CN206847552U - The quick, intelligent detecting system of track traffic basic component size - Google Patents

The quick, intelligent detecting system of track traffic basic component size Download PDF

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Publication number
CN206847552U
CN206847552U CN201720400793.5U CN201720400793U CN206847552U CN 206847552 U CN206847552 U CN 206847552U CN 201720400793 U CN201720400793 U CN 201720400793U CN 206847552 U CN206847552 U CN 206847552U
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basic component
track
laser
point cloud
model
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康占龙
许磊
王长进
孟宪军
李亚辉
谭兆
张志刚
李新增
铁骊山
秦守鹏
林勇威
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China Railway Design Corp
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China Railway Design Corp
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Abstract

The utility model discloses a kind of quick, intelligent detecting system of track traffic basic component size, including laser range finder, basic component type identification device, laser point cloud acquisition system, Model Reconstruction system and offset detection system, laser range finder real-time follow-up basic component range information and whether judgement basis component is in detection zone;Basic component type identification device is used for the design parameter information for obtaining basic component;Laser point cloud acquisition system includes industrial robot, laser scanner and optical tracker, the laser point cloud data on industrial robot driving laser scanner dynamic access basic component surface, optical tracker tracking laser scanner simultaneously provide real-time spatial position and attitude information for laser scanner;The 3-D geometric model of each part of Model Reconstruction system reconstructing basic component;Basic component appearance and size machining deviation is obtained by offset detection system and forms examining report.Automatic, Intelligent Measurement, accuracy of detection height can be realized by the system.

Description

The quick, intelligent detecting system of track traffic basic component size
Technical field
High speed railway fragments-free track slab detection field is the utility model is related to, more particularly to a kind of track traffic basis structure The quick, intelligent detecting system of part size and detection method.
Background technology
The type fragment-free track slabs of high-speed railway CRTS III are popularized in an all-round way in high speed railway construction, and the track plates use factory Change prefabricated, one-shot forming production.As the basis of bearing track, the type fragment-free track slabs of CRTS III directly influence the smooth-going of track Property, so the making required precision to track plates is very high.It is total scientific and technological [2013] No. 125 (post stretching) and [2013] according to iron No. 162 (pre-tensioning system) documentation requirements, each block of plate all has to pass through comprehensive detection, and generates detection data report, detects work Measure very huge.
The current type fragment-free track slab detection techniques of CRTS III are the improvement carried out to CRTSII templates detection technique, mainly Completed using steel ruler, slide measure, isograph, total powerstation and matching tooling.This set system completes the time of one piece of plate detection About 50 minutes, the quantity that each fragment-free track slab factory averagely produces fragment-free track slab daily was about 100 pieces, current detection Efficiency far can not meet the actual demand of track plates production.It is existing to coordinate the measuring system of frock is actual to survey using total powerstation Accuracy of measurement is about 0.3mm, and the mismachining tolerance that track plates allow is 0.5mm, and current detecting system can not expire completely in precision The requirement of full size cun detection error.
Utility model content
The purpose of this utility model is to provide a kind of quick, intelligent detecting system of track traffic basic component size.
Therefore, the technical solution of the utility model is as follows:
A kind of quick, intelligent detecting system of track traffic basic component size, including laser range finder, basic component type Identification device, laser point cloud acquisition system, Model Reconstruction system and offset detection system, the laser range finder real-time tracking are surveyed The range information of basic component is measured, and judgement basis component is whether in detection zone;The basic component type identification device For reading the pre-buried electronic chip information of basic component or the serial number of basic component side spraying in detection zone, with data Basic component parameter in storehouse is matched, and then obtains the design parameter information of basic component;The laser point cloud collection system System includes industrial robot, laser scanner and optical tracker, and the industrial robot drives laser scanner dynamic access The laser point cloud data on the basic component surface, the optical tracker track the laser scanner, and are laser scanning Instrument provides real-time locus and attitude information;The Model Reconstruction system is quick to track traffic basic component laser point cloud The laser point cloud data of intelligent acquisition system collection is handled, and rebuilds the 3-D geometric model of each part of basic component;It is described Basic structure is calculated by space geometry using the 3-D geometric model for each part of basic component rebuild in offset detection system The physical dimension of each part of part, then compared with design size, and then obtain the machining deviation of basic component appearance and size simultaneously Form examining report.
