CN206787495U - Multi-angle two dimensional laser scanning gage measurement instrument under track checking car - Google Patents
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Abstract
本实用新型公开了轨检车下多角度二维激光扫描轨距测量仪，所要解决的问题是进一步减少轨距测量误差。该装置包括二维激光扫描传感器（以下简称传感器）、交换机、工控机、同步信号发生模块、RS232总线和支架，传感器、交换机、工控机和RS232总线依次通过以太网相连，传感器和工控机通过同步信号发生模块相连，传感器安装在支架两端，传感器激光扫描中心轴与轨检车前进方向垂直，至少包括两对传感器，其水平安装位置高于轨道测量面，支架水平安装在轨检车下。传感器水平安装位置高于轨道测量面保证测量数据的稳定性和可靠性，传感器水平安装于轨道测量面中垂面上保证测量数据的直接性，多组传感器多角度同时测量共同减少了测量误差。
The utility model discloses a multi-angle two-dimensional laser scanning gauge measuring instrument under a rail inspection car, and the problem to be solved is to further reduce gauge measuring errors. The device includes a two-dimensional laser scanning sensor (hereinafter referred to as the sensor), a switch, an industrial computer, a synchronous signal generation module, an RS232 bus and a bracket. The signal generation modules are connected, and the sensors are installed at both ends of the bracket. The laser scanning center axis of the sensor is perpendicular to the forward direction of the rail inspection vehicle. At least two pairs of sensors are included. The horizontal installation position is higher than the track measurement surface, and the bracket is installed horizontally under the rail inspection vehicle. The horizontal installation position of the sensor is higher than the track measurement surface to ensure the stability and reliability of the measurement data. The sensor is horizontally installed on the vertical surface of the track measurement surface to ensure the directness of the measurement data. Multiple sets of sensors and multi-angle simultaneous measurements jointly reduce the measurement error.
Description
技术领域technical field
本实用新型涉及测量技术领域，尤其是规矩测量仪器设备技术领域。The utility model relates to the technical field of measurement, in particular to the technical field of rule measuring instruments and equipment.
背景技术Background technique
随着铁路客专线路的铺设与提速，以及城市轨道交通的大力建设，轨道状态的监测已成为线路正常运营的保障。为监测提供数据来源的轨道不平顺检测的频率也将大大增加。作为其参数之一，轨距检测一直都是一项重要内容。轨距变化将直接导致列车的卡道和脱轨，造成严重的经济损失和重大的交通事故。With the laying and speeding up of passenger-only railway lines and the vigorous construction of urban rail transit, the monitoring of track status has become the guarantee for the normal operation of the line. The frequency of track irregularity detection, which provides a data source for monitoring, will also increase significantly. As one of its parameters, track gauge detection has always been an important content. Gauge changes will directly lead to jamming and derailment of trains, resulting in serious economic losses and major traffic accidents.
轨距检测方式包括静态检测和动态检测两种。轨检仪是既有线平顺性静态检测的专用仪器。作为一种高精度的轨道几何参数检测仪，得到了各铁路局的广泛使用。其能够检测到的轨道几何参数包括：轨距，里程，水平，轨向及高低。轨距是指钢轨头部踏面下 16 mm处，两股钢轨工作边之间的距离。轨检仪分为 0 级、1 级两个准确度等级，0 级轨检仪用于测量线路允许速度不大于350 km / h 的铁路，其轨距的测量误差要求在0.3mm以内，1级轨检仪用于线路允许速度不大于 200 km/h的普通铁路，其轨距的测量误差要求在0. 5 mm以内。Track gauge detection methods include static detection and dynamic detection. The track inspection instrument is a special instrument for static inspection of the existing line smoothness. As a high-precision track geometric parameter detector, it has been widely used by various railway bureaus. The geometric parameters of the track that it can detect include: gauge, mileage, level, direction and height. Gauge is the distance between the working edges of two strands of rail at 16 mm below the tread of the rail head. The track gauge is divided into two accuracy levels: 0 and 1. The 0-level track gauge is used to measure the railway whose line speed is not greater than 350 km/h. The measurement error of the gauge is required to be within 0.3mm. The track inspection instrument is used for ordinary railways whose line speed is not greater than 200 km/h, and the measurement error of its gauge is required to be within 0.5 mm.
