CN206034214U - Control system and railway switch detection device - Google Patents
Control system and railway switch detection device Download PDFInfo
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- CN206034214U CN206034214U CN201621022852.1U CN201621022852U CN206034214U CN 206034214 U CN206034214 U CN 206034214U CN 201621022852 U CN201621022852 U CN 201621022852U CN 206034214 U CN206034214 U CN 206034214U
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Abstract
The utility model belongs to railway fork detection area especially relates to a control system and railway switch detection device. Control system includes the control unit, the unit and set up acquisition unit and the alarm unit on the unit of marcing of marcing, acquisition unit, unit and the control unit are connected with marcing for gather the positioning data of the unit of advancing and transmit positioning data to the control unit in the unit motion process of advancing, still be used for gathering the three -dimensional of determinand and put the cloud data, and with three -dimensional point cloud data transfer to the control unit, the control unit for draw control command according to three -dimensional point cloud data and positioning data, and send control command to the alarm unit, the alarm unit for receiving control unit's control command breaks down with the suggestion determinand according to the control command alarm output signal. The utility model provides a technical scheme functioning speed is very fast, and work efficiency is high.
Description
Technical field
The utility model belongs to rail spur detection field, more particularly, to a kind of control system and railway switch detection dress
Put.
Background technology
Track switch is a kind of line connection equipment for making train that another station track is proceeded to from a station track.Generally AT STATION, marshalling yard
There are a large amount of layings.Track switch species is various, construction is complicated.The characteristics of high-speed switch is with high security, high ride, high stable
Property and higher allow by speed, it is ensured that train smooth, it is comfortable run, therefore high-speed switch is using the list of more than No. 18
Clear the way trouble, movable-point crossing, it is adaptable to trans-section seamless railway.
The problems such as common disease of track switch has tongue decreasing value problem, maintenance focus on stock rail tongue it is whether closely connected,
Whether tongue creeps, whether each portion's bolt loosens.
However, track switch detection method of the prior art is manual detection, the instrument of employing has clearance gauge, Steel Ruler or vernier
Slide calliper rule etc..The shortcoming of manual detection is：Detection speed is slow, testing result is inaccurate.
Thus, the speed for how improving railway switch detection and the accuracy for how improving testing result become people urgently
Technical problem to be solved.
Utility model content
The purpose of this utility model is to provide a kind of control system and railway switch detection means.To alleviate prior art
In railway switch detection exist detection speed is slow, the inaccurate technical problem of testing result.
The utility model discloses a kind of control system, including control unit, advance unit and be arranged at it is described advance it is single
Collecting unit and alarm unit in unit；
The collecting unit, is connected with the traveling unit and described control unit, in the traveling unit motion
During gather traveling unit location data and the location data is transferred to into described control unit, be additionally operable to collection it is to be measured
The three dimensional point cloud of thing, and the three dimensional point cloud is transferred to into described control unit；
Described control unit, for extracting control instruction according to the three dimensional point cloud and the location data, and will
The control instruction is sent to the alarm unit；
The alarm unit, for receiving the control instruction of described control unit, reports to the police according to control instruction output
Signal is broken down with pointing out determinand.
Further, described control unit is used for：
Obtain the three dimensional point cloud and location data of target complex；
According to the three dimensional point cloud of target complex, absolute altitude of the three-dimensional point cloud relative to track is judged, according to the mark of target complex
Fiducial mark is high, determines target complex in the case where the absolute altitude of three-dimensional point cloud is matched with the standard absolute altitude of target complex；
Fastener is identified according to the specific morphology feature of object in the three dimensional point cloud of target complex；
After judgement obtains the fastener, calculate current according to location data, in front and back sleeper distance and previous sleeper numbering
Sleeper is numbered, and the standard three-dimensional cloud data for extracting remaining each part is numbered according to current sleeper；
The three dimensional point cloud and location data of remaining each part are obtained, and remaining each portion are judged using Models computed method
Part, and the three dimensional point cloud of remaining each part is mutually compared with standard three-dimensional cloud data, when the three-dimensional point of remaining each part
When cloud data are not matched that with standard three-dimensional cloud data, control instruction is sent.