Above-mentioned laser range finder is arranged on the ground at 0.5 meter of track plates short side, basic component type identification dress Put on the support being arranged at 0.5 meter of track plates long side.
The basic component type identification device is the radio frequency knowledge that identification technology reads the pre-buried electronic chip information of track plates Other system or the industrial camera that the serial number that track plates side sprays is read by character recognition technology.
The industrial robot includes a mechanical arm and its controller, and the laser scanner is arranged on the mechanical arm Lower end, the upper end of mechanical arm are arranged on an accurate slide rail and can moved along the accurate slide rail;The optical tracker passes through one Universal turning bench and a support frame are arranged on a straight line slide unit and can moved along the straight line slide unit.
In one embodiment of the present utility model, conveyer belt, the optical tracking are installed on the straight line slide unit Instrument is arranged on the conveyer belt, and the conveyer belt moves under the control of a stepper motor.
The optical tracker is realized self-positioning by the 3 d space coordinate of dynamic access target, and the target is provided with Multiple, each target is separately mounted on a target installation workpiece, and target installation workpiece is arranged on the horizontal stroke of workpiece mounting bracket Liang Shang.
In one embodiment of the present utility model, workpiece mounting bracket basic component in the detection zone Both sides are each provided with one, and 2 crossbeams, 2 crossbeams and the basic structure are provided with one of workpiece mounting bracket The horizontal range and vertical range of part differ, and distinguish the multiple target installation workpiece in equal face in 2 crossbeams.
A kind of method that the type non-fragment orbit board sizes of CRTS III are detected using said system, is comprised the following steps:
S1. track plates surface laser cloud data automatic data collection:
1) track plate transporting is transported into detection zone, passes through the laser range finder real-time follow-up track plates that pre-set Range information, judge track plates whether in detection zone;
2) after judging that track plates are had been enter into detection zone, start basic component type identification device, obtain the track The design parameter information of plate;
3) laser point cloud acquisition system, Synchronization Control mechanical arm, laser scanner and optical tracker, real-time dynamic are started Obtain the laser point cloud of track plate surface;
S2. track plates reconstructing three-dimensional model:Support rail using laser point cloud acquisition system to the type fragment-free track slabs of CRTS III The model of platform, service sleeve and bottom plate is rebuild, extraction model parameter;
S3. each parts variation detection of track plates:Using offset detection system, according to the model parameter calculation rail extracted in S2 The size value of guidance tape corresponding component, then compared with design load, obtain the dimension deviation value of each part of track plates.
In step sl, the pre-buried electronic chip information of track plates is read by REID or passes through Text region skill Art reads the serial number of track plates side spraying, then is matched with the track board parameter in database, and then obtains the track The design parameter information of plate.
In step S2, Model Reconstruction is carried out to track and comprised the following steps:
(1) vice jaw surface of fragment-free track slab track both sides and the space three-dimensional model in the support rail face of bottom are rebuild, it is described The geometric parameter of space three-dimensional model is calculated using formula (1):
Vi=ax+by+cz+d (1)
In formula:
Vi:The residual error of obserred coordinate value;
a、b、c:Vice jaw surface and or support rail face normal vector;
d:Vice jaw surface and or support rail face equation the 4th parameter;
x、y、z:Laser point coordinates on vice jaw surface or support rail face,
Laser spots three-dimensional coordinate on vice jaw surface or support rail face can calculate as observed quantity, sampling least square method algorithm A, the value of tetra- parameters of b, c, d.
(2) tree form data structure of fragment-free track slab original point cloud is established, is easy to carry out fast search to laser point cloud;
(3) laser point cloud of nearly neighborhood search method fast search track region from track plates point cloud is utilized;
(4) laser point cloud at vice jaw surface and support rail face is split respectively with elevation filtering algorithm using rectangle partitioning algorithm;
(5) the plane sampled point cloud of support rail face and vice jaw surface is obtained using the stochastical sampling consistency algorithm of areal model;
(6) geometric parameter of least-squares algorithm, respectively Calculation Plane model is used, to track vice jaw surface and support rail face Plane be fitted.
