railway carriage with
The distance between 2 pairs of laser scanners value；Control centre's platform, it is used to receive institute's displacement sensors and 2 pairs of laser scannings
The data that instrument is sent, the data that control centre's platform is sent by displacement transducer, which are calculated, opens swashing for optimum position
Photoscanner；Control centre's platform constructs material in railway carriage according to the three-dimensional coordinate for receiving laser scanner transmission
Dynamic envelope curve face, and calculate real-time entrucking volume；When the volume of entrucking exceedes default volume A or less than default body
During product B, control centre's platform sends the instruction for stopping entrucking or having emptied；With complete car of laser scanner scans
Railway carriage or compartment, obtains all three dimensional point clouds in whole visual field.The three dimensional point cloud that laser scanner is obtained is transferred to the control
Central platform processed.The coordinate of one three dimensional point cloud can be designated as (XW, YW, ZW), and control centre's platform is by multigroup three-dimensional point cloud
Data are spliced, and are built materials in carriage surface surface structure, are obtained volume of material.Specifically, control centre's platform is received
Laser scanner send three dimensional point cloud.Control centre's platform builds materials in carriage surface face type using triangulation
Structure, the spatial relationship by known coordinate system relative to car bottom obtains each point to the height hi of car bottom.Use
Differential summation obtains volume of material：V=Σ hi △ Si wherein Si are the corresponding differential floor spaces of each point；Control cabinet, it sets
Put at train loading station, the control cabinet receives stopping entrucking instruction or the instruction emptied that control centre's platform is sent
Afterwards, control cabinet alert, the warning message is audible alarm or indicator light alarm, and the indicator lamp indicates for LED
Lamp, the control cabinet includes touch-screen, ground controller, I/O modular converters；Wherein described ground controller and I/O moduluss of conversion
Block is connected；The touch-screen is connected with the ground controller, and the touch-screen is used to input control command.The detection means
Also include middle control intercommunication module, the control cabinet also include intercommunication module, middle control intercommunication module by external interface with it is described right
Say that module is connected and communicated.Scram button is provided with the control cabinet.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details.
Claims (6)
1. a kind of laser scan type train loading detection means, it is characterised in that including：
2 pairs of laser scanners, its each pair is separately positioned on the both sides of track, the line and track of a pair of laser scanners of homonymy
Parallel and distance apart from track is 5~10m, the laser scanner at set time intervals, continuous acquisition train car
Per frame material flow section profile acquisition point data and belt speed data in railway carriage or compartment, the laser scanner is according to per frame material flow section wheel
Exterior feature collection point data and belt speed data set up the three-dimensional coordinate per frame material flow section profile acquisition point；
Displacement transducer, it is arranged on the sleeper of track, its be used to sense between railway carriage and 2 pairs of laser scanners away from
From value；
Control centre's platform, it is used to receive the data that institute's displacement sensors and 2 pairs of laser scanners are sent, in the control
The data that heart platform is sent by displacement transducer calculate the laser scanner for opening optimum position；The control centre puts down
Platform constructs the dynamic envelope curve face of material in railway carriage according to the three-dimensional coordinate for receiving laser scanner transmission, and calculates
Real-time entrucking volume；When the volume of entrucking is more than default volume A or less than default volume B, control centre's platform
Send the instruction for stopping entrucking or having emptied；
Control cabinet, it is arranged on train loading station, the control cabinet receive the stopping entrucking that control centre's platform sends or
After the instruction emptied, control cabinet alert.
2. laser scan type train loading detection means according to claim 1, it is characterised in that the warning message is
Audible alarm or indicator light alarm.
3. laser scan type train loading detection means according to claim 2, it is characterised in that the indicator lamp is
LED light.
4. laser scan type train loading detection means according to claim 1, it is characterised in that the control cabinet includes
Touch-screen, ground controller, I/O modular converters；Wherein described ground controller is connected with I/O modular converters；The touch-screen
It is connected with the ground controller, the touch-screen is used to input control command.
5. laser scan type train loading detection means according to claim 1, it is characterised in that also including middle control intercommunication
Module, the control cabinet also includes intercommunication module, and middle control intercommunication module is connected by external interface with the intercommunication module goes forward side by side
Row communication.