Further, the target complex at least include fastener, slider bed platform, top iron, stock rail, movable point frogs, tongue,
Bolt, movable point frogs, tongue.
Further, the collecting unit includes laser sensor, and the laser sensor is used to gather determinand
Three dimensional point cloud.
Further, the collecting unit also includes encoder, for obtaining the location data of the traveling unit,
And the location data is transferred to into the laser sensor, to trigger the laser sensor.
Further, multiple laser sensors are arranged with parallel, multiple laser sensors pass through switch
It is connected with described control unit.
Further, the laser sensor is linear structural laser sensor, binocular vision camera or laser radar
In any one.
Further, the collecting unit also includes the laser controller electrically connected with the laser sensor, uses
The multiple laser sensors are triggered with synchronous in location data is sent to multiple laser sensors, and give multiple institutes
State laser sensor to power.
The invention also discloses a kind of railway switch detection means using above-mentioned control system,
The push rod that the traveling unit includes car body, is collapsibly installed in the middle part of the car body, and with the car
The detection casing that body is detachably connected, the laser sensor are arranged in the detection case body, and the encoder is arranged at institute
State on car body.
Further, supply unit is provided with the traveling unit, the supply unit is for the laser
Sensor, the encoder, described control unit and the alarm unit are powered.
With reference to above-mentioned technical proposal：
The utility model discloses a kind of control system, including control unit, also include：Traveling unit and it is arranged at described
Collecting unit and alarm unit on traveling unit；The collecting unit, is connected with the traveling unit and described control unit,
It is transferred to for the location data of collection traveling unit during the traveling unit motion and by the location data described
Control unit, is additionally operable to gather the three dimensional point cloud of determinand, and it is single that the three dimensional point cloud is transferred to the control
Unit；The alarm unit, for receiving the control instruction of described control unit, according to the control instruction output alarm signal with
Prompting determinand breaks down.Due to including above-mentioned control unit, thus detection speed is fast, testing result is more accurate.
The detection method of the railway switch detection means provided using the utility model is described as follows：By linear structural laser
Sensor obtains the three dimensional point cloud of target complex, judges absolute altitude of the three-dimensional point cloud relative to track, according to the standard of target complex
Absolute altitude, determines target complex in the case where the absolute altitude of three-dimensional point cloud is matched with the standard absolute altitude of target complex；According to object
Specific morphology feature identifies fastener in the three dimensional point cloud of target complex；After judgement obtains the fastener, according to positioning number
According to, in front and back sleeper distance and previous sleeper numbering calculate current sleeper numbering, and it is each to extract remaining according to current sleeper numbering
The standard three-dimensional cloud data of part；Linear structural laser sensor obtains the three dimensional point cloud of remaining each part and positioning number
According to judging object using Models computed method, in the three dimensional point cloud and standard three-dimensional cloud data not phase of each part
In the case of matching somebody with somebody, judge to break down, control unit sends control instruction to alarm unit, alarm unit receives the control and refers to
Alarm signal is sent after order.The speed of service is very fast, high working efficiency.
Description of the drawings
In order to be illustrated more clearly that the utility model specific embodiment or technical scheme of the prior art, below will be right
Needed for specific embodiment or description of the prior art, accompanying drawing to be used is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
The schematic diagram of the control system that Fig. 1 is provided for the utility model；
Fig. 2 is the structural representation of the railway switch detection means that embodiment 5 is provided.
Reference：
1- traveling units；2- control units；11- car bodies；
12- push rods.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than the embodiment of whole.Based on the embodiment in the utility model, this
The every other embodiment obtained under the premise of creative work is not made by field those of ordinary skill, belongs to practical
Novel protected scope.
