CN112498412B - Combined round table body for railway limit overrun judgment and application method thereof - Google Patents
Combined round table body for railway limit overrun judgment and application method thereof Download PDFInfo
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- CN112498412B CN112498412B CN202011506288.1A CN202011506288A CN112498412B CN 112498412 B CN112498412 B CN 112498412B CN 202011506288 A CN202011506288 A CN 202011506288A CN 112498412 B CN112498412 B CN 112498412B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The combined round table body for railway limit overrun judgment is formed by horizontally rotating a railway limit plane view by 180 degrees around a vertical central shaft of the railway limit plane view. Determining a coordinate system of the combined truncated cone body of railway limit, judging whether the range of the three-dimensional laser scanning point positions exceeds the limit, and converting coordinates of the scanning points in the range into the coordinate system of the combined truncated cone body from the coordinates of the three-dimensional scanning coordinate system; and comparing the radius of the horizontal cross section circle of the combined truncated cone at the z value of a certain scanning point with the horizontal distance of the scanning point from the origin of coordinates, and judging whether the scanning point is overrun. The railway curve section is processed by adopting a mode of two semi-combined circular truncated cones. The method comprises the following steps: (1) determining a railway bounding plan; (2) Generating a limit combined truncated cone and determining a coordinate system thereof; (3) determining whether an overrun scan point range is required to be determined; (4) coordinate system conversion; (5) judging whether the scanning point position exceeds the limit; (6) The railway limit determination on the curve is processed separately on both sides.
Description
Technical Field
The invention relates to a railway limit detection technology by adopting a three-dimensional laser scanning technology.
Background
Railway limit plays a key role in ensuring the safety of railway driving, and in recent years, the railway construction and operation of China have greatly developed, but the railway limit detection is mainly carried out by adopting a traditional mode of combining a limit track detection vehicle and manual fixed-point measurement. The method has the defects of low measurement precision, low speed, large workload, low efficiency and the like, and the clearance state of the whole line cannot be thoroughly described. Meanwhile, as the speed of train operation increases and the number of train operations increases, the time for detecting the limit on the way is reduced, so that the contradiction between railway limit detection and railway operation is caused.
The three-dimensional laser scanning technology has the advantages of high precision, rapidness, mass, non-contact measurement and the like, and the defect of the traditional limit detection mode can be avoided when the technology is applied to the detection of railway limit. However, at present, a three-dimensional laser scanning technology is applied to judge the overrun of railway limit, a cross section method is applied, namely, after the scanned data point cloud is used for determining the mileage of the limit to be judged along the line direction, the cross section is intercepted on the mileage, and whether the position of a point on the cross section is overrun is judged. Because the direction of the line is continuously changed along the longitudinal direction, the direction determination is very complex when the cross section is accurately cut; meanwhile, the phenomenon that points near the section are not intercepted although overrun occurs; and this approach is also disadvantageous in terms of intelligent processing. Therefore, a method for processing data by three-dimensional laser scanning is now desired.
Disclosure of Invention
The invention aims to provide a combined round table body for railway limit overrun judgment and an application method.
The invention relates to a combined round table body for railway limit overrun judgment and an application method thereof, wherein the combined round table body for railway limit overrun judgment is formed by horizontally rotating a railway limit plane figure 2 by 180 degrees around a vertical central shaft 3; the boundary edge line 5 in the railway boundary plane figure is a fold line, and the railway boundary plane figure 2 consists of 3-10 isosceles trapezoids 6; the railway limit combined round table body 1 is also composed of 3-10 round table bodies 7.
The invention relates to an application method of a combined round table body for railway limit overrun judgment, which comprises the following steps:
(1) Determining the shape and specific size of the railway bounding plan view 2;
(2) Generating a railway limit combined round table body 1, and determining a coordinate system of the railway limit combined round table body 1;
(3) Determining the coordinates of a line center point in a scanning system, and then determining the area range of a scanning point which needs to be determined whether the scanning point exceeds the limit;
(4) Converting coordinates of a line center point and scanning points in a determined area range in a scanning system into coordinates in a circular truncated cone coordinate system;
(5) Judging whether the scanning point position exceeds the limit;
(6) For the case that the railway limits on the curves are different on the left side and the right side of the line, a half combined round table a18 and a half combined round table b19 are respectively generated on the left side and the right side of the line, and whether points on the two sides of the line exceed the limits or not is respectively judged.
The beneficial effects of the invention are as follows: when the three-dimensional laser scanning technology is combined to perform railway limit overrun judgment, the complexity of accurately intercepting overrun judgment sections caused by continuous change of railway line directions is avoided, and the condition that overrun points near the overrun judgment sections are not selected can be avoided. The method has the advantages of simple form and strong practicability, can save a large amount of time, can improve the accuracy of overrun point judgment, is particularly suitable for writing software to perform intelligent data processing, and has good application prospect.
Drawings
Fig. 1 is a railway bounding combined round table, fig. 2 is a railway bounding plan view, fig. 3 is a single round table, fig. 4 is a single isosceles trapezoid, fig. 5 is a coordinate system perspective view of the railway bounding combined round table, fig. 6 is a straight section railway bounding combined round table plane position view, fig. 7 is a cylinder of a scanning point bounding which needs to be determined whether the scanning point is out of limit, fig. 8 is a coordinate conversion schematic diagram, fig. 9 is a horizontal section circle scanning point out-of-limit determining schematic diagram, fig. 10 is a railway bounding plan view when the two sides of a line are not in the same, fig. 11 is a semi-combined round table perspective view of two different circle radii, and fig. 12 is a plane schematic diagram of two semi-combined round tables of a curve section.
Detailed Description
The invention relates to a combined round table body for railway limit overrun judgment and an application method thereof, as shown in fig. 1 and 2, wherein the combined round table body for railway limit overrun judgment is formed by horizontally rotating a railway limit plane view 2 by 180 degrees around a vertical central shaft 3 thereof. In the railway limit plan view 2, the limit height is a value from the top surface of the rail 4hDifferent, limit valuessThe two boundary edge lines 5 in the railway boundary plane diagram are a broken line, and the railway boundary plane diagram 2 is composed of 3-10 isosceles trapezoids 6; the railway limit combined round table body 1 is also composed of 3-10 round table bodies 7 (a special case that a cylinder is a round table body).
As shown in fig. 3 and 4, the upper round surface 8 and the lower round surface 9 of each round table 7 in the railway limiting combined round table 1 are formed by rotating the upper side line 10 and the lower side line 11 of the isosceles trapezoid 6 in the corresponding railway limiting plane view 2 by 180 degrees around the vertical central shaft 3. Radius of circular surfacer 8 、r 9 The lengths of the upper edge line 10 and the lower edge line 11 of the corresponding isosceles trapezoid 6l 10 、l 11 Half of (a), i.e. the distance of the corresponding boundary edge line 5 from the vertical central axis 3 in the railway boundary plane figure 2s. The side 12 of the truncated cone 7 is then the waist 13 of the isosceles trapezoid 6, i.e. the curved surface formed by the one revolution of the section-delimited edge line 5 about the vertical central axis 3.
As shown in fig. 5 and 6, a coordinate system oxyz in the railway bounding combined circular truncated cone 1 is determined, the longitudinal direction of a railway line is taken as an x axis, the direction 14 of increasing the mileage of the line is taken as the positive direction of the x axis, and the value of x at the vertical central axis is 0. The y axis is along the horizontal direction and perpendicular to the x axis, the positive direction of the y axis is changed to 90 degrees from the positive direction of the x axis to the right direction of the clockwise direction, and the y value at the vertical central axis is 0. The vertical axis is the z axis, the upward direction is the positive direction, and the z value of the rail taking surface elevation is 0.