由于轨检仪具有检测轨道几何参数多、测量误差较小的优点，得到了较广泛的应用，但是其静态检测带来的测量过程耗时耗力、测量效率低下的问题越来越不能满足当前市场的要求。Because the track inspection instrument has the advantages of detecting many orbital geometric parameters and small measurement errors, it has been widely used. However, the problems of time-consuming, labor-intensive and low-efficiency measurement brought about by its static detection are increasingly unable to meet the current needs. market requirements.
轨距动态检测是一个新的研究方向，其包括基于计算机视觉系统的非接触式轨距检测方法。根据检测要求，列车前进过程中，在轴承等设备的带动下，光电编码器发出脉冲信号，触发安装在左右轨道内侧的两台CCD工业相机，捕获包括照射在钢轨上的辅助光线的钢轨轮廓图像，通过数据采集卡传输到工控机内，经过图像细化等图像处理方法后，得到钢轨轮廓线上的轨距测量点。在世界坐标系中表示出左右钢轨测量点的坐标后，即可得到轨距参数。Track gauge dynamic detection is a new research direction, which includes non-contact gauge detection method based on computer vision system. According to the detection requirements, when the train is moving forward, driven by bearings and other equipment, the photoelectric encoder sends out a pulse signal to trigger two CCD industrial cameras installed on the inner side of the left and right rails to capture the rail profile image including the auxiliary light shining on the rail , which is transmitted to the industrial computer through the data acquisition card, and after image processing methods such as image refinement, the gauge measurement points on the rail contour line are obtained. After expressing the coordinates of the left and right rail measurement points in the world coordinate system, the gauge parameters can be obtained.
基于计算机视觉系统的非接触式轨距检测方法解决了传统轨捡仪测量效率低下的问题，但是一方面其CCD工业相机受震动影响较大，增加了测量误差；另一方面实用摄影测量方法得到得到钢轨轮廓线上的轨距测量点存在较大误差。The non-contact track gauge detection method based on computer vision system solves the problem of low measurement efficiency of traditional track picker, but on the one hand, its CCD industrial camera is greatly affected by vibration, which increases the measurement error; on the other hand, the practical photogrammetry method is obtained It is found that there is a large error in the gauge measurement points on the rail contour line.
发明内容Contents of the invention
本实用新型所要解决的问题是进一步减少轨距测量误差、提高测量精度和效率。The problem to be solved by the utility model is to further reduce gauge measurement errors and improve measurement accuracy and efficiency.
轨检车下多角度二维激光扫描轨距测量仪，包括二维激光扫描传感器、交换机、工控机、同步信号发生模块、RS232总线和支架，二维激光扫描传感器、交换机、工控机和RS232总线依次通过以太网相连，二维激光扫描传感器和工控机通过同步信号发生模块相连，二维激光扫描传感器安装在支架两端，二维激光扫描传感器激光扫描中心轴与轨检车前进方向垂直，至少包括一对二维激光扫描传感器，其水平安装于轨道测量面中垂面上，支架水平安装在轨检车下。Multi-angle two-dimensional laser scanning gauge measuring instrument under the rail inspection vehicle, including two-dimensional laser scanning sensor, switch, industrial computer, synchronous signal generation module, RS232 bus and bracket, two-dimensional laser scanning sensor, switch, industrial computer and RS232 bus The two-dimensional laser scanning sensor and the industrial computer are connected through a synchronous signal generation module. The two-dimensional laser scanning sensor is installed at both ends of the bracket. The laser scanning central axis of the two-dimensional laser scanning sensor is perpendicular to the forward direction of the rail inspection vehicle. It includes a pair of two-dimensional laser scanning sensors, which are horizontally installed on the vertical surface of the track measurement surface, and the bracket is horizontally installed under the rail inspection vehicle.
优选地，至少包括一对二维激光扫描传感器，其水平安装位置高于轨道测量面，二维激光扫描传感器激光扫描中心轴位于水平面上，且与轨检车行进方向垂直。Preferably, at least one pair of two-dimensional laser scanning sensors is included, the horizontal installation position of which is higher than the track measurement surface, and the laser scanning central axis of the two-dimensional laser scanning sensors is located on the horizontal plane and perpendicular to the traveling direction of the rail inspection vehicle.