In description of the present utility model, it should be noted that term " " center ", " on ", D score, "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outward " is, based on orientation shown in the drawings or position relationship, to be only
For the ease of describe the utility model and simplify description, rather than indicate or imply indication device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment 1
The purpose of the present embodiment is to provide a kind of Models computed method, and the Models computed method can be used for railway switch
Aulomatizeted Detect, specifically, comprises the following steps：
Obtain three dimensional point cloud and location data；
According to three dimensional point cloud, absolute altitude of the three-dimensional point cloud relative to track is judged, according to the standard absolute altitude of target complex,
The absolute altitude of three-dimensional point cloud determines target complex in the case of matching with the standard absolute altitude of target complex；
Each object is identified in the three dimensional point cloud of target complex according to the specific morphology feature of object；
Parameter calculation is carried out to object according to the three dimensional point cloud of object.
Above-mentioned Models computed method is to be based on：
There is difference in height in each building block of railway switch, all parts produce specific absolute altitude, in certain altitude
In domain of walker, while there are multiple parts, thus, according to the three dimensional point cloud of collection, judge three-dimensional point cloud relative to rail
The absolute altitude in road, can determine that target complex, target in the case where the absolute altitude of three-dimensional point cloud is matched with the standard absolute altitude of target complex
Group in there is distracter, for distracter, need to exclude which, due to each building block of railway switch have it is specific
Contour shape, judgement is carried out to the contour shape of particular elements can accurate lock object, you can realize locking from target complex
Set the goal thing.
In the alternative of the present embodiment, target complex at least includes fastener, slider bed platform, top iron, stock rail, movable head
Rail, tongue, bolt, movable point frogs, tongue, and above-mentioned each part has specific three dimensional point cloud, by Models computed side
Method can lock each object respectively.
The present embodiment carries out parameter calculation to object, and parameter calculation at least includes that center of gravity is resolved, gradient is resolved.Pass through
The center of gravity information of object and miscellaneous part can determine the range information of object and miscellaneous part.Again due in railway switch
Detection field, the composition structure of railway switch are relatively-stationary, thus the distance between part and part are relatively fixed, and pass through
The distance between lock onto target thing and miscellaneous part information can determine that the species of miscellaneous part.
Calculation method commonly used in the prior art is model matching method：By determinand be pre-stored in it is all in database
Normal data is compared up to lock onto target thing, and the defect of this model matching method is：Service data amount is big, operation speed
Degree is slow, if hardware facility cannot support above-mentioned calculating process, is unable to direct-on-line in some cases and obtains result, thus work
Make inefficiency.
And the Models computed method that the present embodiment is provided uses particular model feature calculation method：According to three-dimensional point cloud
Data, judge absolute altitude of the three-dimensional point cloud relative to track, according to the standard absolute altitude of target complex, in the absolute altitude and target of three-dimensional point cloud
The standard absolute altitude of group determines target complex in the case of matching.Thus eliminate part chaff interference.Then the spy according to object
Determine shape characteristic and each object is identified in the three dimensional point cloud of target complex；Finally according to the three-dimensional point cloud number of object
Parameter calculation is carried out according to object.Obtain the parameter information of object.This calculation method is based on various portions in railway switch
The position of part is relatively-stationary, effectively prevent cover type in model matching method resolve mode service data amount it is big and
The slow problem of the speed of service, the speed of service are very fast, high working efficiency.
Embodiment 2
Present embodiment discloses a kind of control unit 2, the control unit 2 can be used for the Aulomatizeted Detect of railway switch, should
Control unit 2 employs the Models computed method in embodiment 1, specifically, comprises the following steps：
Obtain the three dimensional point cloud and location data of target complex；
According to the three dimensional point cloud of target complex, absolute altitude of the three-dimensional point cloud relative to track is judged, according to the mark of target complex
Fiducial mark is high, determines target complex in the case where the absolute altitude of three-dimensional point cloud is matched with the standard absolute altitude of target complex；
Fastener is identified according to the specific morphology feature of object in the three dimensional point cloud of target complex；
After judgement obtains fastener, current sleeper is calculated according to location data, in front and back sleeper distance and previous sleeper numbering
Numbering；And the standard three-dimensional cloud data for extracting remaining each part is numbered according to current sleeper；
The three dimensional point cloud and location data of remaining each part are obtained, and remaining each portion are judged using Models computed method
Part, and the three dimensional point cloud of remaining each part is mutually compared with standard three-dimensional cloud data, when the three-dimensional point of remaining each part
When cloud data are not matched that with standard three-dimensional cloud data, control instruction is sent.
Above-mentioned control unit 2 is additionally operable to three dimensional point cloud is carried out separating, recognized, extracts each portion of railway track fastener
The three-dimensional space data of part, and the threedimensional model of railway track fastener is set up according to three-dimensional space data；
Further, above-mentioned control unit 2, on the basis of railway track fastener threedimensional model, analytical calculation fastener with
The gap size of backing plate, fastener and insulation board, and rail inspection set in advance rule is combined, whether judge fastener tightening state
Meet demand, obtain the judgement data of fastener tightening state；And by the location data of above-mentioned rail fastener and fastener tightening state
Judgement data combine and complete the inspection of rail fastener tightening state.
Further, above-mentioned control unit 2, is additionally operable to：The fastener three that fastener surface three dimension point cloud acquisition module is obtained
The three-dimensional point cloud that point cloud is tieed up with standard fastener is compared, and judges that fastener whether there is disappearance, fracture, misplace and foreign body intrusion.
Further, above-mentioned control unit 2, including：Embedded computer, the embedded computer are installed in crossbeam,
Power module is additionally provided with crossbeam, the power module includes：Hemispherical photovoltaic panel main body, energy storage device and electric pressure converter,
The power module is used to provide power supply for whole device；Hemispherical photovoltaic panel main body is installed on beam surface upper, for by the sun
Electric energy can be converted into, and energy storage is carried out by energy storage device, electric pressure converter carries out converting voltage to the electricity for meeting condition of power supply
Press to each device to be powered；Above-mentioned embedded computer is used to receive the three-dimensional point that linear structural laser sensor is collected
Cloud data, and the judgement of each unit status is carried out according to the three dimensional point cloud.
Embodiment 3
Present embodiment discloses a kind of control system, the control system can be used for the Aulomatizeted Detect of railway switch, specifically
For：
The control unit 2 in Fig. 1, including embodiment 2 is refer to, is also included：Traveling unit 1 and it is arranged at traveling unit 1
On collecting unit and alarm unit.
Collecting unit, is connected with traveling unit 1 and control unit 2, is advanced for the collection in 1 motion process of traveling unit
Location data is simultaneously transferred to control unit 2 by the location data of unit 1, is additionally operable to gather the three dimensional point cloud of determinand, and
Three dimensional point cloud is transferred to into control unit 2；
Alarm unit, for the control instruction of reception control unit 2, according to control instruction output alarm signal pointing out to treat
Survey thing to break down.
In the alternative of the present embodiment, collecting unit includes encoder, for obtaining the positioning number of traveling unit 1
According to, and location data is transferred to into laser sensor, to trigger laser sensor.Preferably, encoder is installed on walking unit
Central shaft on, the encoder is rotated with the motion of road wheel, for recording the walking displacement and walking of traveling unit 1
Speed, so as to obtain the location data of traveling unit 1.
Further, encoder is set to any one in photoelectric encoder and rotary encoder；Above-mentioned encoder
It is connected with linear structural laser sensor by synchronization control circuit with GPS locator, the synchronization control circuit is used to process GPS
Locator and the signal of encoder input, and above-mentioned linear structural laser sensing is controlled according to the data output pulse signal after process
Device carries out data acquisition.
In the alternative of the present embodiment, collecting unit also includes laser sensor, and laser sensor is treated for collection
Survey the three dimensional point cloud of thing.
In the alternative of the present embodiment, multiple laser sensors are arranged with parallel, multiple laser sensors are by exchanging
Machine is connected with control unit 2.Preferably, laser sensor include first laser sensor, second laser sensor, the 3rd swash
Optical sensor and the 4th laser sensor.
In the alternative of the present embodiment, collecting unit also includes the laser controller electrically connected with laser sensor,
For location data is sent to multiple laser sensors with the multiple laser sensors of synchronous triggering, and give multiple laser sensings
Device is powered.
In above-mentioned alternative, laser sensor is linear structural laser sensor, binocular vision camera or laser radar
In any one.More preferably, laser sensor is set to linear structural laser sensor.
It should be noted that in above-described embodiment, traveling unit 1 can be advanced under the mode of remote control automatically, also may be used
To be that the centre position of the crossbeam of car body 11 is provided with push rod 12, advanced by Manual-pushing dolly.
Embodiment 4
Present embodiment discloses a kind of railway switch detection method, the railway switch detection method can be used for railway switch
Aulomatizeted Detect, specifically, comprises the following steps：
Step S1：The three dimensional point cloud of target complex is obtained by linear structural laser sensor, judges that three-dimensional point cloud is relative
In the absolute altitude of track, according to the standard absolute altitude of target complex, match in the absolute altitude of three-dimensional point cloud and the standard absolute altitude of target complex
In the case of determine target complex；
Step S2：Fastener is identified according to the specific morphology feature of object in the three dimensional point cloud of target complex；
Step S3：After judgement obtains fastener, calculate and work as according to location data, in front and back sleeper distance and previous sleeper numbering
Front sleeper numbering, and the standard three-dimensional cloud data for extracting remaining each part is numbered according to current sleeper；
Step S4：Linear structural laser sensor obtains the three dimensional point cloud and location data of remaining each part, utilizes
Models computed method judges object, in the situation that three dimensional point cloud and the standard three-dimensional cloud data of each part are not matched that
Under, judging to break down, control unit 2 sends control instruction to alarm unit, and alarm unit sends report after receiving control instruction
Alert signal.
It should be noted that：Each sleeper has a specific numbering, the corresponding parts of sleeper of different numberings not
Cause, it is determined that after sleeper numbering, it is possible to obtain the sleeper numbers the standard three-dimensional cloud data of corresponding part, effectively locks mesh
Mark group, reduces the unnecessary comparison time for the part in non-targeted group, and operating efficiency is higher.
Further, control unit 2, are additionally operable to store the parameter of parameters of fastener information and the corresponding miscellaneous part of fastener
Information.The lookup and analysis that are stored with beneficial to later stage effective information of parameter information, it is to avoid artificially detect and caused information
The problems such as loss.
Embodiment 5
Present embodiment discloses a kind of railway switch detection means, the railway switch detection means can be used for railway switch
Aulomatizeted Detect, the device adopt the detection method in embodiment 4, specifically：
Fig. 2 is refer to, is included：Control unit 2, traveling unit 1, collecting unit and alarm unit.
In the alternative of the present embodiment, traveling unit 1 includes car body 11 and the push rod 12 being arranged on car body 11, pushes away
Bar 12 is collapsibly installed in the middle part of car body 11.More preferably, push rod 12 include the montant that is flexibly connected with car body 11 and
Cross bar at the top of montant and vertical with montant is arranged at, cross bar is connected with support platform by connector, and control unit 2 can be placed
In support platform.Wherein, montant can be folded along the bearing of trend of rail, also can be folded along the bearing of trend perpendicular to rail.
Cross bar can be folded relative to montant；It is foldable between cross bar and support platform.It is steady of course for the structure in guarantee operating process
It is qualitative, locking is provided with montant junction, cross bar and montant junction and cross bar and support platform junction in car body 11
Unit, locking unit for push rod 12 position after the completion of fix push rod 12, it is to avoid push rod 12 is shifted in use.
