CN114562938B - Track beam bridge detection method, device, equipment and readable storage medium - Google Patents
Track beam bridge detection method, device, equipment and readable storage medium Download PDFInfo
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- CN114562938B CN114562938B CN202210050476.0A CN202210050476A CN114562938B CN 114562938 B CN114562938 B CN 114562938B CN 202210050476 A CN202210050476 A CN 202210050476A CN 114562938 B CN114562938 B CN 114562938B
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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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- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
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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
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Abstract
The invention provides a track beam bridge detection analysis method, a device, equipment and a readable storage medium, wherein the track beam bridge section detection point coordinates are calculated according to detection data; and calculating to obtain a detection result of the track bridge according to the track bridge deviation analysis data. According to the invention, a high-precision three-dimensional laser scanner is adopted to perform three-dimensional scanning on a track beam bridge, high-precision and high-density three-dimensional point cloud data of the track beam bridge are obtained, three-dimensional coordinates of detection points of each detection section are extracted and calculated, basic data are provided for track beam bridge linear detection, calculation and analysis, a track beam bridge center line deviation, elevation deviation, working surface linearity, longitudinal flatness, plane and vertical linear elevation and track beam side surface distance center deviation detection calculation mathematical model is established according to track beam structure design parameters, and the problems of low measurement efficiency, poor operation safety and incomplete detection and analysis of the conventional detection method are solved.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail beam bridge detection method, a device, equipment and a readable storage medium.
Background
The content and the technical method of track girder bridge linear detection in the existing straddle type monorail traffic construction and acceptance Specification and urban rail traffic engineering measurement Specification mainly take a simple PC track girder of Chongqing monorail Hitachi system as a main part, and lack continuous rigid frame PC track girder bridge linear detection content. Meanwhile, various types of straddle type monorail traffic engineering such as Pongbard and Biyadi cloud tracks are built in China, and for detecting the track beam bridge linearity, the vehicle interface file also provides detection items such as the working face linearity, the longitudinal flatness of the working face, the center deviation of the side face of the track beam and the like, and the related content of the track beam bridge linearity detection of the above types is lacking in the prior art specification.
In the existing technical specifications and actual engineering, measuring equipment such as a level gauge, a total station, a U-shaped ruler, a level ruler and a detection ruler are mainly used for track beam bridge linear detection, and the problems of low measurement efficiency, poor operation safety, incomplete detection analysis and the like exist.
Disclosure of Invention
The present application aims to provide a track bridge detection method, a device, equipment and a readable storage medium, so as to improve the problems. The technical scheme adopted by the application is as follows:
in a first aspect, the present application provides a track bridge detection method, including the steps of:
acquiring detection data of a first detection device, wherein the detection data are three-dimensional point cloud data of a track beam on a track beam bridge;
according to the detection data, calculating to obtain coordinates of detection points of the cross section of the track beam bridge;
calculating to obtain track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and calculating to obtain a track beam bridge detection result according to the track beam bridge deviation analysis data;
and acquiring technical requirement range data of the track beam bridge, and judging whether a detection result of the track beam bridge is within the range of the technical requirement range data of the track beam bridge.
In the prior art, measuring equipment such as a level gauge, a total station, a U-shaped ruler, a level ruler and a detection ruler is mainly used for track beam bridge linear detection in actual engineering, so that the problems of low measuring efficiency, poor operation safety, incomplete detection analysis and the like exist. The existing technical specifications lack the related content of novel system track beam bridge linear detection such as Pongbardi and Biyadi cloud tracks and the like and continuous rigid frame PC track beam bridge linear detection, and the corresponding detection calculation analysis method is required to be further researched.
The method comprises the steps of obtaining track beam bridge section detection point coordinates through obtained detection data, wherein the detection data comprise track beam three-dimensional point cloud data on a track beam bridge, obtaining track beam bridge deviation analysis data through track beam bridge section detection point coordinates, further obtaining track beam bridge linear detection analysis results, and comparing the results to realize three-dimensional space linear integral evaluation of the track beam bridge, so that the application requirements of practical engineering can be met.
Optionally, the acquiring the detection data of the first detection device includes:
the method comprises the steps of obtaining layout information of the track beam bridge control points, wherein the track beam bridge control points comprise at least four control points, and the track beam bridge control points are obtained through calculation by a free station setting method;
based on layout information, a first control command is sent, wherein the first control command comprises a command for measuring the control points of the track beam bridge by a layout total station;
acquiring total station measurement data;
and calculating and converting according to the total station measurement data to obtain the track beam bridge three-dimensional cloud data, wherein the track beam bridge three-dimensional cloud data comprises the detection data.
Optionally, the calculating, according to the detection data, a track beam section detection point coordinate includes:
Transmitting a second control command, wherein the second control command comprises a command for scanning the track beam bridge control point by adopting a three-dimensional laser scanner;
acquiring scanning data of a three-dimensional laser scanner, wherein the scanning data comprises three-dimensional coordinates of the track beam bridge control points;
preprocessing the scanning data, and calculating to obtain three-dimensional point cloud data of the track beam bridge;
and calculating according to the three-dimensional point cloud data of the track beam bridge to obtain the track beam section detection point coordinates.
Optionally, the calculating to obtain track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and calculating to obtain a track beam bridge detection result according to the track beam bridge deviation analysis data, including:
performing plane deviation calculation on the coordinates of the track beam section detection points to obtain plane deviation data of the track beam bridge section detection points;
carrying out elevation deviation calculation on the coordinates of the track beam section detection point to obtain elevation deviation data of the track beam bridge section detection point;
recording plane deviation data of the track beam bridge section detection point and elevation deviation data of the track beam bridge section detection point as track beam bridge deviation analysis data;
Establishing a mathematical model according to the track beam bridge deviation analysis data;
and solving the mathematical model to obtain the track beam bridge detection result, wherein the track beam bridge detection result comprises a track beam bridge working face linear analysis result, a track beam bridge working face longitudinal flatness detection analysis result, a track beam bridge plane linear rise detection analysis result, a track beam bridge vertical linear rise detection analysis result and a track beam bridge side surface distance center deviation detection analysis result.
In a second aspect, the present application further provides a track bridge detection apparatus, including:
the acquisition module is used for: the method comprises the steps of acquiring detection data of a first detection device, wherein the detection data are three-dimensional point cloud data of a track beam on a track beam bridge;
a first calculation processing module: the method is used for calculating and obtaining the coordinates of the detection points of the cross section of the track beam bridge according to the detection data;
and a second calculation processing module: the method is used for calculating and obtaining track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates and calculating and obtaining a track beam bridge detection result according to the track beam bridge deviation analysis data;
and the judging and processing module is used for: and the detection device is used for acquiring the technical requirement range data of the track beam bridge and judging whether the detection result of the track beam bridge is in the range of the technical requirement range data of the track beam bridge.
Preferably, the acquisition module further comprises:
the first acquisition unit is used for acquiring layout information of the track beam bridge control points, wherein the track beam bridge control points comprise at least four control points, and the track beam bridge control points are calculated by a free station setting method;
the first command sending unit is used for sending a first control command based on layout information, wherein the first control command comprises a command for measuring the control point of the track beam bridge by a layout total station;
the second acquisition unit is used for acquiring total station measurement data;
the first calculation unit is used for calculating and converting according to the total station measurement data to obtain the track beam bridge three-dimensional cloud data, and the track beam bridge three-dimensional cloud data comprises the detection data.
Preferably, the first computing processing module includes:
the second command sending unit is used for sending a second control command, and the second control command comprises a command for scanning the track beam bridge control point by adopting a three-dimensional laser scanner;
the third acquisition unit is used for acquiring scanning data of the three-dimensional laser scanner, wherein the scanning data comprise three-dimensional coordinates of the track beam bridge control points;
The second computing unit is used for preprocessing the scanning data and computing to obtain three-dimensional point cloud data of the track beam bridge;
and the third calculation unit is used for calculating according to the three-dimensional point cloud data of the track beam bridge to obtain the coordinates of the detection points of the track beam section.
Preferably, the second computing processing module further includes:
the fourth calculation unit is used for carrying out plane deviation calculation on the coordinates of the track beam section detection point to obtain track beam bridge section detection point plane deviation data;
the fifth calculation unit is used for carrying out elevation deviation calculation on the coordinates of the track beam section detection point to obtain elevation deviation data of the track beam bridge section detection point;
the analysis data unit is used for recording the center line deviation data of the track beam bridge section detection point and the elevation deviation data of the track beam bridge section detection point as the track beam bridge deviation analysis data;
the modeling unit is used for establishing a mathematical model according to the track beam bridge deviation analysis data;
the operation solving unit is used for solving the mathematical model to obtain the track beam bridge detection result, and the track beam bridge detection result comprises a track beam bridge working face linear analysis result, a track beam bridge working face longitudinal flatness detection analysis result, a track beam bridge plane linear rise detection analysis result, a track beam bridge vertical linear rise detection analysis result and a track beam bridge side face distance center deviation detection analysis result.
In a third aspect, the present application also provides a track bridge detection apparatus, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the track beam bridge detection method when executing the computer program.
In a fourth aspect, the present application also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the track beam bridge detection method described above.
The beneficial effects of the application are as follows: the track beam bridge is subjected to three-dimensional scanning by adopting a high-precision three-dimensional laser scanner, high-precision and high-density three-dimensional point cloud data of the track beam bridge are obtained, three-dimensional coordinates of detection points of each detection section are extracted and calculated, basic data are provided for linear detection, calculation and analysis of the track beam bridge, and the problems of low measurement efficiency, poor operation safety and incomplete detection and analysis of a conventional detection method are solved;
based on the three-dimensional coordinates of the detection points of the track beam bridge, a detection mathematical model is established according to the design parameters of the line design flat curve, the vertical curve and the track beam structure, the track beam bridge line shape is comprehensively detected and analyzed, the track beam bridge line shape detection and calculation analysis method of the prior art specification is optimized and perfected, and the requirements of continuous rigid frame PC track beam and novel system monorail traffic engineering track beam bridge line shape detection such as Pongbardi and Biyadi cloud tracks are met.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for detecting a track beam bridge according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a track bridge detection device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a track beam bridge detection apparatus according to an embodiment of the present invention.