The service sleeve of fragment-free track slab is the insulation that is installed on railway plate die pilot pin before track plates pour Sleeve pipe.Service sleeve is standard element, and its length is 141mm, and top is cylinder, and its body diameter is 25.5mm, and bottom is Female thread structure.In step S2, Model Reconstruction is carried out to service sleeve and comprised the following steps:
(1) top cylindrical body three-dimensional models are rebuild, the geometric parameter of cylinder includes cylinder axis normal vector N (NX、NY、 NZ), cylinder axis point coordinates P (PX、PY、PZ) and cylinder radius R, the Space geometric parameter of cylinder model is according to public affairs Formula (2) is calculated::
In formula:
Vi:The residual error of obserred coordinate value;
Nx、Ny、Nz:The normal vector of cylinder;
Px、Py、Pz:The axis point of cylinder;
xi、yi、zi:Laser point coordinates on cylinder;
R:Radius threshold;
Laser spots three-dimensional coordinate inside service sleeve samples least square method algorithm as observed quantity, calculate Nx, Ny, Nz、 x0、y0、z0, seven parameters such as R.
(2) tree form data structure of track plates original point cloud is established, is easy to carry out fast search to laser point cloud;
(3) laser spots using nearly neighborhood search method from track plates point cloud in fast search service sleeve region Cloud;
(4) laser point cloud of service sleeve is split respectively using rectangle partitioning algorithm and elevation filtering algorithm;
(5) cylinder sampled point cloud is obtained using the stochastical sampling consistency algorithm of cylinder model;
(6) geometric parameter of cylinder model is calculated using least-squares algorithm, the cylinder of service sleeve is fitted.
In step S2, the method that Model Reconstruction is carried out to track plates bottom plate is:Utilize cubic type track plates bottom plate corner Plane computations chassis corner three-dimensional coordinate, with reference to the method being fitted to the plane of track to track plates bottom plate Areal model be fitted, obtain the plane fitting result of the angle framework of bottom plate four.
The beneficial effects of the utility model are as follows:
The utility model is based on laser point cloud Processing Algorithm, rebuilds track plate pre-buried sleeve, track and track plates bottom plate Threedimensional model, the geometrical model based on reconstruction is automatic to calculate each component geometry size of track plates, then by result of calculation and design Parameter is compared, and counts appearance and size deviation, and deviation is automatically generated to the detection form of code requirement.Data acquisition And data processing is automatically controlled by detecting system, intervene without testing staff.This method be applicable not only to track plates size and Dimensional discrepancy detects, and applies also for the detection of other track traffic basic component sizes and dimensional discrepancy.
Detecting system of the present utility model is integrated with the key equipments such as industrial robot, laser scanner, optical tracker, And Intelligent Measurement can be carried out to the fragment-free track slab based on points cloud processing algorithm, realize to fragment-free track slab (I/II/III types) Automation, intelligentize and informatization detection Deng large foundation component, with traditional artificial inspection for coordinating frock using total powerstation Survey mode is compared, and more than 5 times of its improved efficiency, accuracy of detection improves an order of magnitude.
Brief description of the drawings
Fig. 1 is the solid of the quick, intelligent acquisition system of track traffic basic component size of the utility model one embodiment Structural representation;
Fig. 2 is Fig. 1 partial enlargement structural representation;
Fig. 3 is the main view of the quick, intelligent acquisition system of track traffic basic component size of the utility model one embodiment Structural representation;
Fig. 4 is the vertical view of the quick, intelligent acquisition system of track traffic basic component size of the utility model one embodiment Structural representation;
Fig. 5 is the structural representation of target erector part in the utility model;
Fig. 6 is the schematic diagram of target erecting device structure in the utility model;
Fig. 7 is the mounting structure schematic diagram of tracing positioning apparatus in the utility model;
Fig. 8 is the flow chart of the type fragment-free track slab dimensional discrepancy detection methods of the utility model CRTS III;
Fig. 9 is track vertical deviation precision statisticses result figure in the utility model one embodiment.