As shown in fig. 7, when determining whether or not the laser scanning data point is overrunFirstly, determining the coordinates of a line center in a three-dimensional laser scanning coordinate system according to a scanned data point cloud, then limiting the coverage area of a scanning point needing to be determined whether to exceed the limit in a cylinder 15, and limiting the vertical central axis 3 of the combined circular truncated cone 1, namely the vertical central axis 3 of the corresponding cylinder 15 by a railway, wherein the radius of the cylinder 15 is equal to the radius of the cylinder 15r 1 Maximum radius of horizontal cross-section circle of combined round table 1 for railway limitr 2 Height of railway limit combined round table body 1h 1 I.e. the height of the corresponding cylinder 15h 1 。
As shown in fig. 8 and 9, the coordinates of the points included in the cylinder are transformed, that is, the coordinates of the three-dimensional laser scanning points in the three-dimensional laser scanning coordinate system o 'x' y 'z' are transformed into coordinates in the coordinate system oxyz in the railway bounding compound circular table 1. In coordinate conversion, the direction of the z axis is unchanged, so that the z axis is converted independently, and then the oxy plane is converted. Assuming that the z coordinate value of the origin o ' in the coordinate system oxyz in the circular table in the coordinate system o ' x ' y ' z ' is z 0 The conversion of the scan point coordinates from the z' axis to the z axis is: z=z' +z 0 . If the coordinates of the scanning point in the plane coordinate system o 'x' y 'of the three-dimensional laser scanning coordinate system o' x 'y' z 'are (x', y '), the coordinates in the plane coordinate system oxy of the coordinate system oxy z in the circular table body are (x, y), and the coordinates of o' in the oxy coordinate system are (x) 0 ，y 0 ) The included angle of the plane from the x axis to the x' axis isαThe conversion relationship of the plane coordinate of the scanning point from the o ' x ' y ' coordinate system to the oxy coordinate system is as follows:
x=x'cosα-y'sinα+x 0
y=x'sinα+y'cosα+y 0
(6) When the scanning point is over-limited, firstly, the radius of the horizontal cross section circle 17 of the railway bounding combined round platform 1 at the height is determined according to the z value of the point 16 to be determinedr 17 Then according to the coordinate value (x 16 ，y 16 ) Comparison (x 16 2 +y 16 2 ） 1/2 And (3) withr 17 Is of a size of (a) and (b). When (x 16 2 +y 16 2 ） 1/2 ≥ r 17 When the point 16 is outside the railway limit, the requirement of the railway limit is met; when (x 16 2 +y 16 2 ） 1/2 < r 17 When the point 16 is within the railway limit, a specific analysis of the point is performed. If point 16 is a moving point and briefly occurs at that location, then it may not be determined to be an overrun point; if the point 16 is a non-moving point, it is determined that the point is an overrun point and needs to be cleared in time.
As shown in fig. 10 and 11, if the railway boundary is widened on one side or both sides of the line but the widened values are different on the curve, the railway boundary combined round table 1 is composed of a half combined round table a18 and a half combined round table b19 with two different round surface radiuses, and the half combined round table a18 and the half combined round table b19 correspond to the railway boundary on one side of the line.
As shown in fig. 10, 11 and 12, for the case that railway limits on two sides of a line are different, directions of the joint surfaces 20 of the semi-combined circular truncated cone a18 and the semi-combined circular truncated cone b19 with different circular surface radii can be roughly aligned with an x-axis direction (errors controlled within 10 degrees can meet requirements), and then the limit overrun condition of each side can be judged according to the horizontal cross-section circle 17 of the semi-combined circular truncated cone on the side.
The invention relates to an application method of a combined round table body for railway limit overrun judgment, which comprises the following specific steps:
(1) Determining the shape and specific size of a railway limit plan view 2 according to the railway grade, the section and the plane line shape of the line;
(2) Generating a railway limit combined round table body 1 according to a railway limit plan view 2, and determining a coordinate system of the railway limit combined round table body 1;
(3) Determining coordinates of a line center point in a scanning system according to the three-dimensional laser scanning point cloud, and then determining an area range of a scanning point needing to be determined whether to overrun;
(4) Converting the coordinates of a line center point and a scanning point in a determined area range in an o 'x' y 'z' in a three-dimensional laser scanning system into coordinates in a truncated cone coordinate system oxyz;
(5) Judging whether the scanning point is out of limit according to the coordinate value of the scanning point in the round table coordinate system;
(6) For the case that the railway limits on the curves are different on the left side and the right side of the line, a half combined round table a18 and a half combined round table b19 are respectively generated on the left side and the right side of the line, and whether points on the two sides of the line exceed the limits or not is respectively judged.