The marks in the figure: 1. an acquisition module; 11. a first acquisition unit; 111. a third command transmitting unit; 112. a fourth acquisition unit; 113. a first extraction unit; 12. a first command transmitting unit; 13. a second acquisition module; 14. a first calculation unit; 2. a first calculation processing module; 21. a second command transmitting unit; 22. a third acquisition unit; 23. a second calculation unit; 24. a third calculation unit; 3. a second calculation processing module; 31. a fourth calculation unit; 32. A fifth calculation unit; 33. analyzing the data unit; 331. a fourth command transmitting unit; 332. A fifth acquisition unit; 333. a second extraction unit; 334. a sixth calculation unit; 34. a modeling unit; 35. an operation solving unit; 4. a judgment processing module; 801. a processor; 802. a memory; 803. a multimedia component; 804. an input/output (I/O) interface; 805. a communication component.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1:
in the prior art, as one of three technical cores of a straddle type monorail traffic system, the linear precision control of a track beam bridge is an important guarantee for the safe, stable and rapid running of a train. The track beam structure is mostly in a space curve shape and is provided with an ultrahigh speed, after the track Liang Yijing is manufactured and erected to form a track bridge, the later-period adjustable allowance is very small, and the linear precision of the track beam bridge must meet the operating requirement. In the track beam construction process, the track beam (namely the track beam bridge) after bridge formation is subjected to linear detection analysis and precision control so as to improve the linear smoothness of the track beam bridge.
The content and the technical method of track girder bridge linear detection in the existing straddle type monorail traffic construction and acceptance Specification and urban track traffic engineering measurement Specification mainly take a simple PC track girder of Chongqing single-track Hitachi mode as a main part, and lack continuous rigid frame PC track girder bridge linear detection content. Meanwhile, various types of straddle type monorail traffic engineering such as Pongbard and Biyadi cloud tracks are built in China, and for detecting the track beam bridge linearity, the vehicle interface file also provides detection items such as the working face linearity, the longitudinal flatness of the working face, the center deviation of the side face of the track beam and the like, and the related content of the track beam bridge linearity detection of the above types is lacking in the prior art specification, so that a corresponding detection calculation analysis method is required to be further researched.
However, in the current technical specifications and actual engineering, measuring equipment such as a level gauge, a total station, a U-shaped ruler, a level ruler, a detection ruler and the like is mainly used for track beam bridge linear detection, but the problems of low measurement efficiency, poor operation safety, incomplete detection analysis and the like exist.
Therefore, in order to solve the problems, the invention provides a track beam bridge detection method, which can acquire three-dimensional point cloud data of a track beam bridge by adopting a three-dimensional laser scanning technology and perform track beam bridge linear detection analysis so as to realize three-dimensional space linear integral evaluation of the track beam bridge, thereby meeting the application requirements of practical engineering.
The embodiment provides a track beam bridge detection method.
Referring to fig. 1, the method is shown to include steps S1, S2, S21, S3, S31, S4, S5 and S6.
S1, acquiring detection data of a first detection device, wherein the detection data are three-dimensional point cloud data of a track beam on a track beam bridge;
it can be understood that in this step, the layout information of the track beam bridge control points is obtained, where the track beam bridge control points include at least four control points, and the track beam bridge control points are calculated by a method of freely setting up a station; based on layout information, a first control command is sent, wherein the first control command comprises a command for measuring the control points of the track beam bridge by a layout total station;
Acquiring total station measurement data; and calculating and converting according to the total station measurement data to obtain the track beam bridge three-dimensional cloud data, wherein the track beam bridge three-dimensional cloud data comprises the detection data.
Establishing a track beam bridge detection control network and measuring coordinates of the control network: the track girder bridge linear detection control network comprises an off-line control point and an on-line control point. The off-line control points adopt existing track beam foundation control points, an on-line control point is established on the top surface of the track beam above the bridge pier, station coordinates of a station established by the total station are obtained by freely establishing stations through the off-line existing track beam foundation control points, and then three-dimensional coordinates of the on-line control points are obtained by observing the on-line control points;
observing three-dimensional coordinates of at least 4 track beam bridge linear detection control points by adopting a high-precision three-dimensional laser scanner, calculating the coordinates of mirror placement points of the scanner according to the coordinates of the control points and intersection of the corner observation data, and orienting the scanner; erecting a scanner on line, and scanning the outer side surface of the rail bridge; erecting a scanner (a special measuring tripod is configured) on the on-line evacuation platform, and scanning the top surface and the inner side surface of the track girder bridge; each measuring station of the scanner scans 1-2 beams, and adjacent measuring stations overlap 1/4 beam; and acquiring image data of the track Liang Quanjing during three-dimensional laser scanning of the track bridge, so as to obtain three-dimensional point cloud data of the track bridge.
The three-dimensional point cloud data of the track beam, which is acquired by the three-dimensional laser scanner, not only comprises target track beam data, but also comprises other point cloud data such as contact rails, emergency evacuation channels, pier columns, trees and the like. In order to improve the data processing precision and efficiency, the point cloud data is required to be preprocessed; the track Liang Dianyun data processing is performed by TRW (Trimble RealWorks) software, and mainly comprises the working contents of point cloud data deletion and classification, internal coincidence precision inspection, point cloud thinning and the like; and outputting the point cloud data in an asc format after the point cloud data preprocessing is completed, and using the point cloud data in an asc format for the follow-up track beam detection section extraction and detection point coordinate calculation work.