Embodiment
The quick, intelligent detecting system of track traffic basic component size of the present utility model mainly includes 3 parts:Track is handed over Logical basic component size quick, intelligent acquisition system, Model Reconstruction system and offset detection system.Pass through data collecting system Industrial robot carries the laser point cloud of laser scanner dynamic access track plate surface, and optical tracker real-time tracking laser is swept Instrument is retouched, obtains locus and the attitude information of laser scanner, then scan data is merged, obtains track plates entirety table The laser point cloud in face;Laser point cloud data is handled by Model Reconstruction system, rebuilds the three-dimensional several of each part of track plates What model, obtain track, service sleeve, the three-dimensional modeling data of bottom plate;By offset detection system, the part of reconstruction is utilized Geometrical model, the physical dimension of each part of track plates is calculated by space geometry, then compared with design size, and then Obtain the machining deviation of track plates appearance and size and form examining report.
Detecting system of the present utility model and detection method are described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1-Fig. 7, in detecting system of the present utility model, the quick, intelligent collection of track traffic basic component size System includes laser range finder (not showing in figure, be arranged on the ground at 0.5 meter of track plates short side), basic component type Identification device (not showing in figure, be arranged on the support at 0.5 meter of track plates long side) and laser point cloud acquisition system.Laser The range information of rangefinder real-time follow-up basic component, and whether judgement basis component is in detection zone;Basic component Type identification device is used to read what the pre-buried electronic chip information of basic component or basic component side in detection zone sprayed Serial number, matched with the basic component parameter in database, and then obtain the design parameter information of basic component.It is described to swash Luminous point cloud acquisition system includes industrial robot 11, laser scanner 12 and optical tracker 13.The driving of industrial robot 11 swashs The laser point cloud data on the dynamic access basic component surface of photoscanner 12, optical tracker 13 track laser scanner 12, and Real-time locus and attitude information are provided for laser scanner 12.
Wherein, described basic component type identification device can be that identification technology reads the pre-buried electronic chip letter of track plates The radio-frequency recognition system of breath or the industrial phase that the serial number that track plates side sprays is read by character recognition technology Machine.
In one embodiment of the present utility model, basic component is the type fragment-free track slabs 10 of CRTS III, industrial robot 11 be a mechanical arm, and laser scanner 12 is arranged on the lower end of mechanical arm, and the upper end of mechanical arm is arranged on an accurate slide rail 14 And can be moved along the accurate slide rail, the umbrella-shaped structure in figure represents the following range of optical tracker 13.Referring to Fig. 7, optics with Track instrument 13 is arranged on straight line slide unit 17 and can moved along straight line slide unit 17 by a universal turning bench 15 and a support frame 16.
Optical tracker 13 is realized self-positioning by the 3 d space coordinate of dynamic access target, and the target is provided with more Individual, referring to Fig. 5 and Fig. 6, each target is separately mounted on the inclined-plane of a cylindrical target installation workpiece 18, target installation The angle between plane where the upper surface of workpiece 18 and the inclined-plane of bottom is preferably 60 degree.Multiple targets install workpiece 18 On the crossbeam 20 of workpiece erecting device 19, it is arranged and quantity should be guaranteed that when there is overcover to block, optical tracking Instrument can detect at least more than 5 positioning target points.
In the embodiment shown in Fig. 1-Fig. 3, one group of workpiece erecting device 19 is each provided with the both sides of track plates to be measured, And the height of the workpiece erecting device of both sides is different.Wherein 2 crossbeams 20,2 are provided with 3 workpiece erecting devices of side The height of individual crossbeam 20 and differed with the distance of track plates 10.
In detecting system of the present utility model, the Model Reconstruction system is quick to track traffic basic component laser point cloud The laser point cloud data of intelligent acquisition system collection is handled, and rebuilds the 3-D geometric model of each part of basic component;It is described Basic structure is calculated by space geometry using the 3-D geometric model for each part of basic component rebuild in offset detection system The physical dimension of each part of part, then compared with design size, and then obtain the machining deviation of basic component appearance and size simultaneously Form examining report.
The method detected using said system to the type non-fragment orbit board sizes of CRTS III is carried out with reference to Fig. 8 detailed Describe in detail bright.