优选地，水平安装位置位于轨道测量面中垂面上的二维激光扫描传感器的安装位置：二维激光扫描传感器激光扫描中心点与轨道测量面最近点的连线与扫描中心轴所成夹角θ=0；水平安装位置高于轨道测量面的二维激光扫描传感器的安装位置：二维激光扫描传感器激光扫描中心点与轨道测量面最近点的连线与扫描中心轴所成夹角θ∈(0,π/6)。Preferably, the horizontal installation position is located at the installation position of the two-dimensional laser scanning sensor on the vertical plane of the track measurement surface: the angle formed by the line between the laser scanning center point of the two-dimensional laser scanning sensor and the nearest point of the track measurement surface and the scanning central axis θ=0; the installation position of the two-dimensional laser scanning sensor whose horizontal installation position is higher than the track measuring surface: the angle between the line connecting the laser scanning center point of the two-dimensional laser scanning sensor and the nearest point of the track measuring surface and the scanning central axis θ∈ (0, π/6).
优选地，同步信号发生模块为基于CPLD的同步信号发生模块。Preferably, the synchronous signal generating module is a CPLD-based synchronous signal generating module.
优选地，支架包括左右固定架，左右固定架安装在轨检车下，二维激光扫描传感器对称安装在左右固定架上。Preferably, the support includes left and right fixing frames, the left and right fixing frames are installed under the rail inspection vehicle, and the two-dimensional laser scanning sensors are symmetrically installed on the left and right fixing frames.
优选地，支架还包括水平横梁，水平横梁安装在左右固定架下，二维激光扫描传感器安装在水平横梁两端。Preferably, the bracket further includes a horizontal beam installed under the left and right fixing frames, and the two-dimensional laser scanning sensors are installed at both ends of the horizontal beam.
优选地，所有二维激光扫描传感器扫描中心轴位于同一竖直平面内。Preferably, the scanning central axes of all two-dimensional laser scanning sensors are located in the same vertical plane.
二维激光扫描传感器水平安装位置高于轨道测量面保证测量数据的稳定性和可靠性，二维激光扫描传感器水平安装于轨道测量面中垂面上使得两侧二维激光扫描传感器的最小测量值即是各自与轨道测量面的距离，保证测量数据的直接性，二维激光扫描传感器测量精度高，多组二维激光扫描传感器多角度同时测量共同减少了测量误差，保证了测量精度；由于二维激光扫描传感器利用光学原理，读数延迟小，可按轨检车行进速度实时测量，测量效率高。The horizontal installation position of the two-dimensional laser scanning sensor is higher than the track measurement surface to ensure the stability and reliability of the measurement data. The two-dimensional laser scanning sensor is installed horizontally on the vertical plane of the track measurement surface to make the minimum measured value That is, the distance between each and the track measurement surface ensures the directness of the measurement data. The two-dimensional laser scanning sensor has high measurement accuracy, and multiple groups of two-dimensional laser scanning sensors measure at multiple angles at the same time to reduce the measurement error and ensure the measurement accuracy; due to the two The dimensional laser scanning sensor uses the optical principle, and the reading delay is small. It can be measured in real time according to the speed of the rail inspection vehicle, and the measurement efficiency is high.
附图说明Description of drawings
图1是轨检车下多角度二维激光扫描轨距测量仪结构示意图。Figure 1 is a schematic diagram of the structure of a multi-angle two-dimensional laser scanning gauge measuring instrument under a rail inspection vehicle.
图2是轨检车下多角度二维激光扫描轨距测量仪安装在轨检车下时的整体结构示意图。Fig. 2 is a schematic diagram of the overall structure when the multi-angle two-dimensional laser scanning gauge measuring instrument is installed under the rail inspection car.
图3是轨检车下多角度二维激光扫描轨距测量仪原理示意图。Fig. 3 is a schematic diagram of the principle of the multi-angle two-dimensional laser scanning gauge measuring instrument under the track inspection vehicle.
图4是水平安装于轨道测量面中垂面上的二维激光扫描传感器的使用方法原理示意图。Fig. 4 is a schematic diagram of the principle of the use method of the two-dimensional laser scanning sensor installed horizontally on the vertical surface of the track measurement plane.
图5是水平安装位置高于轨道测量面的二维激光扫描传感器的使用方法原理示意图。Fig. 5 is a schematic diagram of the principle of the use method of the two-dimensional laser scanning sensor whose horizontal installation position is higher than the track measurement surface.
图中1、二维激光扫描传感器；2、支架；3、固定架；4、横梁；5、轨道；6、轨检车。In the figure 1, two-dimensional laser scanning sensor; 2, bracket; 3, fixed frame; 4, beam; 5, track; 6, rail inspection vehicle.
具体实施方式detailed description
实施例1Example 1
如图1-3所示，轨检车下多角度二维激光扫描轨距测量仪，包括二维激光扫描传感器、交换机、工控机、同步信号发生模块、RS232总线和支架，二维激光扫描传感器、交换机、工控机和RS232总线依次通过以太网相连，二维激光扫描传感器和工控机通过同步信号发生模块相连，二维激光扫描传感器安装在支架两端，二维激光扫描传感器激光扫描中心轴与轨检车前进方向垂直，至少包括一对二维激光扫描传感器，其水平安装于轨道测量面中垂面上，支架水平安装在轨检车下。装置工作过程：二维激光扫描传感器将测量数据经过交换机传输至工控机，由工控机完成数据采集、数据标定、尺度变化、数据处理和数据显示。为了保证支架两端的二维激光扫描传感器同步扫描，工控机通过RS232总线向同步信号发生系统发送同步命令，同步信号发生系统向两端的二维激光扫描传感器发送同步信号。As shown in Figure 1-3, the multi-angle two-dimensional laser scanning gauge measuring instrument under the rail inspection vehicle includes two-dimensional laser scanning sensors, switches, industrial computers, synchronous signal generation modules, RS232 bus and brackets, and two-dimensional laser scanning sensors , switch, industrial computer and RS232 bus are connected through Ethernet in turn, and the two-dimensional laser scanning sensor is connected to the industrial computer through a synchronous signal generation module. The forward direction of the rail inspection car is vertical, and at least includes a pair of two-dimensional laser scanning sensors, which are horizontally installed on the vertical surface of the track measurement plane, and the bracket is horizontally installed under the rail inspection car. The working process of the device: the two-dimensional laser scanning sensor transmits the measurement data to the industrial computer through the switch, and the industrial computer completes data collection, data calibration, scale change, data processing and data display. In order to ensure synchronous scanning of the two-dimensional laser scanning sensors at both ends of the bracket, the industrial computer sends a synchronization command to the synchronization signal generation system through the RS232 bus, and the synchronization signal generation system sends synchronization signals to the two-dimensional laser scanning sensors at both ends.
至少包括一对二维激光扫描传感器，其水平安装位置高于轨道测量面，二维激光扫描传感器激光扫描中心轴位于水平面上，且与轨检车行进方向垂直。It includes at least one pair of two-dimensional laser scanning sensors, the horizontal installation position of which is higher than the track measurement surface, and the laser scanning central axis of the two-dimensional laser scanning sensors is located on the horizontal plane and perpendicular to the traveling direction of the rail inspection vehicle.
水平安装位置位于轨道测量面中垂面上的二维激光扫描传感器的安装位置：二维激光扫描传感器激光扫描中心点与轨道测量面最近点的连线与扫描中心轴所成夹角θ=0；水平安装位置高于轨道测量面的二维激光扫描传感器的安装位置：二维激光扫描传感器激光扫描中心点与轨道测量面最近点的连线与扫描中心轴所成夹角θ∈(0,π/6)。The horizontal installation position is the installation position of the two-dimensional laser scanning sensor on the vertical surface of the track measurement surface: the angle between the line connecting the laser scanning center point of the two-dimensional laser scanning sensor and the nearest point of the track measurement surface and the scanning central axis is θ=0 ; The installation position of the two-dimensional laser scanning sensor whose horizontal installation position is higher than the track measurement surface: the angle θ∈(0, π/6).
二维激光扫描传感器水平安装于轨道测量面中垂面上使得两侧二维激光扫描传感器的最小测量值即是各自与轨道测量面的距离，保证测量数据的直接性，误差较小。二维激光扫描传感器水平安装位置高于轨道测量面时，为了减少误差，同时保证测量数据的稳定可靠性，使得二维激光扫描传感器在一定的震动范围内始终保持在轨道测量面以上，θ应较大；另一方面为了给二维激光扫描传感器x轴扫描留下空间，避免扫描到的最近点位于轨距点以上，θ不应过大，权衡之下，将θ设置为该范围。The two-dimensional laser scanning sensor is installed horizontally on the vertical surface of the track measurement surface so that the minimum measurement value of the two-dimensional laser scanning sensors on both sides is the distance from the track measurement surface, which ensures the directness of the measurement data and the error is small. When the horizontal installation position of the two-dimensional laser scanning sensor is higher than the track measurement surface, in order to reduce the error and ensure the stability and reliability of the measurement data, the two-dimensional laser scanning sensor is always kept above the track measurement surface within a certain vibration range, θ should be Larger; on the other hand, in order to leave space for the x-axis scanning of the two-dimensional laser scanning sensor, and avoid the nearest point scanned to be above the gauge point, θ should not be too large. On the balance, set θ to this range.