S2, calculating to obtain coordinates of detection points of the cross section of the track beam bridge according to the detection data;
it can be understood that in this step, a second control command is sent, where the second control command includes a command for scanning the track beam bridge control point by using a three-dimensional laser scanner; acquiring scanning data of a three-dimensional laser scanner, wherein the scanning data comprises three-dimensional coordinates of the track beam bridge control points; invoking TRW software, preprocessing the scanning data, and calculating to obtain three-dimensional point cloud data of the track beam bridge; and calculating according to the three-dimensional point cloud data of the track beam bridge to obtain the coordinates of the detection points of the track beam section.
The calculating to obtain the track beam bridge section detection point coordinates comprises the following steps: the linear detection sections of the track beam bridge are distributed along the line trend, 1 detection section is distributed in an encrypted manner at 0.5m on each of two sides of the joint of the track beam, and 1 detection section is distributed in an encrypted manner at the center of the middle pier post-pouring zone of the continuous rigid frame track beam; 7 detection points, namely a center line point and a contact point between a vehicle wheel and a track beam, are distributed on each detection section, three-dimensional coordinates of the 7 detection points are extracted and calculated in three-dimensional point cloud data according to track beam bridge design parameters and detection section design mileage, track beam bridge linear detection calculation analysis is carried out through straddle type monorail traffic track beam detection analysis software, and track beam bridge section detection point coordinates are calculated.
S21, the layout information of the track beam bridge control points includes:
transmitting a third control command, wherein the third control command comprises a command for measuring three-dimensional coordinates of the top surface and two side surfaces of a track beam above the bridge pier;
obtaining a result of the three-dimensional coordinate measurement;
and extracting the information of the track beam bridge control points according to the three-dimensional coordinate measurement result.
S3, calculating to obtain track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and calculating to obtain a track beam bridge detection result according to the track beam bridge deviation analysis data;
It can be understood that in this step, plane deviation calculation is performed on the coordinates of the track beam section detection point to obtain plane deviation data of the track beam bridge section detection point; carrying out elevation deviation calculation on the coordinates of the track beam section detection point to obtain elevation deviation data of the track beam bridge section detection point; recording plane deviation data of the track beam bridge section detection point and elevation deviation data of the track beam bridge section detection point as track beam bridge deviation analysis data; establishing a mathematical model according to the track beam bridge deviation analysis data; and solving the mathematical model to obtain the track beam bridge detection result, wherein the track beam bridge detection result comprises a track beam bridge working face linear analysis result, a track beam bridge working face longitudinal flatness detection analysis result, a track beam bridge plane linear rise detection analysis result, a track beam bridge vertical linear rise detection analysis result and a track beam bridge side face distance center deviation detection analysis result.
S31, calculating to obtain track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and further comprising:
transmitting a fourth control command, wherein the fourth control command comprises a command for arranging detection sections of the track girder bridge every several meters along the line direction;
Obtaining the result of the detection section;
extracting three-dimensional coordinates of a plurality of detection points in the fourth control command according to preset design parameters of the track beam bridge, design mileage of a detection section and a result of the detection section;
and according to the three-dimensional coordinates of the detection points, linear calculation is carried out to obtain the track beam bridge deviation analysis data.
The track beam bridge deviation analysis data comprise track beam bridge section detection point plane deviation and track beam bridge section detection point elevation deviation, wherein the track beam bridge section detection point plane deviation is as follows:
the detection point of the cross section of the track beam bridge is marked as a point O, the point closest to the point O on a flat curve is marked as a point B, the design coordinate of the point B is calculated by utilizing the geometric condition that the product of the tangential slope at the point B and the normal slope passing through the point is '1', and the linear distance between the point O and the point B is calculated to obtain the deviation value delta D of the detection point of the cross section of the track beam bridge 0 The transverse allowable deviation of the track beam line center is less than +/-25 mm;
in addition, when the track beam bridge section detection point elevation deviation analysis is calculated:
according to the track beam bridge design vertical curve, calculating three-dimensional point cloud data detection point measurement height h Actual measurement And the design elevation h on the corresponding vertical curve Design of The difference is noted as Δh':
ΔH′＝h actual measurement -h Design of (1)
The continuous rigid frame PC track beam is required to be stretched for the second time on the beam after being erected, so that the track beam bridge elevation deviation analysis is required to consider the track beam deformation upper arch value gamma, and the line elevation deviation delta H is calculated
The formula is: Δh=Δh' - γ (2)
Wherein:
in the formula (3), L is a continuous rigid frame PC track Liang Liangchang, delta is a design value for deformation of the track Liang Liangzhong, L is the distance from a detection point to the beam end of the continuous rigid frame PC track, and finally, the difference of elevation deviation detection limits of the track bridge is-15 to +30mm according to comparison results.
S4, acquiring technical requirement range data of the track girder bridge, and judging whether a detection result of the track girder bridge is in the range of the technical requirement range data of the track girder bridge;
it can be understood that in this step, after the track beam bridge deviation analysis data in S3 is obtained, the method for detecting and analyzing the deviation of the center of the track beam side distance is respectively calculated by deriving mathematical models according to the deviation analysis data and calculating the line shape, the longitudinal flatness, the plane and the vertical line height of the working face.