The detection method comprises the following steps:
S1. track plates surface laser cloud data automatic data collection:
For quick obtaining track plates surface laser cloud data, laser scanner is manipulated to track using industrial robot Plate carries out dynamic scan.The step of automatic data collection, is as follows:
1. track plate transporting is transported to detection zone by track plates with regard to bit platform automatically, by the laser range finder pre-set, Real-time follow-up track plates range information, judge track plates whether in detection zone;
2. track plates enter in detection zone, start track plates identification system, pass through REID (Radio Frequency Identification, RFID), the pre-buried electronic chip information of track plates is read, or pass through character recognition technology (Optical Character Recognition, OCR), reads the serial number of track plates sides spraying, then with rail in database Road board parameter is matched, and then obtains the design parameter information of the track plates;
3. after obtaining track board parameter to be detected, start laser point cloud acquisition system, Synchronization Control industrial robot, laser Scanner and optical tracker, real-time dynamic access track plates surface laser point cloud.
S2. track plates reconstructing three-dimensional model:
The type fragment-free track slabs of high-speed railway CRTS III are mainly made up of track and track plates bottom plate.《High-speed railway CRTS III plate-type non-fragment orbit pretensioning prestressed concrete track plates, the provisional technology bar of ballastless track of high-speed railway caulking material Part》(the total science and technology [2013] 162 of iron) file, in track plates appearance and size deviation and examination requirements, enumerating track plates detection Project and tolerance.In addition to track plates sealer Thickness sensitivity item, other every contents can by track and The geometrical model of track plates bottom plate is calculated.So carry out track plates appearance and size separate-blas estimation using three-dimensional laser point cloud Committed step be to rebuild the threedimensional model of track, service sleeve and bottom plate.
(1) method of track Model Reconstruction is as follows:
The track of fragment-free track slab is made up of the vice jaw surface of both sides and the support rail face of bottom, rebuilds track threedimensional model It is the space three-dimensional model for rebuilding this 3 planes respectively, the Space geometric parameter of areal model can be calculated according to formula 1.
Vi=ax+by+cz+d (1)
In formula:
Vi:The residual error of obserred coordinate value;
a、b、c:The normal vector of plane;
d:4th parameter of plane equation.
Laser spots three-dimensional coordinate on vice jaw surface or support rail face can calculate as observed quantity, sampling least square method algorithm A, the value of tetra- parameters of b, c, d.
Track vice jaw surface or support rail face are rebuild using the track plates surface laser point cloud of laser point cloud acquisition system collection Threedimensional model, mainly have following steps:
1. establishing the tree form data structure of track plates original point cloud, it is easy to carry out fast search to laser point cloud;
2. nearly neighborhood search method, the laser point cloud of fast search track region from track plates point cloud;
3. using rectangle partitioning algorithm and elevation filtering algorithm, split the laser point cloud at vice jaw surface and support rail face respectively;
4. using the stochastical sampling consistency algorithm (Random Sample Consensus, RANSAC) of areal model, obtain Obtain the plane sampled point cloud of support rail face and vice jaw surface;
5. least-squares algorithm is used, respectively the geometric parameter of Calculation Plane model, to track vice jaw surface and support rail face Plane be fitted.
(2) method of service sleeve Model Reconstruction is as follows:
The service sleeve of fragment-free track slab is the insulation that is installed on railway plate die pilot pin before track plates pour Sleeve pipe.Service sleeve is standard element, and its length is 141mm, and top is cylinder, and its body diameter is 25.5mm, and bottom is Female thread structure.Service sleeve reconstructing three-dimensional model is to rebuild top cylindrical body three-dimensional models, and the geometric parameter of cylinder includes:Circle Post axis normal vector N (NX、NY、NZ), cylinder axis point coordinates P (PX、PY、PZ), and the radius R of cylinder, cylinder model Space geometric parameter can be calculated according to formula (2).
In formula:
Vi:The residual error of obserred coordinate value;
Nx、Ny、Nz:The normal vector of cylinder;
x0、y0、z0:The axis point of cylinder;
xi、yi、zi:Laser point coordinates on cylinder;
R:Radius threshold;
Laser spots three-dimensional coordinate inside service sleeve samples least square method algorithm as observed quantity, calculate Nx, Ny, Nz、 x0、y0、z0, seven parameters such as R.
The threedimensional model bag of service sleeve is rebuild using the track plates surface laser point cloud of laser point cloud acquisition system collection Include following steps:
1. establishing the tree form data structure of track plates original point cloud, it is easy to carry out fast search to laser point cloud;
2. nearly neighborhood search method, the laser point cloud from track plates point cloud in fast search service sleeve region;
3. utilize the laser point cloud of rectangle partitioning algorithm and elevation filtering algorithm, respectively segmentation service sleeve;
4. using the stochastical sampling consistency algorithm (Random Sample Consensus, RANSAC) of cylinder model, obtain Obtain cylinder sampled point cloud;
5. using least-squares algorithm, the geometric parameter of cylinder model is calculated, service sleeve cylinder is fitted.