Claims (4)
1. The application method of the combined round table body for judging the railway limit overrun is characterized by comprising the following steps:
(1) Determining the shape and specific size of a railway limit plan (2);
(2) Generating a railway limit combined round table body (1), and determining a coordinate system of the railway limit combined round table body (1);
(3) Determining the coordinates of a line center point in a scanning system, and then determining the area range of a scanning point which needs to be determined whether the scanning point exceeds the limit;
(4) Converting coordinates of a line center point and scanning points in a determined area range in a scanning system into coordinates in a circular truncated cone coordinate system;
(5) Judging whether the scanning point position exceeds the limit;
(6) For the case that the railway limits on the curves are different on the left side and the right side of the line, a semi-combined round table a (18) and a semi-combined round table b (19) are respectively generated on the left side and the right side of the line, and whether points on the two sides of the line exceed the limits or not is respectively judged;
the railway limit combined round table body (1) is formed by horizontally rotating a railway limit plane figure (2) by 180 degrees around a vertical central shaft (3) thereof; the boundary edge line (5) in the railway boundary plane figure is a fold line, and the railway boundary plane figure (2) consists of 3-10 isosceles trapezoids (6); the railway limit combined round table body (1) is also composed of 3-10 round table bodies (7);
the coordinates of the three-dimensional laser scanning points in a three-dimensional laser scanning coordinate system o 'x' y 'z' are converted into coordinates in a coordinate system oxyz in the railway bounding combined round table body (1); at the position ofWhen the coordinate conversion is carried out, the direction of the z axis is unchanged, so that the z axis is firstly converted independently, and then the oxy plane is converted; assuming that the z coordinate value of the origin o ' in the coordinate system oxyz in the circular table in the coordinate system o ' x ' y ' z ' is z 0 The conversion of the scan point coordinates from the z' axis to the z axis is: z=z' +z 0 The method comprises the steps of carrying out a first treatment on the surface of the If the coordinates of the scanning point in the plane coordinate system o 'x' y 'of the three-dimensional laser scanning coordinate system o' x 'y' z 'are (x', y '), the coordinates in the plane coordinate system oxy of the coordinate system oxy z in the circular table body are (x, y), and the coordinates of o' in the oxy coordinate system are (x) 0 ，y 0 ) And if the plane included angle from the x axis to the x 'axis is alpha, the conversion relation of the plane coordinate of the scanning point from the o' x 'y' coordinate system to the oxy coordinate system is as follows:
x＝x'cosα-y'sinα+x 0
y＝x'sinα+y'cosα+y 0 ；
whether the scanning point exceeds the limit is judged, firstly, the radius r of a horizontal section circle (17) of the railway bounding combined round table body (1) at the height is determined according to the z value of the point (16) to be judged 17 Then according to the coordinate value (x 16 ，y 16 ) Comparison (x 16 2 +y 16 2 ) 1/2 And r 17 Is of a size of (2);
when (x 16 2 +y 16 2 ) 1/2 ≥r 17 When the point (16) is out of the railway limit, the requirement of the railway limit is met; when (x 16 2 +y 16 2 ) 1/2 <r 17 When the point (16) is within the railway limit, specific analysis is carried out on the point (16) to judge whether the point is an overrun point or not;
for the situation that railway limit is widened on one side or two sides of a line on a curve but the widened values are different, the railway limit combined round table body (1) consists of a half combined round table body a (18) and a half combined round table body b (19) with different round surface radiuses, and the half combined round table body a (18) and the half combined round table body b (19) correspond to railway limit on one side of the line;
when railway limit on two sides of a line is different, the directions of the combining surfaces (20) of the semi-combined circular truncated cone a (18) and the semi-combined circular truncated cone b (19) with different circular surface radiuses can be roughly aligned with the x-axis direction, the error is controlled within 10 degrees, the requirement can be met, and then the limit overrun condition of each side can be judged according to the horizontal cross-section circle (17) of the semi-combined circular truncated cone on the side.
2. The application method of the combined round table for railway limit overrun judgment according to claim 1, wherein the upper round surface (8) and the lower round surface (9) of each round table (7) in the railway limit combined round table (1) are formed by rotating an upper side line (10) and a lower side line (11) of an isosceles trapezoid (6) in a corresponding railway limit plan view (2) by 180 degrees around a vertical central shaft (3); radius r of circular surface 8 、r 9 The length l of the upper edge line (10) and the lower edge line (11) of the corresponding isosceles trapezoid (6) 10 、l 11 I.e. the distance s from the corresponding boundary edge line (5) to the vertical central axis (3) in the railway boundary plan (2);
the side face (12) of the round table body (1) is a curved surface formed by rotating the waist edge (13) of the isosceles trapezoid (6), namely the limiting edge line (5) of the section of the limit around the vertical central shaft (3) for one circle.
3. The application method of the combined round table body for railway limit overrun judgment according to claim 1, wherein in a coordinate system oxyz in the combined round table body (1) for railway limit, the longitudinal direction of a railway line is an x axis, the increasing direction (14) of the mileage of the line is the positive direction of the x axis, and the value of x at the vertical central axis is 0;
the y axis is along the horizontal direction and is vertical to the x axis, the y axis is turned 90 degrees clockwise and horizontally to the right from the positive direction of the x axis to be the positive direction of the y axis, and the y value at the vertical central axis is 0;
the vertical axis is the z axis, the upward direction is the positive direction, and the z value of the rail taking surface elevation is 0.
4. The method for applying a combined round table for railway limit overrun determination according to claim 1, wherein the method is characterized in that the coordinates of the line center in a three-dimensional laser scanning coordinate system are determined according to the scanned data point cloud, and then whether overrun determination is required is determinedThe range covered by the limited scanning point is limited in a cylinder (15), the railway limits the vertical central shaft (3) of the combined circular truncated cone (1), namely the vertical central shaft (3) of the corresponding cylinder (15), and the radius r of the cylinder (15) 1 Maximum radius r of horizontal section circle of combined round table body (1) for railway limit 2 Height h of railway limit combined round table body (1) 1 I.e. the height h of the corresponding cylinder (15) 1 。
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| US6974964B1 (en) * | 2002-06-17 | 2005-12-13 | Bu-Chin Wang | Method and apparatus for three-dimensional surface scanning and measurement of a moving object |
| CN106643546B (en) * | 2016-10-31 | 2019-04-12 | 南京林业大学 | The three-dimensional green biomass measurement method of single wood based on mobile two dimensional laser scanning |
| CN107421502B (en) * | 2017-07-26 | 2019-09-27 | 同济大学 | A kind of railway freight-car limit automatic measurement method |
| AU2017232219B2 (en) * | 2017-09-24 | 2022-08-04 | Rail Vision Europe Ltd | Railroadtrack survey system |
| CN109359347B (en) * | 2018-09-25 | 2023-04-07 | 中铁二院工程集团有限责任公司 | BIM-based three-dimensional arrangement method and device for railway signal outdoor equipment |
| CN109708615B (en) * | 2018-12-20 | 2020-11-06 | 上海同岩土木工程科技股份有限公司 | Subway tunnel clearance dynamic detection method based on laser scanning |
| CN110006396A (en) * | 2019-03-20 | 2019-07-12 | 中铁工程设计咨询集团有限公司 | A kind of tunnel cross-section and limit scanning detection apparatus and method |
| CN110487181A (en) * | 2019-08-24 | 2019-11-22 | 天津大学青岛海洋技术研究院 | A kind of 3 D laser scanning method suitable for marine oil and gas platform |
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