Wherein, for the linear detection analysis of the working surface (running surface, stabilizing surface, guiding surface): for the integral line shape of the running surface of the track beam bridge, according to Gao Chengpian difference values of the detection points on the left side and the right side of the running surface and the design value, a chord line OL based on elevation deviation is established at the two ends of the single track beam, and the detection points J of all sections are calculated 1 The vertical vector distance to the string is the integral linear valueIntegral line shape value->The formula of (2) is:
wherein:
in the formulas (4) and (5),ΔH 0 ，ΔH L for the elevation deviation value of the two ends of the detection point and the string, < +.>l O ，l L The line mileage value corresponding to the two end points of the detection point and the chord line is obtained.
Local alignment to detect point J 1 Establishing a 4m chord line (chord line does not span the beam) based on the integral linear value for the center, detecting point J 1 The vertical vector distance to the string is the local linear valueThe calculation formula is as follows:
wherein:
in the formulas (6) and (7),for the overall linear value of the two ends of the detection point and string, < ->l O ，l 4 The method comprises the steps of obtaining line mileage values corresponding to two end points of a detection point and a string;
for the integral linear shape of the stabilizing surface and the guiding surface of the track beam bridgeAnd local linearisation->Line lateral deviation values according to corresponding detection points and design values respectively>ΔD 0 ，ΔD L Adopting a mathematical model which is the same as the whole linear shape and the partial linear shape of the walking surface; stabilization plane, guide plane overall linear +.>The calculation formula is as follows:
wherein:
in the formulas (8) and (9),ΔD 0 ，ΔD L is a detection point and a stringLine lateral deviation value of two end points l J1 ，l O ，l L The line mileage value corresponding to the two end points of the detection point and the chord line is obtained.
Local alignment of stabilizing and guiding surfacesThe calculation formula is as follows:
wherein:
in the formulas (10) and (11), Is the integral linear value of the two end points of the detection point and the chord line,l O ，l 4 the method comprises the steps of obtaining line mileage values corresponding to two end points of a detection point and a string; the linear detection limit difference on the working surface is + -2000 mm.
The longitudinal flatness detection analysis of the working surface (running surface, stabilizing surface and guiding surface) of the track beam bridge comprises the following steps: for the longitudinal flatness of the running surface of the track girder bridge, according to the Gao Chengpian difference between the left and right detection points and the design value of the running surface, a 20m or 3m chord line (chord line does not span the girder) based on the Cheng Pian difference is established by taking the detection point as the center, and the vertical vector distance from the detection point to the chord line is calculated to be the longitudinal flatness of the running surface(20 m chord),>(3 m chord) which calculates the overall alignment of the mathematical model with the working surface. For the longitudinal flatness of the stabilizing surface and the guiding surface of the track beam bridge, the longitudinal flatness is respectively and correspondingly detected points at the left side and the right side and the line transverse of the design valueCalculating the directional deviation value by adopting a mathematical model with the same longitudinal flatness of the running surface; the detection limit difference is +/-3 mm in any 3 meter range and +/-6 mm in any 20 meter range.
And regarding track bridge plane line sagittal height detection analysis: for the track beam bridge plane line-shaped vector height, respectively according to the line transverse deviation values of the guide surface, the stability surface detection points and the design value, taking the joint of the track beam as the center to establish a 20m (curve) or 4m (straight line) chord line based on the line transverse deviation, and calculating the transverse vector distance from each section detection point to the chord line in the chord line range to obtain the plane line-shaped vector height delta D D The integral linear of the mathematical model and the guide surface is calculated, and the plane linear sagittal height maximum value and the corresponding mileage value are calculated; the detection limit difference is + -20 mm (chord length at curve 20 m) and + -3 mm (chord length at straight line 4 m).
In addition, the vertical linear sagittal height detection analysis of track girder bridge: for the vertical linear elevation of the track beam bridge, according to Gao Chengpian difference values of detection points at the left side and the right side of a running surface, a 4m chord line based on elevation deviation is established by taking the joint of the track beam as the center, the vertical vector distance from the detection points of each section to the chord line in the chord line range is calculated to be the vertical linear elevation, the coplanar linear elevation of a mathematical model is calculated, and the maximum value of the vertical linear elevation and the corresponding mileage value are calculated; the detection limit difference is + -3 mm (chord length 4 m).
The method for detecting and analyzing the deviation of the side surface distance from the center of the track beam comprises the following steps: calculating the difference between the transverse deviation of the detection points of the guide surface and the stabilizing surface of the track beam bridge relative to the detection points of the track Liang Zhongxian and the design value, namely the deviation delta D of the side surface of the track beam from the center 6 、ΔD 4 、ΔD 7 、ΔD 5 The calculation formula is as follows:
wherein:
in the formulas (12) to (15),line neutral deviation value for guide plane and stability plane detection points +.>Line neutral deviation value D of track Liang Zhongxian detection point B Is a track Liang Liangkuan, cg is an ultra-high value at the mileage of the track beam detection point, W 1 For the distance from the detection point of the guide surface to the top surface of the track beam, W 2 The distance from the detection point of the stable surface to the top surface of the track beam; the detection limit difference is +/-3 mm at a platform or a turnout, and +/-6 mm at other sections of the line.