(3) method of track plates bottom plate Model Reconstruction is as follows:
Track plates back-plane design type is cubical types, using the plane of track plates bottom plate corner, calculates chassis The three-dimensional coordinate of corner.Areal model fitting algorithm obtains the plan of bottom plate corner frame plane with reference to the plane fitting of track Close result.
S3. each parts variation detection of track plates:
In total scientific and technological [2013] No. 162 files of iron, the type track plates apparent size deviations of CRTS III and inspection are itemized in It is required that mainly comprising deviation requirements such as track plates apparent size, service sleeve, track, fastener spacing, plate top surface flatness. According to the model parameter extracted in above-mentioned steps S2, using offset detection system, corresponding size value can be calculated, then with design Value is compared, you can is obtained each component processing dimensional discrepancy value of track plates, is only enumerated wherein relatively important project here.Example Such as, track service sleeve centre distance, bolt hole center can be calculated according to the service sleeve and support rail face intersection point of models fitting Actual range, then compared with standard value (design load 233.3mm), you can calculate the machining deviation of bolt hole center.Again Such as, single support rail vice jaw distance, can be parallel upwards along Z axis by support rail surface model according to the areal model parameter of models fitting Mobile 28mm, intersecting for parallel lines for the support rail face moved up and vice jaw surface, the space length of two parallel intersections, it is Single support rail vice jaw (small jaw) distance.
Experiment and analysis
(1) data describe
In order to evaluate the reliability of the utility model method and precision, fragment-free track slab size detection laboratory is established. Pilot system is made up of equipment such as industrial robot (mechanical arm), accurate slide rail, laser scanner and optical trackers.Industrial machine The SR10AL models of company of device artificial Shenyang Xin Song robots, load capacity:10KG;Repetitive positioning accuracy:±0.06mm;It is maximum The radius of clean-up:1957mm;The repetitive positioning accuracy of accurate slide rail:±0.08mm;Maximum speed:5000mm/s;Slide unit length: 7000mm.Laser scanner and the MetroScan750Elite models that optical tracker is Canadian Creaform companies, volume Precision: 0.078mm@16.6m3, measure speed:480000 measurement/seconds;Track plates are the rectilinear orbit plate of P5600 types. Track plate top surface is 1m apart from ground level, i.e. reference rail plate podium level design in place automatically.
(2) testing result
Fragment-free track slab size detecting system automatically processes track plates surface laser cloud data.Based on laser point cloud processing Algorithm, the threedimensional model of reconstruction track plate pre-buried sleeve, track and track plates bottom plate, the geometrical model based on reconstruction, automatically Each component geometry size of track plates is calculated, then by result of calculation compared with design parameter, and appearance and size deviation is counted, Deviation is automatically generated to the detection form of code requirement.Data acquisition and data processing are automatically controlled by detecting system, without Testing staff intervenes.Fragment-free track slab dimensional discrepancy examining report is as shown in the table:
Track plates appearance and size inspection card
Track plates appearance and size inspection card
Measurement:Examination & verification:Management:Date:
(3) precision analysis
The quick, intelligent detecting system of track board size carries out repeating detection 20 to P5600 type rectilinear orbit plates to be detected It is secondary.Indoor temperature and humidity relative constancy is detected, a whole set of detecting system disturbs without external shock.The vertical deviation detection of track It is related to the unilateral all tracks of track plates, detection device coverage is larger, is that a whole set of detecting system precision controlling is relatively weak Link.In track plates actual production process, influenceed due to being crept by embedded bar prestressing force, this detection project is also most to hold Easily exceed the deviation of code requirement.Select vertical deviation accuracy of detection to carry out statistical analysis, same track plates are repeatedly examined Survey data to be counted, the precision for analyzing track vertical deviation is as follows:Maximum difference:0.96, minimal difference:0.92mm, put down Equal difference:0.94mm, the variance of difference:0.012, shown in vertical deviation precision statisticses result figure 9.
