CN204125805U - A kind of robot scaling equipment for track detecting - Google Patents
A kind of robot scaling equipment for track detecting Download PDFInfo
- Publication number
- CN204125805U CN204125805U CN201420578231.6U CN201420578231U CN204125805U CN 204125805 U CN204125805 U CN 204125805U CN 201420578231 U CN201420578231 U CN 201420578231U CN 204125805 U CN204125805 U CN 204125805U
- Authority
- CN
- China
- Prior art keywords
- platform
- camera
- calibration
- calibration platform
- scaling equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of robot scaling equipment for track detecting, it comprises three-dimensional mobile platform and calibration platform, described three-dimensional mobile platform is made up of to holder and Y-direction bearing and Z-direction support X, described Y-direction bearing settlement also can move left and right to the upper surface of holder at X, and described Z-direction Bracket setting also can move forward and backward at the upper surface of Y-direction bearing; Described calibration platform is connected with Z-direction support and can does around A, B, C tri-rotation of axle; Calibration platform is installed with camera, inertial sensor and obliquity sensor; And control three-dimensional mobile platform do the movement of X, Y, Z three-dimensional three mobile motors and control calibration platform around A, B, C tri-axle rotate three rotary electric machines and described camera, inertial sensor and obliquity sensor be all electrically connected with Industrial Personal Computer (IPC).The utility model achieves camera, inertial sensor and obliquity sensor three spatial relationship and combines calibration, and the static parameter that can realize track detects.
Description
Technical field
The utility model relates to a kind of robot scaling equipment for track detecting, belongs to track field.
Background technology
Because the unequal reason of elasticity of track structure and sub rail foundation causes track long wave irregularity.Long wave irregularity directly affects the riding comfort of train, jeopardizes train driving safety time serious.Along with the quick growth of China track circuit operation mileage, studying new high speed noncontact track long wave irregularity detection method and technology is a urgent Science and engineering task.
And the track irregularity that current track inspection vehicle is measured, it is a kind of dynamic track irregularity, do not set up with static coordinate system and contact, make the absolute static parameter that cannot realize automatically detecting track under moving condition, the detected parameters of the relative irregularity of track circuit can only be obtained, the test problems of the relative ride comfort of circuit can only be solved, according to state-owned railroads maintenance criterion regulation, the adjustment of track and control to adopt the Static Detection parameter be based upon under earth coordinates.The technical indicator controlled emphatically when carrying out orbit adjusting is the static parameter of track.Therefore, this area needs a kind of robot scaling equipment of research badly to realize the detection of the static parameter of track, improves the precision of track detecting.
Utility model content
The problems referred to above existed for prior art and demand, the purpose of this utility model is to provide a kind of robot scaling equipment for track detecting, to meet the detection demand of staticaccelerator track parameter.
For achieving the above object, the technical solution adopted in the utility model is as follows:
A kind of robot scaling equipment for track detecting, comprise three-dimensional mobile platform and calibration platform, described three-dimensional mobile platform is made up of to holder and Y-direction bearing and Z-direction support X, described Y-direction bearing settlement also can move left and right to the upper surface of holder at X, and described Z-direction Bracket setting also can move forward and backward at the upper surface of Y-direction bearing; Described calibration platform is connected with Z-direction support and can does around A, B, C tri-rotation of axle; Calibration platform is installed with camera, inertial sensor and obliquity sensor; And control three-dimensional mobile platform do the movement of X, Y, Z three-dimensional three mobile motors and control calibration platform around A, B, C tri-axle rotate three rotary electric machines and described camera, inertial sensor and obliquity sensor be all electrically connected with Industrial Personal Computer (IPC).
Preferably, described camera is two, is separately positioned on the both sides of calibration platform, and described inertial sensor and obliquity sensor are separately positioned on the two ends of calibration platform.
Preferably, described camera adopts AVT industrial camera, and described inertial sensor adopts F100A5 model, and described obliquity sensor adopts LCF2000 model.
Preferably, three mobile motors are electrically connected with Industrial Personal Computer (IPC) by a three-axis moving control card, and three rotary electric machines are electrically connected with Industrial Personal Computer (IPC) by another three-axis moving control card.
Compared with prior art, the utility model has following beneficial effect:
The utility model combines calibration platform and camera, inertial sensor and obliquity sensor being arranged on this calibration platform by building six degree of freedom, thus achieves camera, inertial sensor and obliquity sensor three spatial relationship and combine calibration.The utility model device is used in track irregularity detection, not only can realize multi-sensor data fusion, and detect simple, quick and easy, key is that the static parameter that can realize track detects, the precision of track detecting can be improved, there is conspicuousness using value.
Accompanying drawing explanation
The structural representation of a kind of robot scaling equipment for track detecting that Fig. 1 provides for the utility model.
In figure: 1, three-dimensional mobile platform; 11, X is to holder; 12, Y-direction bearing; 13, Z-direction support; 2, platform is calibrated; 3, camera; 4, inertial sensor; 5, obliquity sensor; 6, Industrial Personal Computer (IPC); 7, target is calibrated.