S1, acquiring three-dimensional point cloud data of a track beam bridge by adopting a high-precision three-dimensional laser scanner, calculating three-dimensional coordinates of detection points, establishing a detection calculation mathematical model based on the three-dimensional coordinates of the detection points, and carrying out track beam bridge linear detection analysis to realize the integral evaluation of the three-dimensional space line shape of the track beam bridge, wherein if the detection precision of each detection item is in the range of 1.5-2.5 mm, the detection project meets the requirements of relevant technical specifications, and otherwise, the detection project does not meet the requirements of the relevant technical specifications.
Example 2:
as shown in fig. 2, this embodiment provides a track bridge detection device, and the device described with reference to fig. 2 includes:
acquisition module 1: the method comprises the steps of acquiring detection data of a first detection device, wherein the detection data are three-dimensional point cloud data of a track beam on a track beam bridge;
the first calculation processing module 2: the method is used for calculating and obtaining the coordinates of the detection points of the cross section of the track beam bridge according to the detection data;
The second calculation processing module 3: the method is used for calculating and obtaining track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and calculating and obtaining a track beam bridge detection result according to the track beam bridge deviation analysis data;
and the judgment processing module 4: and the detection device is used for acquiring the technical requirement range data of the track beam bridge and judging whether the detection result of the track beam bridge is within the range of the technical requirement range data of the track beam bridge.
In one embodiment of the present disclosure, the acquisition module 1 includes:
the first obtaining unit 11 is configured to obtain layout information of the track bridge control points, where the track bridge control points include at least four control points, and the track bridge control points are obtained by calculating by a method of freely setting stations;
a first command transmitting unit 12 for transmitting a first control command including a command to measure the track bridge control point using a total station based on the layout information;
a second acquisition unit 13 for acquiring total station measurement data;
the first calculating unit 14 is configured to calculate and convert the total station measurement data to obtain three-dimensional cloud data of the track beam bridge, where the three-dimensional cloud data of the track beam bridge includes the detection data.
In one embodiment of the present disclosure, the first calculation processing module 2 includes:
a second command sending unit 21, configured to send a second control command, where the second control command includes a command for scanning the track beam bridge control point with a three-dimensional laser scanner;
a third acquiring unit 22, configured to acquire scan data of a three-dimensional laser scanner, where the scan data includes three-dimensional coordinates of the track beam bridge control point;
the second calculating unit 23 is configured to invoke TRW software, perform preprocessing on the scan data, and calculate to obtain three-dimensional point cloud data of the track beam bridge;
and the third calculation unit 24 is used for calculating according to the three-dimensional point cloud data of the track beam bridge to obtain the coordinates of the detection points of the track beam section.
In one embodiment of the present disclosure, the second calculation processing module 3 includes:
a fourth calculating unit 31, configured to perform plane deviation calculation on the coordinates of the track beam section detection point, so as to obtain track beam bridge section detection point plane deviation data;
a fifth calculating unit 32, configured to calculate an elevation deviation of the coordinates of the track beam section detection point, so as to obtain elevation deviation data of the track beam bridge section detection point;
An analysis data unit 33, configured to record the plane deviation data of the track beam bridge section detection point and the elevation deviation data of the track beam bridge section detection point as the track beam bridge deviation analysis data;
a modeling unit 34, configured to establish a mathematical model according to the track beam bridge deviation analysis data;
the operation solving unit 35 is configured to solve the mathematical model to obtain the track beam bridge detection result, where the track beam bridge detection result includes a track beam bridge working surface linear analysis result, a track beam bridge working surface longitudinal flatness detection analysis result, a track beam bridge plane linear elevation detection analysis result, a track beam bridge vertical linear elevation detection analysis result, and a track beam bridge side distance center deviation detection analysis result.
Preferably, the first acquisition unit 11 further includes:
the third command transmitting unit 111: the device comprises a bridge pier, a first control command and a second control command, wherein the bridge pier is used for transmitting the first control command, and the first control command comprises a command for carrying out plane measurement on the top surface and the two side surfaces of a track beam above the bridge pier;
fourth acquisition unit 112: for obtaining results of the planar measurements;
the first extraction unit 113: and the information of the track beam bridge control points is extracted according to the plane measurement result.
Preferably, the analysis data unit 33 comprises:
fourth command transmitting unit 331: the method comprises the steps of sending a fourth control command, wherein the fourth control command comprises a command for arranging a detection section of the track girder bridge every several meters along the line direction;
a fifth acquisition unit 332: the method is used for obtaining the result of the detection section;
the second extraction unit 333: the three-dimensional coordinates of a plurality of detection points in the fourth control command are extracted according to preset design parameters of the track beam bridge, design mileage of the detection section and the result of the detection section;
the sixth calculating unit 334 is configured to calculate the track bridge deviation analysis data according to the three-dimensional coordinates of the plurality of detection points.
The invention fully combines the characteristics of high measurement speed, high pointing precision and large point cloud space density of the three-dimensional laser scanning technology, acquires the high-precision and high-density three-dimensional point cloud data of the track girder bridge by adopting a non-contact measurement mode, and adopts a reliable mathematical model to carry out track girder bridge linear calculation analysis, thereby effectively meeting the requirements of track girder bridge linear detection and precision control in straddle type monorail traffic engineering. Meanwhile, based on the acquired high-precision and high-density three-dimensional point cloud data and panoramic image data of the track beam bridge, three-dimensional modeling and beam structure deformation analysis of the track beam bridge can be performed, and the application range of the data is further expanded.
It should be noted that, regarding the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment regarding the method, and will not be described in detail herein.
Example 3:
corresponding to the above method embodiment, a track beam bridge detection apparatus is further provided in this embodiment, and a track beam bridge detection apparatus described below and a track beam bridge detection method described above may be referred to correspondingly.
Fig. 3 is a block diagram of a track beam bridge detection apparatus 800, shown in accordance with an exemplary embodiment. As shown in fig. 3, the track bridge detection apparatus 800 may include: a processor 801, a memory 802. The track bridge detection apparatus 800 may also include one or more of a multimedia component 803, an I/O interface 804, and a communication component 805.
Wherein the processor 801 is configured to control the overall operation of the track bridge detection apparatus 800 to perform all or part of the steps of the track bridge detection method described above. The memory 802 is used to store various types of data to support operation at the track bridge detection device 800, which may include, for example, instructions for any application or method operating on the track bridge detection device 800, as well as application-related data, such as contact data, messages, pictures, audio, video, and the like. The Memory 802 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted through the communication component 805. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 804 provides an interface between the processor 801 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the track beam bridge detection apparatus 800 and other apparatuses. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near FieldCommunication, NFC for short), 2G, 3G or 4G, or a combination of one or more thereof, the respective communication component 805 may thus comprise: wi-Fi module, blue tooth module, NFC module.
In an exemplary embodiment, the track bridge detection apparatus 800 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated ASIC), digital signal processors (DigitalSignal Processor, abbreviated DSP), digital signal processing apparatus (Digital Signal Processing Device, abbreviated DSPD), programmable logic devices (Programmable Logic Device, abbreviated PLD), field programmable gate arrays (Field Programmable Gate Array, abbreviated FPGA), controllers, microcontrollers, microprocessors, or other electronic components for performing the track bridge detection methods described above.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the track bridge detection method described above. For example, the computer readable storage medium may be the memory 802 described above including program instructions executable by the processor 801 of the track bridge detection apparatus 800 to perform the track bridge detection method described above.
Example 4:
corresponding to the above method embodiments, a readable storage medium is also provided in this embodiment, and a readable storage medium described below and a track bridge detection method described above may be referred to correspondingly.
A readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the track bridge detection method of the above-described method embodiment.
The readable storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, and the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present invention, and the scope of the present invention is intended to be covered by the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. The track beam bridge detection method is characterized by comprising the following steps of:
acquiring detection data of a first detection device, wherein the detection data is track beam three-dimensional point cloud data on a track beam bridge;
according to the detection data, calculating to obtain coordinates of detection points of the cross section of the track beam bridge;
calculating to obtain track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and calculating to obtain a track beam bridge detection result according to the track beam bridge deviation analysis data;
acquiring technical requirement range data of a track beam bridge, and judging whether a detection result of the track beam bridge is within the range of the technical requirement range data of the track beam bridge;
according to the track beam bridge section detection point coordinates, calculating to obtain track beam bridge deviation analysis data, and according to the track beam bridge deviation analysis data, calculating to obtain a track beam bridge detection result, wherein the track beam bridge detection result comprises the following steps:
performing plane deviation calculation on the coordinates of the detection point of the section of the track beam to obtain detection point plane deviation data;
carrying out elevation deviation calculation on the coordinates of the detection point of the section of the track beam to obtain elevation deviation data of the detection point;
recording plane deviation data of the track beam bridge section detection point and elevation deviation data of the track beam bridge section detection point as track beam bridge deviation analysis data;
Establishing a mathematical model according to the track beam bridge deviation analysis data;
solving the mathematical model to obtain the track beam bridge detection result, wherein the track beam bridge detection result comprises a track beam bridge working surface linear analysis result, a track beam bridge working surface longitudinal flatness detection analysis result, a track beam bridge plane linear rise detection analysis result, a track beam bridge vertical linear rise detection analysis result and a track beam bridge side surface distance center deviation detection analysis result;
recording the plane deviation data of the track beam bridge section detection point and the elevation deviation data of the track beam bridge section detection point as the track beam bridge deviation analysis data, wherein the track beam bridge deviation analysis data comprises the following steps:
transmitting a fourth control command, wherein the fourth control command comprises a command for arranging a detection section of the track girder bridge every several meters along the line direction;
obtaining the result of the detection section;
extracting three-dimensional coordinates of a plurality of detection points in the fourth control command according to preset design parameters of the track beam bridge, design mileage of a detection section and a result of the detection section;
and according to the three-dimensional coordinates of the detection points, calculating the track beam bridge deviation analysis data in a linear manner.