Detecting system of the present utility model is integrated with the key equipments such as industrial robot, laser scanner, optical tracker, And Intelligent Measurement can be carried out to the fragment-free track slab based on points cloud processing algorithm, realize to fragment-free track slab (I/II/III types) Automation, intelligentize and informatization detection Deng large foundation component, with traditional artificial inspection for coordinating frock using total powerstation Survey mode is compared, and more than 5 times of its improved efficiency, accuracy of detection improves an order of magnitude.

Claims (5)

  1. A kind of 1. quick, intelligent detecting system of track traffic basic component size, it is characterised in that:Including laser range finder, basis Element type identification device, laser point cloud acquisition system, Model Reconstruction system and offset detection system,
    The range information of the laser range finder real-time follow-up basic component, and whether judgement basis component is in detection zone It is interior;
    The basic component type identification device is used for the pre-buried electronic chip information or base for reading basic component in detection zone The serial number of plinth component side spraying, is matched with the basic component parameter in database, and then obtains setting for basic component Count parameter information;
    The laser point cloud acquisition system includes industrial robot, laser scanner and optical tracker, the industrial robot The laser point cloud data on basic component surface described in laser scanner dynamic access is driven, the optical tracker tracking is described to swash Photoscanner, and provide real-time locus and attitude information for laser scanner;
    The laser point cloud that the Model Reconstruction system gathers to the quick, intelligent acquisition system of track traffic basic component laser point cloud Data are handled, and rebuild the 3-D geometric model of each part of basic component;
    The offset detection system is calculated using the 3-D geometric model for each part of basic component rebuild by space geometry To the physical dimension of each part of basic component, then compared with design size, and then obtain adding for basic component appearance and size Work deviation simultaneously forms examining report.
  2. 2. the quick, intelligent detecting system of track traffic basic component size according to claim 1, it is characterised in that:It is described Basic component type identification device is that identification technology reads the radio-frequency recognition system of the pre-buried electronic chip information of track plates or passed through Character recognition technology reads the industrial camera of the serial number of track plates side spraying.
  3. 3. the quick, intelligent detecting system of track traffic basic component size according to claim 1, it is characterised in that:It is described Industrial robot includes mechanical arm and its controller, and the laser scanner is arranged on the lower end of the mechanical arm, mechanical arm Upper end is arranged on an accurate slide rail and can moved along the accurate slide rail;The optical tracker passes through a universal turning bench and one Support is arranged on a straight line slide unit and can moved along the straight line slide unit.
  4. 4. the quick, intelligent detecting system of track traffic basic component size according to claim 1, it is characterised in that:It is described Optical tracker is realized self-positioning by the 3 d space coordinate of dynamic access target, and the target is provided with multiple, Mei Gebiao Target is separately mounted on a target installation workpiece, and target installation workpiece is arranged on the crossbeam of workpiece mounting bracket.
  5. 5. the quick, intelligent detecting system of track traffic basic component size according to any one of claim 1-4, it is special Sign is:The basic component is the type fragment-free track slabs of CRTS III.
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CN106931885A (en) * 2017-04-17 2017-07-07 铁道第三勘察设计院集团有限公司 The quick, intelligent detecting system of track traffic basic component size and method
CN108519051A (en) * 2018-03-29 2018-09-11 中铁十局集团桥梁有限公司 A kind of box beam measurement method and device
CN108763719A (en) * 2018-05-23 2018-11-06 同济大学 A kind of real-time towards truss workmanship can method for quantitatively evaluating
CN108871295A (en) * 2018-06-27 2018-11-23 上海鼎艺冶金科技有限公司 A kind of three-dimensional space setting-out system and its application method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN108519051A (en) * 2018-03-29 2018-09-11 中铁十局集团桥梁有限公司 A kind of box beam measurement method and device
CN108763719A (en) * 2018-05-23 2018-11-06 同济大学 A kind of real-time towards truss workmanship can method for quantitatively evaluating
CN108763719B (en) * 2018-05-23 2022-05-13 同济大学 Real-time quantifiable evaluation method for truss manufacturing quality
CN108871295A (en) * 2018-06-27 2018-11-23 上海鼎艺冶金科技有限公司 A kind of three-dimensional space setting-out system and its application method

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