Detailed description of the invention
Below in conjunction with specific embodiments and the drawings, set forth the utility model further.
Embodiment
Shown in Figure 1, a kind of robot scaling equipment for track detecting that the utility model provides, comprise three-dimensional mobile platform 1 and calibration platform 2, described three-dimensional mobile platform 1 is made up of to holder 11 and Y-direction bearing 12 and Z-direction support 13 X, described Y-direction bearing 12 is arranged on X to the upper surface of holder 11 and can moves left and right, and the upper surface that described Z-direction support 13 is arranged on Y-direction bearing 12 also can move forward and backward; Described calibration platform 2 is connected with Z-direction support 13 and can does around A, B, C tri-rotation of axle; Three mobile motor (not shown)s that control three-dimensional mobile platform does the movement of X, Y, Z three-dimensional are electrically connected with Industrial Personal Computer (IPC) 6 by a three-axis moving control card (also not shown in figure); Control calibration platform around A, B, C tri-axle rotate three rotary electric machines be electrically connected with Industrial Personal Computer (IPC) 6 by another three-axis moving control card; Be existing mature technology by motion control card to the control technology of motor movement about Industrial Personal Computer (IPC), do not repeat them here.
Calibration platform 2 is installed with camera 3, inertial sensor 4 and obliquity sensor 5, and described camera 3 is two, is separately positioned on the both sides of calibration platform 2, and described inertial sensor 4 and obliquity sensor 5 are separately positioned on the two ends of calibration platform 2.Described camera 3 shooting calibration target 7, two cameras 3 in calibration platform 2 rotation process tilt to the inside by certain angle, ensure that two cameras 3 completely can photograph the overall picture of calibration target 7.The angular velocity in inertial sensor 4 and obliquity sensor 5 this moment of synchronous acquisition and acceleration.
Described camera 3, inertial sensor 4 are all connected with Industrial Personal Computer (IPC) 6 by data/address bus with obliquity sensor 5, so that the data of collection are transferred to Industrial Personal Computer (IPC) 6.
By adjustment X, Y, Z, A, B, C all directions, two cameras 3 can be made can to take the overall picture of the calibration target 7 be placed on nearby, three axle (x of inertial sensor 4 synchronous acquisition itself shooting while, y, z) angular velocity and acceleration, diaxon (x, the y) angular velocity of obliquity sensor 5 synchronous acquisition itself.
Preferably, described camera 3 adopts AVT STINGRAY Series Industrial camera, because this camera directly connecting fiber can carry out long range propagation; There is many preprocessing functions and support multiple image processing software.Described inertial sensor 4 adopts F100A5 model, and described obliquity sensor 5 adopts LCF2000 model.
Visible in sum: the utility model combines calibration platform and camera, inertial sensor and obliquity sensor being arranged on this calibration platform by building six degree of freedom, thus achieve camera, inertial sensor and obliquity sensor three spatial relationship and combine calibration.The utility model device is used in track irregularity detection, not only can realize multi-sensor data fusion, and detect simple, quick and easy, key is that the static parameter that can realize track detects, the precision of track detecting can be improved, there is conspicuousness using value.
Finally be necessary described herein: above embodiment is only for being described in more detail the technical solution of the utility model; can not be interpreted as the restriction to the utility model protection domain, some nonessential improvement that those skilled in the art makes according to foregoing of the present utility model and adjustment all belong to protection domain of the present utility model.
Claims (6)
1. the robot scaling equipment for track detecting, it is characterized in that: comprise three-dimensional mobile platform and calibration platform, described three-dimensional mobile platform is made up of to holder and Y-direction bearing and Z-direction support X, described Y-direction bearing settlement also can move left and right to the upper surface of holder at X, and described Z-direction Bracket setting also can move forward and backward at the upper surface of Y-direction bearing; Described calibration platform is connected with Z-direction support and can does around A, B, C tri-rotation of axle; Calibration platform is installed with camera, inertial sensor and obliquity sensor; And control three-dimensional mobile platform do the movement of X, Y, Z three-dimensional three mobile motors and control calibration platform around A, B, C tri-axle rotate three rotary electric machines and described camera, inertial sensor and obliquity sensor be all electrically connected with Industrial Personal Computer (IPC).
2. robot scaling equipment as claimed in claim 1, is characterized in that: described camera is two, is separately positioned on the both sides of calibration platform, and described inertial sensor and obliquity sensor are separately positioned on the two ends of calibration platform.
3. robot scaling equipment as claimed in claim 1 or 2, is characterized in that: described camera adopts AVT industrial camera.
4. robot scaling equipment as claimed in claim 1 or 2, is characterized in that: described inertial sensor adopts F100A5 model.
5. robot scaling equipment as claimed in claim 1 or 2, is characterized in that: described obliquity sensor adopts LCF2000 model.