2. The method for detecting a track bridge according to claim 1, wherein the acquiring the detection data of the first detecting device includes:
the method comprises the steps of obtaining layout information of the track beam bridge control points, wherein the track beam bridge control points comprise at least four control points, and the track beam bridge control points are obtained through calculation by a free station setting method;
based on layout information, a first control command is sent, wherein the first control command comprises a command for measuring the control points of the track beam bridge by a layout total station;
acquiring total station measurement data;
and calculating and converting according to the total station measurement data to obtain the track beam bridge three-dimensional cloud data, wherein the track beam bridge three-dimensional cloud data comprises the detection data.
3. The track beam bridge detection method according to claim 2, wherein the calculating the track beam section detection point coordinates according to the detection data includes:
transmitting a second control command, wherein the second control command comprises a command for scanning the track beam bridge control point by adopting a three-dimensional laser scanner;
acquiring scanning data of a three-dimensional laser scanner, wherein the scanning data comprises three-dimensional coordinates of the track beam bridge control points;
Preprocessing the scanning data, and calculating to obtain three-dimensional point cloud data of the track beam bridge;
and calculating the coordinates of the detection points of the cross section of the track beam according to the three-dimensional point cloud data of the track beam bridge.
4. A track bridge detection device, comprising:
the acquisition module is used for: the method comprises the steps of acquiring detection data of a first detection device, wherein the detection data are three-dimensional point cloud data of a track beam on a track beam bridge;
a first calculation processing module: the method is used for calculating and obtaining the coordinates of the detection points of the cross section of the track beam bridge according to the detection data;
and a second calculation processing module: the method is used for calculating and obtaining track beam bridge deviation analysis data according to the track beam bridge section detection point coordinates, and calculating and obtaining a track beam bridge detection result according to the track beam bridge deviation analysis data;
and the judging and processing module is used for: the method comprises the steps of acquiring technical requirement range data of a track beam bridge, and judging whether a detection result of the track beam bridge is in the range of the technical requirement range data of the track beam bridge;
the second calculation processing module includes:
the fourth calculation unit is used for carrying out plane deviation calculation on the coordinates of the track beam section detection point to obtain track beam bridge section detection point plane deviation data;
The fifth calculation unit is used for carrying out elevation deviation calculation on the coordinates of the track beam section detection point to obtain elevation deviation data of the track beam bridge section detection point;
the analysis data unit is used for recording the plane deviation data of the track beam bridge section detection point and the elevation deviation data of the track beam bridge section detection point as the track beam bridge deviation analysis data;
the modeling unit is used for establishing a mathematical model according to the track beam bridge deviation analysis data;
the operation solving unit is used for solving the mathematical model to obtain the track beam bridge detection result, wherein the track beam bridge detection result comprises a track beam bridge center line deviation analysis result, a track beam bridge elevation deviation analysis result, a track beam bridge working surface linear analysis result, a track beam bridge working surface longitudinal flatness detection analysis result, a track beam bridge plane linear rise detection analysis result, a track beam bridge vertical linear rise detection analysis result and a track beam bridge side surface distance center deviation detection analysis result;
the analysis data unit includes:
fourth command transmitting unit: the method comprises the steps of sending a fourth control command, wherein the fourth control command comprises a command for arranging a detection section of the track girder bridge every several meters along the line direction;
Fifth acquisition unit: the method is used for obtaining the result of the detection section;
a second extraction unit: the three-dimensional coordinates of a plurality of detection points in the fourth control command are extracted according to preset design parameters of the track beam bridge, design mileage of the detection section and the result of the detection section;
and the sixth calculation unit is used for obtaining the track beam bridge deviation analysis data through linear calculation according to the three-dimensional coordinates of the detection points.
5. The track bridge detection apparatus of claim 4, wherein said acquisition module further comprises:
the first acquisition unit is used for acquiring layout information of the track beam bridge control points, wherein the track beam bridge control points comprise at least four control points, and the track beam bridge control points are calculated by a free station setting method;
the first command sending unit is used for sending a first control command based on layout information, wherein the first control command comprises a command for measuring the control point of the track beam bridge by a layout total station;
the second acquisition unit is used for acquiring total station measurement data;
the first calculation unit is used for calculating and converting according to the total station measurement data to obtain the track beam bridge three-dimensional cloud data, and the track beam bridge three-dimensional cloud data comprises the detection data.
6. The track bridge detection device of claim 4, wherein said first computing processing module comprises:
the second command sending unit is used for sending a second control command, and the second control command comprises a command for scanning the track beam bridge by adopting a three-dimensional laser scanner;
the third acquisition unit is used for acquiring scanning data of the three-dimensional laser scanner, wherein the scanning data comprise three-dimensional coordinates of the surface of the track beam bridge;
the second computing unit is used for preprocessing the scanning data and computing to obtain three-dimensional point cloud data of the track beam bridge;
and the third calculation unit is used for calculating and obtaining the track beam section detection point coordinates according to the track beam bridge three-dimensional point cloud data.
7. Track bridge check out test set, characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the rail bridge detection method according to any one of claims 1 to 3 when executing said computer program.
8. A readable storage medium, characterized by: a computer program stored on the readable storage medium, which when executed by a processor, implements the steps of the rail bridge detection method according to any one of claims 1 to 3.
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| CN113158329A (en) * | 2021-03-05 | 2021-07-23 | 中路高科交通检测检验认证有限公司 | Method for rapidly positioning and measuring constant load condition of in-service bridge structure |
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