二维激光扫描传感器对称安装在支架两端。支架包括左右固定架和水平横梁，水平横梁安装在左右固定架下，二维激光扫描传感器安装在水平横梁两端。The two-dimensional laser scanning sensors are symmetrically installed at both ends of the bracket. The support includes left and right fixing frames and horizontal beams, the horizontal beams are installed under the left and right fixing frames, and the two-dimensional laser scanning sensors are installed at both ends of the horizontal beams.
所有二维激光扫描传感器扫描中心轴位于同一竖直平面内。保证了所有二维激光扫描传感器同时测量同一轨道截面的轨距，减少测量误差。The scanning central axes of all two-dimensional laser scanning sensors are located in the same vertical plane. It ensures that all two-dimensional laser scanning sensors measure the gauge of the same track section at the same time, reducing measurement errors.
如图4、5所示，装置的使用方法：（1）、提取同时同位置两侧二维激光扫描传感器的最小测量值，设为a、b；（2）、提取最小测量值相应的测量点，获得上述测量点与二维激光扫描传感器扫描中心点的连线与扫描中心轴所成夹角，设为α、β；（3）、设两二维激光扫描传感器间距为c，轨距s=c+acosα+bcosβ，当二维激光扫描传感器水平安装于轨道测量面中垂面上时，α=β=0；（4）、按上述步骤获得多组二维激光扫描传感器测量的轨距s1、s1……sn，平均轨距s’ =（s1+s1+……+sn）/n。该测量轨距值与车载GPS定位数据相结合即是带有地理坐标的完整轨距值。As shown in Figures 4 and 5, the method of using the device: (1), extract the minimum measurement value of the two-dimensional laser scanning sensors on both sides of the same position at the same time, set it as a, b; (2), extract the measurement corresponding to the minimum measurement value Point, obtain the angle between the line connecting the above measuring point and the scanning center point of the two-dimensional laser scanning sensor and the scanning central axis, and set it as α, β; (3), set the distance between two two-dimensional laser scanning sensors as c, and the gauge s=c+acosα+bcosβ, when the two-dimensional laser scanning sensor is installed horizontally on the vertical plane of the track measurement plane, α=β=0; (4) According to the above steps, multiple groups of two-dimensional laser scanning sensors measure the track Distance s 1 , s 1 ... s n , average gauge s' = (s 1 +s 1 + ... +s n )/n. The measured gauge value is combined with the vehicle GPS positioning data to obtain a complete gauge value with geographic coordinates.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020162A (en) * | 2017-05-10 | 2018-05-11 | 湖南科技大学 | Gauge instrument and its application method based on two dimensional laser scanning Yu triangle principle |
| CN110525463A (en) * | 2019-07-30 | 2019-12-03 | 武钢资源集团有限公司 | Underground mine track transportation rail checks vehicle and inspection method |
| CN113635326A (en) * | 2021-08-31 | 2021-11-12 | 中铁第四勘察设计院集团有限公司 | Full geometric dimension inspection robot of track |
| CN114608477A (en) * | 2022-03-17 | 2022-06-10 | 中冶赛迪重庆信息技术有限公司 | Measuring method and measuring device inside a carriage |
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2017
- 2017-05-10 CN CN201720512979.XU patent/CN206787495U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020162A (en) * | 2017-05-10 | 2018-05-11 | 湖南科技大学 | Gauge instrument and its application method based on two dimensional laser scanning Yu triangle principle |
| CN108020162B (en) * | 2017-05-10 | 2023-09-19 | 湖南科技大学 | Rail gauge based on two-dimensional laser scanning and triangle principle and use method thereof |
| CN110525463A (en) * | 2019-07-30 | 2019-12-03 | 武钢资源集团有限公司 | Underground mine track transportation rail checks vehicle and inspection method |
| CN113635326A (en) * | 2021-08-31 | 2021-11-12 | 中铁第四勘察设计院集团有限公司 | Full geometric dimension inspection robot of track |
| CN114608477A (en) * | 2022-03-17 | 2022-06-10 | 中冶赛迪重庆信息技术有限公司 | Measuring method and measuring device inside a carriage |
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