In above-mentioned alternative, push rod 12 drives car body 11 to advance as driving means, improves as one of which, push rod
12 may be configured as the automatic type of drive of motor, for example, motor is arranged on car body 11, and the motor shaft of motor is connected with road wheel, electricity
Machine is controlled by control unit 2, and when control unit 2 sends control instruction to motor, Motor drive road wheel advances.Above-mentioned control
System is instructed：Advance, retreat, accelerating, slowing down etc..Electrodeless switch and shelves can be arranged as required in control unit 2
Bit switch, or touch panel switch is set, to realize detecting various different driving patterns of dolly, meet using upper different need
Ask.
In the alternative of the present embodiment, control unit 2 is set to industrial computer, and industrial computer receives collecting unit
Three dimensional point cloud and location data extract corresponding control instruction, and above-mentioned control instruction is sent into single to reporting to the police
Unit, so that alarm unit breaks down alarm in measured object.
In the alternative of the present embodiment, collecting unit and alarm unit are integrated in detection case body, detect casing and row
Enter unit 1 to be detachably connected, collecting unit and alarm unit are integrated in detection case body, for example, be integrated in above detection casing,
The inner side of detection casing is provided with interface, interface can for example be exchange interface, cable interface, power interface etc..
During use, power supply is powered to the collecting unit and alarm unit positioned at detection box house by power interface.Collection is single
Unit and alarm unit are electrically connected with control unit 2 by cable interface, the three dimensional point cloud and positioning number of collecting unit collection
According to being transmitted to control unit 2 by cable interface, control unit 2 extracts corresponding control according to three dimensional point cloud and location data
System instruction, and above-mentioned control instruction is transmitted to alarm unit by cable interface, alarm unit is sent after receiving control instruction
Alarm signal is broken down with pointing out measured object.
Detection casing is detachably connected with traveling unit 1：After completing to railway switch detection, will detection casing and row
Enter unit 1 to separate, detection casing can be positioned over traveling top, thus can effectively simplify volume, it is to avoid the utility model is provided
Track switch detection dolly using excessive volume is taken after completing.
In above-mentioned alternative, collecting unit includes encoder and at least one laser sensor, encoder and laser
Sensor is electrically connected.Wherein, laser sensor, gathers the three dimensional point cloud of determinand in a triggered, and by three-dimensional point cloud number
According to being transferred to control unit 2.Further, multiple laser sensors are arranged with detection case body in parallel, encoder is by handing over
Change planes and be connected with multiple laser sensors, correspondingly, on detection casing, be additionally provided with exchange interface.Preferably, laser
Sensor is provided with 4.
In above-mentioned alternative, collecting unit also includes the laser controller electrically connected with laser sensor, is used for
Laser sensor is made synchronously to receive the location data that encoder sends, and the three-dimensional point that synchronized transmission is exported by laser sensor
Cloud data, preferably, laser controller is arranged at the end of detection casing.
A kind of railway switch detection means is present embodiments provided, the railway switch detection method in embodiment 4 is employed,
Control unit 2, traveling unit 1, the signal transmission between collecting unit and alarm unit and control realization are to railway switch
Real-time detection, and the speed of service is fast, high working efficiency.
Finally it should be noted that：Various embodiments above is only illustrating the technical solution of the utility model, rather than which is limited
System；Although being described in detail to the utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：Which still can be modified to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from this practicality new
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of control system, it is characterised in that including control unit, advancing unit and is arranged at adopting on the traveling unit
Collection unit and alarm unit；
The collecting unit, is connected with the traveling unit and described control unit, in the traveling unit motion process
The location data is simultaneously transferred to described control unit by the location data of middle collection traveling unit, is additionally operable to gather determinand
Three dimensional point cloud, and the three dimensional point cloud is transferred to into described control unit；
Described control unit, for extracting control instruction according to the three dimensional point cloud and the location data, and will be described
Control instruction is sent to the alarm unit；
The alarm unit, for receiving the control instruction of described control unit, according to the control instruction output alarm signal
To point out determinand to break down.
2. control system according to claim 1, it is characterised in that：Described control unit is used for：
Obtain the three dimensional point cloud and location data of target complex；
According to the three dimensional point cloud of target complex, absolute altitude of the three-dimensional point cloud relative to track is judged, according to the standard mark of target complex
Height, determines target complex in the case where the absolute altitude of three-dimensional point cloud is matched with the standard absolute altitude of target complex；
Fastener is identified according to the specific morphology feature of object in the three dimensional point cloud of target complex；
After judgement obtains the fastener, current sleeper is calculated according to location data, in front and back sleeper distance and previous sleeper numbering
Numbering, and the standard three-dimensional cloud data for extracting remaining each part is numbered according to current sleeper；
The three dimensional point cloud and location data of remaining each part are obtained, and remaining each part are judged using Models computed method,
And the three dimensional point cloud of remaining each part is mutually compared with standard three-dimensional cloud data, when the three-dimensional point cloud number of remaining each part
During according to not matching that with standard three-dimensional cloud data, control instruction is sent.
3. control system according to claim 2, it is characterised in that：The target complex at least include fastener, slider bed platform,
Top iron, stock rail, movable point frogs, tongue, bolt, movable point frogs, tongue.
4. control system according to claim 3, it is characterised in that：The collecting unit includes laser sensor, institute
Laser sensor is stated for gathering the three dimensional point cloud of determinand.
5. control system according to claim 4, it is characterised in that：The collecting unit also includes encoder, is used for
The location data of the traveling unit is obtained, and the location data is transferred to into the laser sensor, it is described sharp to trigger
Optical sensor.
6. control system according to claim 5, it is characterised in that：It is arranged with multiple laser sensors in parallel, it is many
The individual laser sensor is connected with described control unit by switch.
7. control system according to claim 6, it is characterised in that：The laser sensor is sensed for linear structural laser
Any one in device, binocular vision camera or laser radar.
8. control system according to claim 7, it is characterised in that：The collecting unit also includes and the laser sensing
The laser controller of device electrical connection, for location data is sent to multiple laser sensors with the multiple institutes of synchronous triggering
Laser sensor is stated, and is powered to multiple laser sensors.
9. a kind of railway switch detection means using control system as claimed in claim 8, it is characterised in that：
The push rod that the traveling unit includes car body, is collapsibly installed in the middle part of the car body, and can with the car body
The detection casing of dismounting connection, the laser sensor are arranged in the detection case body, and the encoder is arranged at the car
On body.
10. railway switch detection means according to claim 9, it is characterised in that be provided with electricity on the traveling unit
Source device, the supply unit is for the laser sensor, the encoder, described control unit and the alarm unit
Power supply.
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| CN201621022852.1U CN206034214U (en) | 2016-08-31 | 2016-08-31 | Control system and railway switch detection device |
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| CN201621022852.1U CN206034214U (en) | 2016-08-31 | 2016-08-31 | Control system and railway switch detection device |
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| CN112411281A (en) * | 2020-11-20 | 2021-02-26 | 中铁宝桥集团有限公司 | Switch service state intelligent detection system and device |
| CN113753094A (en) * | 2021-09-24 | 2021-12-07 | 北京杰迈科技股份有限公司 | Switch detection system and method |
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2016
- 2016-08-31 CN CN201621022852.1U patent/CN206034214U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653044A (en) * | 2017-10-12 | 2019-04-19 | 湖北木之君工程材料有限公司 | Bi-Block Slab Track in High Speed Railway road bed board repairing concrete crack modularization intelligent trolley |
| CN112411281A (en) * | 2020-11-20 | 2021-02-26 | 中铁宝桥集团有限公司 | Switch service state intelligent detection system and device |
| CN113753094A (en) * | 2021-09-24 | 2021-12-07 | 北京杰迈科技股份有限公司 | Switch detection system and method |
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