6. laser scan type train loading detection means according to claim 1, it is characterised in that set on the control cabinet
It is equipped with scram button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710606042.3A CN107255444A (en) | 2017-07-24 | 2017-07-24 | A kind of laser scan type train loading detection means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710606042.3A CN107255444A (en) | 2017-07-24 | 2017-07-24 | A kind of laser scan type train loading detection means |
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| Publication Number | Publication Date |
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| CN107255444A true CN107255444A (en) | 2017-10-17 |
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ID=60025892
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710606042.3A Pending CN107255444A (en) | 2017-07-24 | 2017-07-24 | A kind of laser scan type train loading detection means |
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| CN (1) | CN107255444A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111006748A (en) * | 2019-12-19 | 2020-04-14 | 神华宝日希勒能源有限公司 | Monitoring system for overload and unbalanced load of railway wagon |
| CN111272215A (en) * | 2020-01-10 | 2020-06-12 | 辽宁工程技术大学 | Soil-water balance shield machine soil output and ground surface settlement early warning system |
| CN113175982A (en) * | 2021-03-30 | 2021-07-27 | 中冶北方（大连）工程技术有限公司 | Railway loading metering method and system based on 3D radar level scanner |
| CN113640821A (en) * | 2021-07-23 | 2021-11-12 | 鞍钢集团矿业有限公司 | Mine car loading amount measuring method based on single-line laser radar scanner scanning |
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| DE29722544U1 (en) * | 1997-12-19 | 1998-02-19 | Siemens AG, 80333 München | Loading system for loading a means of transport with bulk goods |
| CN201096493Y (en) * | 2007-11-15 | 2008-08-06 | 南京武大卓越科技有限公司 | Circular stock ground volume automatic detection system |
| CN202382708U (en) * | 2011-09-15 | 2012-08-15 | 武汉武大卓越科技有限责任公司 | Automatic storage yard laser measuring device |
| CN202630910U (en) * | 2012-06-06 | 2012-12-26 | 武汉汉宁科技有限公司 | Train loading online monitoring device |
| CN203629541U (en) * | 2013-12-18 | 2014-06-04 | 郭俐 | Detection device for loading state of carriage |
| CN104132699A (en) * | 2014-07-24 | 2014-11-05 | 武汉中原电子集团有限公司 | Laser scanning type bulk material flow detection and distribution error elimination method |
| CN104534990A (en) * | 2015-01-13 | 2015-04-22 | 中国矿业大学(北京) | Belt material measuring system based on laser ranging |
| AU2017201277A1 (en) * | 2014-03-11 | 2017-03-16 | 3D Image Automation Pty Ltd | Train Wagon 3D Profiler |
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2017
- 2017-07-24 CN CN201710606042.3A patent/CN107255444A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29722544U1 (en) * | 1997-12-19 | 1998-02-19 | Siemens AG, 80333 München | Loading system for loading a means of transport with bulk goods |
| CN201096493Y (en) * | 2007-11-15 | 2008-08-06 | 南京武大卓越科技有限公司 | Circular stock ground volume automatic detection system |
| CN202382708U (en) * | 2011-09-15 | 2012-08-15 | 武汉武大卓越科技有限责任公司 | Automatic storage yard laser measuring device |
| CN202630910U (en) * | 2012-06-06 | 2012-12-26 | 武汉汉宁科技有限公司 | Train loading online monitoring device |
| CN203629541U (en) * | 2013-12-18 | 2014-06-04 | 郭俐 | Detection device for loading state of carriage |
| AU2017201277A1 (en) * | 2014-03-11 | 2017-03-16 | 3D Image Automation Pty Ltd | Train Wagon 3D Profiler |
| CN104132699A (en) * | 2014-07-24 | 2014-11-05 | 武汉中原电子集团有限公司 | Laser scanning type bulk material flow detection and distribution error elimination method |
| CN104534990A (en) * | 2015-01-13 | 2015-04-22 | 中国矿业大学(北京) | Belt material measuring system based on laser ranging |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111006748A (en) * | 2019-12-19 | 2020-04-14 | 神华宝日希勒能源有限公司 | Monitoring system for overload and unbalanced load of railway wagon |
| CN111272215A (en) * | 2020-01-10 | 2020-06-12 | 辽宁工程技术大学 | Soil-water balance shield machine soil output and ground surface settlement early warning system |
| CN113175982A (en) * | 2021-03-30 | 2021-07-27 | 中冶北方（大连）工程技术有限公司 | Railway loading metering method and system based on 3D radar level scanner |
| CN113640821A (en) * | 2021-07-23 | 2021-11-12 | 鞍钢集团矿业有限公司 | Mine car loading amount measuring method based on single-line laser radar scanner scanning |
| CN113640821B (en) * | 2021-07-23 | 2024-01-12 | 鞍钢集团矿业有限公司 | Mine car loading capacity metering method based on single-line laser radar scanner scanning |
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Application publication date: 20171017 |