6. robot scaling equipment as claimed in claim 1, is characterized in that: three mobile motors are electrically connected with Industrial Personal Computer (IPC) by a three-axis moving control card, and three rotary electric machines are electrically connected with Industrial Personal Computer (IPC) by another three-axis moving control card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420578231.6U CN204125805U (en) | 2014-10-08 | 2014-10-08 | A kind of robot scaling equipment for track detecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420578231.6U CN204125805U (en) | 2014-10-08 | 2014-10-08 | A kind of robot scaling equipment for track detecting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204125805U true CN204125805U (en) | 2015-01-28 |
Family
ID=52382176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420578231.6U Expired - Fee Related CN204125805U (en) | 2014-10-08 | 2014-10-08 | A kind of robot scaling equipment for track detecting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204125805U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171099A (en) * | 2017-12-26 | 2018-06-15 | 兆讯恒达微电子技术(北京)有限公司 | The vectorial collecting device of multidimensional shooting |
| CN108393897A (en) * | 2018-02-26 | 2018-08-14 | 深圳达芬奇创新科技有限公司 | A kind of danger detects trolley |
| CN109116870A (en) * | 2018-09-14 | 2019-01-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of camera stabilized platform for track detecting |
| CN109159796A (en) * | 2018-09-14 | 2019-01-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of camera carry position of platform modification method for track detecting |
| CN110044260A (en) * | 2019-04-13 | 2019-07-23 | 西南交通大学 | A kind of tracks of permanent magnetism irregularity detection device |
| CN114624637A (en) * | 2022-04-21 | 2022-06-14 | 西南交通大学 | Permanent magnet track three-dimensional magnetic field scanning device and scanning method thereof |
-
2014
- 2014-10-08 CN CN201420578231.6U patent/CN204125805U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171099A (en) * | 2017-12-26 | 2018-06-15 | 兆讯恒达微电子技术(北京)有限公司 | The vectorial collecting device of multidimensional shooting |
| CN108393897A (en) * | 2018-02-26 | 2018-08-14 | 深圳达芬奇创新科技有限公司 | A kind of danger detects trolley |
| CN109116870A (en) * | 2018-09-14 | 2019-01-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of camera stabilized platform for track detecting |
| CN109159796A (en) * | 2018-09-14 | 2019-01-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of camera carry position of platform modification method for track detecting |
| CN109116870B (en) * | 2018-09-14 | 2021-01-15 | 中国科学院长春光学精密机械与物理研究所 | Camera stabilizing platform for track detection |
| CN110044260A (en) * | 2019-04-13 | 2019-07-23 | 西南交通大学 | A kind of tracks of permanent magnetism irregularity detection device |
| CN110044260B (en) * | 2019-04-13 | 2024-04-02 | 西南交通大学 | Permanent magnet track irregularity detection equipment |
| CN114624637A (en) * | 2022-04-21 | 2022-06-14 | 西南交通大学 | Permanent magnet track three-dimensional magnetic field scanning device and scanning method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204125805U (en) | A kind of robot scaling equipment for track detecting | |
| CN103825338B (en) | High-voltage line inspection robot independently locates control device and the method for docking charging | |
| CN110615017A (en) | Rail transit automatic detection system and method | |
| CN106657764B (en) | A kind of vehicular adjusting platform and its implementation method for tunnel Image Acquisition | |
| CN107168186B (en) | 4 automatic horizontal control systems and its working method based on six axis combination sensors | |
| CN209623718U (en) | Patrol robot positioning system | |
| CN202229764U (en) | Triaxial rotary table with dynamic stabilizing function | |
| CN105652872B (en) | The automatic method for tracking and positioning of substation's laser navigation crusing robot intelligent console | |
| CN104236456B (en) | A kind of Robotic Hand-Eye Calibration method based on two-freedom 3D vision sensor | |
| CN106524924B (en) | Optical inertia combination-based rail inspection vehicle position and attitude measurement system and method | |
| CN102331296B (en) | Method, device and system for detecting vibration of arm frame of engineering machine, and engineering machine | |
| CN103128730A (en) | Multi-form real-time information transmission rescue robot | |
| CN110341831A (en) | The collaboration handling system and its complex navigation device of double-movement robot flexibility connection | |
| CN103048995A (en) | Wide-angle binocular vision identifying and positioning device for service robot | |
| CN106802322A (en) | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type | |
| CN103018255A (en) | Method for automatically collecting defect data of subway tunnel | |
| CN205049166U (en) | Maglev train suspension sensor static characteristic test system | |
| CN108398153A (en) | A kind of submarine pipeline buckling detection method | |
| CN103455145A (en) | Sensor combination device for three-dimensional environment sensing | |
| CN102176139B (en) | Multi-shaft synchronous operation control system | |
| CN206192281U (en) | Rail is examined parking stall and is put attitude measurement system based on combination of optics inertia | |
| CN108803598A (en) | A kind of polar region multiple robots operating system and Synergistic method | |
| CN106217374B (en) | A kind of control method of intelligent machine arm, apparatus and system | |
| CN105318861B (en) | The data processing method of the shaft tower inclination angle measurement of fusion vibration | |
| CN103336439A (en) | A vehicle body posture simulation method used for in-the-loop simulation of automobile stabilization control and a system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150128 Termination date: 20181008 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |