CN107255445B - Detection system and method for CRTS III type plate type ballastless track plate - Google Patents
Detection system and method for CRTS III type plate type ballastless track plate Download PDFInfo
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- CN107255445B CN107255445B CN201710620166.7A CN201710620166A CN107255445B CN 107255445 B CN107255445 B CN 107255445B CN 201710620166 A CN201710620166 A CN 201710620166A CN 107255445 B CN107255445 B CN 107255445B
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- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007306 turnover Effects 0.000 claims abstract description 42
- 238000007514 turning Methods 0.000 claims abstract description 29
- 238000003384 imaging method Methods 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 238000003860 storage Methods 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 21
- 238000011326 mechanical measurement Methods 0.000 claims description 11
- 230000007547 defect Effects 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000009417 prefabrication Methods 0.000 abstract description 3
- 238000000691 measurement method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 229910000746 Structural steel Inorganic materials 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention relates to a detection system and a detection method for a CRTS III type slab ballastless track slab, wherein the detection system comprises a track slab transport vehicle, a track slab panel turnover machine and a photogrammetric system, and the method comprises the following steps: the method comprises the following steps of track slab transportation, track slab turning, system debugging and track slab photography imaging. In recent years, automatic production lines of CRTS III type plate ballastless track plates come into production at home, however, in the track plate detection link, the traditional measurement method is still adopted, namely, a total station is matched with manual detection, and the method is slow in measurement and low in measurement precision. The invention adopts a mechanical measuring arm and a photogrammetric system, can be closely connected with the front and the back working procedures in the process, the detection time of a single track plate is 3 minutes, and the measurement precision can reach 0.025mm. Compared with the traditional method, the method has the advantages that the measurement time and the measurement precision are improved by more than 10 times, the labor cost is greatly saved, and the quality guarantee is provided for prefabrication of the CRTS III type plate ballastless track plate.
Description
Technical Field
The invention relates to a detection system and a detection method for a CRTS III type plate type ballastless track plate, in particular to a detection system and a detection method for a CRTS III type plate type ballastless track plate based on a CCD photogrammetry technology.
Background
At present, the CRTS III type track slab with the independent intellectual property rights of China is widely applied to railway construction, the CRTS III type track slab is prefabricated and molded, in order to be matched with the railway construction, batch prefabrication of the CRTS III type track slab is strictly controlled in each link, only in the appearance detection link of the CRTS III type track slab, 19 detection items exist, except general measurement elements such as length, width and thickness, measurement elements such as the convexity, the skewness, the gradient, the included angle and the warping amount exist, and the detection judgment precision of the center distance of the embedded casing and the track bearing platform is 0.5mm.
The CRTS III track board has the length of 5600mm, the width of 2500mm, the thickness of 200mm and the weight of a single board reaching 8t, and has larger volume and weight compared with a common building component. The existing track slab appearance measuring process generally comprises the following steps: and the appearance detection of the track slab is completed by matching the total station with a special tool and a computer. The main defects of the current detection method are as follows: firstly, need artifical handheld measurement frock to put into every bolt hole with the frock, and need the laminating tight. And every track board has 36 bolt holes, and in actual production, it takes 30 minutes to detect a track board, and because the output is huge daily, lead to track board appearance to detect into the work that wastes time and energy, not only the cost is higher and artifical handheld measurement frock is put into the bolt hole and is measured the efficiency lower. Secondly, errors of the measuring tool in the machining process and errors of the measuring instrument are difficult to eliminate, so that the overall measuring precision is difficult to meet the precision requirement of 0.5mm. Thirdly, data in the detection process cannot be uploaded in real time, and the method is not suitable for a novel assembly line operation method of the track slab. Therefore, the detection method of the CRTS III type plate ballastless track plate is imperative.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a detection system and a detection method for a CRTS III type plate type ballastless track plate.
The invention is realized by the following technical scheme:
a CRTS III type plate ballastless track plate detection system comprises a track plate transport vehicle (10), a track plate turnover machine (20) and a photogrammetric system (30),
the track plate transport vehicle (10) comprises a plate transport trolley (101) and a track (102), and a jack (103) which is in supporting fit with the CRTS III type track plate (40) to be detected is further arranged on the plate transport trolley;
the track plate turnover machine (20) comprises a turnover machine frame (201), a locking device (202), a rotating shaft (203), a bearing support (204), a safety pin (205), a fixing clamp (206) and a turnover machine control cabinet (207); the turning plate machine frame (201) is erected above the track (102) through bearing supports (204) fixed on two sides of the track (102), a locking device (202) is used for fixing a track plate (40) and is arranged on the turning plate machine frame (201), a rotating shaft (203) is used for turning the track plate turning machine (20) and is arranged in the middle of the bearing supports (204), a safety pin (205) used for limiting a fixing clamp (206) is arranged on the lower portion of the bearing supports (204), and a signal output end of a turning plate machine control cabinet (207) is connected with a signal input end of the turning plate machine frame (201);
the photogrammetric system (30) comprises a mechanical measuring arm (301), a mechanical arm action rack (302), a track board storage platform (303), a scanning system calibration platform (304), a raster scanner (305), a CCD dual-camera tracker (306), a tracker action track (307) and a PC control counter (308); the mechanical measurement arm (301) is movably connected with a mechanical arm action rack (302), the grating scanner (305) is fixedly connected with the mechanical measurement arm (301), the track board storage platform (303) is arranged above the track (102), the scanning system calibration platform (304) is arranged on one side of the track board storage platform (303), the CCD double-camera tracker (306) is arranged on one side of the track board storage platform (303) through a tracker action track (307) to realize synchronous motion with the mechanical measurement arm (301), the signal output end of the PC control counter (308) is respectively connected with the signal input ends of the mechanical measurement arm (301), the grating scanner (305) and the CCD double-camera tracker (306), and the signal input end of the PC control counter (308) is respectively connected with the signal output ends of the mechanical measurement arm (301), the scanning system calibration platform (304), the grating scanner (305) and the CCD double-camera tracker (306).
Preferably, said locking means (202) comprise at least one of a front locking means (2021), an upper locking means (2022), a rear locking means (2023); the front locking device (2021) is arranged at the front part of the turnover frame (201) and is movably connected with the fixing clamp (209), the upper locking device (2022) is arranged at the upper part of the turnover frame (201), and the rear locking device (2023) is arranged at the rear part of the turnover frame (201) close to the photogrammetric system (30); the end part of the rotating shaft (203) is also provided with a rotating shaft joint (2031).
Furthermore, a rubber pad is arranged on the locking device (202); the upper locking device (2022) consists of a cylindrical hydraulic main rod (2022-1) and two cylindrical hydraulic auxiliary rods (2022-2).
Preferably, the mechanical measuring arm (301) consists of a mechanical arm first joint (301-1), a mechanical arm second joint (301-2), a mechanical arm third joint (301-3), a mechanical arm fourth joint (301-4), a mechanical arm foot (301-5) and a mechanical arm moving device (301-6); the mechanical arm moving device (301-6) is movably connected with the upper part of the mechanical arm action rack (302), the mechanical arm foot part (301-5) is movably connected with the lower part of the mechanical arm action rack (302), the mechanical arm foot part (301-5), the mechanical arm first joint (301-1), the mechanical arm second joint (301-2), the mechanical arm third joint (301-3) and the mechanical arm fourth joint (301-4) are sequentially and movably connected, and the grating scanner (305) is fixedly connected with the mechanical arm fourth joint (301-4).
Preferably, the robot arm traveling gantry (302) consists of a main structure steel frame (302-1) and a reinforced door-shaped steel frame (302-2), the reinforced door-shaped steel frame (302-2) is used for stabilizing the main structure steel frame (302-1) and is fixedly connected with the main structure steel frame (302-1), a bracket (302-3) is arranged at the upper part of the main structure steel frame (302-1), and the upper part of the bracket (302-3) is welded with the robot arm traveling channel (302-4); the track plate storage platform (303) is composed of a plurality of rectangular steel columns (303-1) and is distributed at two sides of the track (102) of the plate conveying trolley; the scanning system calibration platform (304) is composed of a rectangular steel column (304-1) and a calibration plate (304-2) welded to the top of the steel column.
The detection method of the CRTS III type plate type ballastless track plate comprises the following steps:
s1, transporting a track slab: a jack (103) on the board conveying trolley (101) jacks up the track board (40) to move forward on the track (102), when the board conveying trolley (101) drives over the track board panel turnover machine (20), the jack (103) descends to enable the track board (40) to fall into the track board panel turnover machine (20), and then the board conveying trolley (101) waits in a waiting area;
s2, turning over the track slab: after a plate conveying trolley (101) moves to a waiting area, a locking device (202) enables a track plate (40) to be locked on a plate turning frame (201), the whole track plate turning machine (20) forms a closed structure, a limiting safety pin (205) on a fixing clamp (206) is opened, a rotating shaft (203) synchronously rotates 90 degrees clockwise, the track plate (40) is in a vertical state at the moment, after the track plate is stable, the rotating shaft (203) synchronously rotates 90 degrees clockwise again, and the track plate bearing table is upward at the moment, so that the plate turning work is completed; the locking device (202) is opened, the plate conveying trolley (101) drives back to the lower part of the track plate turnover machine (20), and the jack (103) is lifted to lift the track plate and convey the track plate to a track plate storage platform (303) in a track plate detection area; the plate conveying trolley (101) returns, the rotating shaft (203) rotates 180 degrees clockwise, and the plate conveying trolley returns to the initial state;
s3, debugging the system: connecting scanning equipment, calibrating a raster scanner (305) through a scanning system calibration table (304), and cooperatively testing a mechanical measuring arm (301) and a CCD double-camera tracker (306);
s4, track slab photography imaging: the method comprises the steps of respectively defining coordinates of a first joint (301-1) of a mechanical arm, a second joint (301-2) of the mechanical arm, a third joint (301-3) of the mechanical arm, a fourth joint (301-4) of the mechanical arm and feet (301-5) of the mechanical arm, enabling the fourth joint (301-4) of the mechanical arm to hold a mechanical measuring arm (301) of a grating scanner (305) to respectively scan the side face of a track board (40) and the surface of a track bearing table along a preset path, simultaneously enabling a CCD double-camera tracker (306) to capture the fourth joint (301-4) of the mechanical arm in real time, enabling scanning results of the two joints to be transmitted to a PC control counter (308), imaging by means of specific software, and detecting whether the track board (40) has defects or not according to obtained imaging.
Preferably, the raster scanner (305) calibration in step S3 is performed by: firstly, entering a software scanning calibration system in a PC console (308), moving a mechanical measuring arm (301) to the position of 5-15cm from the top of a scanning system calibration platform (304), scanning 42 white areas on a calibration plate (304-2) at the top of the scanning system calibration platform (304) until an actual image is superposed with a theoretical image in the software scanning calibration system, clicking an 'optimization' button, and completing calibration of a raster scanner.
Preferably, the mechanical measuring arm (301) and the CCD dual-camera tracker (306) in step S3 are tested in cooperation, specifically: the mechanical measuring arm (301) is movably connected with the mechanical arm action rack (302) through a mechanical arm foot part (301-5) and a mechanical arm moving device (301-6), the action posture of the mechanical measuring arm (301) is updated by the PC control console (308) in real time, and signals are fed back to the CCD double-camera tracker (306), so that the CCD double-camera tracker (306) and the mechanical measuring arm (301) move cooperatively and are in pace with each other.
Preferably, the preset path in step S4 includes:
s41, scanning the side surface of the track slab along the planes where the paths BA, AC, CD and DB are located respectively;
s42, raster scanning is performed on the rail support portion of the rail plate (40) along the paths Pj → Pr, pi → Pa, respectively.
Preferably, the step S4 of defining the robot arm coordinates includes: world coordinate World is established when a mechanical measuring arm (301) moves to the foot x =0、World y =0、World z =0, establishing a relative coordinate X at a first joint (301-1) of the robot arm 1 =0、Y 1 、Z 1 (ii) a Establishing a relative coordinate X at a second joint (301-2) of the mechanical arm 2 、Y 2 、Z 2 (ii) a X is established at the third joint (301-3) of the mechanical arm 3 、Y 3 、Z 3 =0; establishing X at the fourth joint (301-4) of the mechanical arm 4 、Y 4 =0、Z 4 =0。
The invention has the beneficial effects that:
the invention adopts a mechanical measuring arm and a photogrammetric system, can be closely connected with the front and the back procedures in the process, the detection time of a single track plate is 3 minutes, and the measurement precision can reach 0.025mm. Compared with the traditional method, the method has the advantages that the measurement time and the measurement precision are improved by more than 10 times, the labor cost is greatly saved, and the quality guarantee is provided for prefabrication of the CRTS III type plate ballastless track plate.
Drawings
Fig. 1 is a schematic diagram of a detection system for a CRTSIII type slab ballastless track slab of the present invention.
Fig. 2 is a schematic view of the operation of the plate-conveying trolley of the invention.
Fig. 3 is a front structural view of the track plate turnover machine of the invention.
Fig. 4 is a rear structure schematic view of the track plate turnover machine of the invention.
Fig. 5 is a schematic view of the operation of the track plate turnover machine of the invention.
FIG. 6 is a schematic diagram of a photogrammetric system according to the present invention.
Fig. 7 is a schematic diagram of the track slab BA path measurement operation in the present invention.
Fig. 8 is an AC path measuring operation diagram of the track slab according to the present invention.
Fig. 9 is a schematic diagram of the operation of measuring the CD path of the track plate in the present invention.
Fig. 10 is a schematic diagram of a track plate DA path measurement operation according to the present invention.
Fig. 11 is a schematic view of the operation of measuring the position of the rail bearing platform of the rail plate in the present invention.
Fig. 12 is a schematic view of a measuring path of a rail bearing platform of the track slab of the present invention.
FIG. 13 is a schematic diagram of the definition of the joint coordinate axes of the mechanical measuring arm in the present invention.
FIG. 14 is a schematic view of the measurement procedure in the present invention.
Reference numerals are as follows:
10, a track slab transport vehicle; 101, transporting a plate trolley; 102, a track; 103, a jack;
20, turning over a plate turning machine for the track plate; 201, turning over a plate frame; 202, a locking device; 2021, front locking means; 2022, upper locking means; 2022-1, hydraulic main rod; 2022-2, hydraulic sub-rods; 2023, rear locking means; 203, a rotation axis; 2031, a rotary shaft joint; 204, a bearing support; 205, a shear pin; 206, a fixing card; 207, a panel turnover machine control cabinet;
30, a photogrammetric system; 301, a mechanical measuring arm; 301-1, a first joint of a robotic arm; 301-2, a second joint of the mechanical arm; 301-3, a third joint of the mechanical arm; 301-4, a fourth joint of the mechanical arm; 301-5, robot arm foot; 301-6, a robotic arm movement device; 302, a robotic arm action gantry; 302-1, main structural steel frame; 302-2, reinforcing a portal steel frame; 302-3, corbel; 302-4, a mechanical arm walking channel; 303, a track plate storage platform; 304, scanning the system calibration stage; 304-1, rectangular steel columns; 304-2, a calibration plate; 305, a raster scanner; 306, a CCD dual-camera tracker; 307, tracker movement trajectory; 308, PC console;
and 40, a track plate.
Detailed Description
For a better understanding of the present invention, the present invention will be further described with reference to the following examples and the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting thereof.
The system structure is as follows:
as shown in fig. 1~6, a system for detecting a CRTSIII slab ballastless track slab based on photogrammetry comprises a track slab transport vehicle 10, a track slab panel turnover machine 20, and a photogrammetry system 30.
The track slab transport vehicle 10 comprises a slab transport trolley 101 and a track 102, wherein a jack 103 which is matched with the to-be-detected CRTS III type track slab 40 in a supporting manner is further arranged on the slab transport trolley 101.
The track plate turnover machine 20 comprises a turnover machine frame 201, a locking device 202, a rotating shaft 203, a bearing support 204, a safety pin 205, a fixing clamp 206 and a turnover machine control cabinet 207; the plate turnover machine frame 201 is erected above the track 102 through bearing supports 204 fixed on two sides of the track 102, a locking device 202 is used for fixing the track plate 40 and is arranged on the plate turnover machine frame 201, a rotating shaft 203 is used for overturning the track plate turnover machine 20 and is arranged in the middle of the bearing supports 204, a safety pin 205 used for limiting a fixing clamp 206 is arranged on the lower portion of the bearing supports 204, the safety pin 205 is pushed by hydraulic pressure, when the track plate turnover machine 20 does not move, the safety pin 205 pushes holes reserved in the fixing clamp 206, namely, the fixing of the track plate turnover machine 20 is completed, and safety is ensured. The signal output end of the panel turnover machine control cabinet 207 is connected with the signal input end of the panel turnover machine frame 201. Preferably, the locking device 202 is further provided with a rubber pad, so that the track plate can be prevented from being damaged during propelling; and the locking device 202 comprises a pair of front locking devices 2021, six upper locking devices 2022 and three rear locking devices 2023; the front locking device 2021 is arranged at the front part of the flap frame 201 and is movably connected with the fixing clip 209; the upper locking device 2022 consists of a cylindrical hydraulic main rod 2022-1 and two cylindrical hydraulic auxiliary rods 2022-2, and is arranged at the upper part of the plate turnover rack 201; the rear locking device 2023 is a cuboid hydraulic rod and is arranged at the rear part of the turning plate frame 201 close to the photogrammetric system 30, when the track plate 40 is turned over to be in a vertical state, the turning plate frame 201 is easy to deform due to the self weight of the track plate being 10t, and the rear locking device 2023 is pushed to counteract the deformation of the turning plate frame caused by the gravity of the track plate; the end of the rotating shaft 203 is also provided with a rotating shaft joint 2031, which can be turned over manually in case of mechanical failure.
The photogrammetric system 30 comprises a mechanical measuring arm 301, a mechanical arm moving rack 302, a track board storage platform 303, a scanning system calibration platform 304, a raster scanner 305, a CCD dual-camera tracker 306, a tracker moving track 307 and a PC control counter 308; the mechanical measuring arm 301 is movably connected with a mechanical arm action bench 302, the grating scanner 305 is fixedly connected with the mechanical measuring arm 301, the track plate storage platform 303 is arranged above the track 102, the scanning system calibration platform 304 is arranged on one side of the track plate storage platform 303, the CCD double-camera tracker 306 is arranged on one side of the track plate storage platform 303 through a tracker action track 307 to realize synchronous motion with the mechanical measuring arm 301, the signal output end of the PC control counter 308 is respectively connected with the signal input ends of the mechanical measuring arm 301, the grating scanner 305 and the CCD double-camera tracker 306, and the signal input end of the PC control counter 308 is respectively connected with the signal output ends of the mechanical measuring arm 301, the scanning system calibration platform 304, the grating scanner 305 and the CCD double-camera tracker 306. The mechanical arm moving platform 302 with a door-shaped structure is arranged on the rear side of the track plate storage platform 303, the mechanical arm moving platform 302 is composed of 1 main structural steel frame 302-1 and 2 reinforced door-shaped steel frames 302-2, 2 corbels 302-3 are arranged on the upper portion of the main structural steel frame 302-1, and the upper portions of the corbels 302-3 are welded with a mechanical arm walking channel 302-4. The mechanical measuring arm 301 adopts a KUKA programmable robot and is formed by sequentially and movably connecting a mechanical arm first joint 301-1, a mechanical arm second joint 301-2, a mechanical arm third joint 301-3, a mechanical arm fourth joint 301-4, a mechanical arm foot 301-5 and a mechanical arm moving device 301-6; the fourth joint 301-4 of the robot arm is controlled by the hand-held raster scanner 305 and the PC console 309. The track plate storage platform 303 is composed of four rectangular steel columns 303-1 and is distributed on two sides of the track 102 of the plate conveying trolley. The scanning system calibration platform 304 is installed on the left side of the track slab storage platform 303 and is composed of a rectangular steel column 304-1 and a calibration plate 304-2 welded to the top of the steel column. The CCD dual-camera tracker 306 and the tracker moving rail 307 are installed on the right side of the rail plate storage platform 303.
The mechanical measuring arm 301, the raster scanner 305 and the CCD dual-camera tracker 306 are linked with the PC console 308 by wireless signals.
The detection method comprises the following steps:
as shown in fig. 7 to 14, the method for detecting the CRTS iii type slab ballastless track slab includes the following steps:
s1, transporting a track slab: the jack 103 on the board conveying trolley 101 jacks up the track board 40 to a height H to move forwards on the track 102, when the board conveying trolley 101 approaches the track board panel turnover machine 20, the front locking device 2021 is opened from the fixing clamp 206, when the track board 40 contacts the rear locking device 2023 of the panel turnover machine, the jack 103 descends to enable the track board 40 to fall into the track board panel turnover machine 20, and then the board conveying trolley 101 waits in a waiting area.
S2, turning over the track slab: after the board conveying trolley 101 travels to the waiting area, the front locking device 2021 is locked on the fixing clamp 206, the upper locking device 2022 hydraulic system is started, the hydraulic main rod 2022-1 provides a force value of 6KN, each hydraulic auxiliary rod 2022-2 provides a force value of 3KN, the rail plate 40 is pushed towards the upper portion, the upper portion of the rail plate 40 is locked, and the whole rail plate panel turnover machine 20 forms a closed structure. When the limit safety pin 205 on the fixing clip 206 is opened, the two rotating shafts 203 on the bearing support 204 synchronously rotate 90 degrees clockwise, at the moment, the track plate 40 is in a vertical state, the rear locking device 2023 is pushed, and the deformation of the flap frame caused by the gravity of the track plate is counteracted. After the operation is stable, the rotating shaft 203 synchronously rotates 90 degrees clockwise again, and the track slab track bearing platform is upward, so that the plate turning work is completed. The locking device 202 is opened, the plate conveying trolley 101 drives back to the lower portion of the track plate turnover machine 20, the jack 103 is lifted to lift the track plate and convey the track plate to the track plate storage platform 303 in the track plate detection area; the plate-conveying trolley 101 returns, and the rotating shaft 203 rotates clockwise by 180 degrees and returns to the initial state.
S3, debugging the system: the scanning equipment is connected, the raster scanner 305 is calibrated by a scanning system calibration table 304, and then the mechanical measuring arm 301 and the CCD dual-camera tracker 306 are tested in a coordinated manner.
S31, connecting scanning equipment: the PC console 308 is connected to a power supply. The PCMCIA high-speed data communications card is inserted into the PCMCIA slot of the PC console 308. The trapezoidal data interface of the data communication cable is inserted into the PCMCIA high-speed data communication card. The plug of the power adapter is connected to a power source. The interface of the power adapter is connected with the circular interface of the data communication cable. The bent plug on the other side of the data communication cable is inserted into the trapezoidal interface of the scanner head.
S32, calibration of a raster scanner: firstly, entering a scanning calibration system of VXELEMENTS software in a PC console 308, moving a mechanical measuring arm 301 to a position about 10cm away from the top 304 of the scanning system calibration table, scanning 42 white areas on a calibration plate 304-1 at the top of the scanning system calibration table 304 until an actual image is superposed with a theoretical image in the VXELEMENTS system, and then clicking an 'optimization' button to finish calibration of a raster scanner.
S33, testing the mechanical measuring arm 301 and the CCD double-camera tracker 306 in a coordinated mode: the mechanical arm foot part 301-5 is fixed on the mechanical arm action rack 302 and connected with the mechanical arm moving device 301-6, the action posture of the mechanical arm is updated in real time by the PC control console 308, and signals are fed back to the CCD double-camera tracker 306, so that the CCD double-camera tracker 306 and the mechanical measuring arm 301 move cooperatively and are in pace.
S4, track slab photography imaging: the coordinates of a first joint 301-1 of the mechanical arm, a second joint 301-2 of the mechanical arm, a third joint 301-3 of the mechanical arm, a fourth joint 301-4 of the mechanical arm and a foot 301-5 of the mechanical arm are respectively defined as follows: world coordinate World is established when the mechanical measuring arm 301 moves to the foot x =0、World y =0、World z =0, establish relative coordinate X at first joint 301-1 of arm 1 =0、Y 1 、Z 1 (ii) a Establishing a relative coordinate X at a second joint 301-2 of the mechanical arm 2 、Y 2 、Z 2 (ii) a Establishing X at third joint 301-3 of mechanical arm 3 、Y 3 、Z 3 =0; establishing X at fourth joint 301-4 of mechanical arm 4 、Y 4 =0、Z 4 And =0. The fourth joint 301-4 of the mechanical arm holds the mechanical measuring arm 301 of the raster scanner 305 to scan the side surface of the track slab 40 and the surface of the track bearing platform along a preset path, simultaneously the CCD dual-camera tracker 306 captures the fourth joint 301-4 of the mechanical arm in real time, the scanning results of the two are transmitted to the PC control counter 308, imaging is performed by means of specific software, and whether the track slab 40 has defects is detected according to the obtained imaging.
Step S4, the preset path includes:
s41, scanning the side surface of the track slab along the planes where the paths BA, AC, CD and DB are located respectively;
s42, raster scanning is performed on the rail base part of the rail plate 40 along the paths Pj → Pr, pi → Pa, respectively.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. The utility model provides a III type plate-type ballastless track board detecting system of CRTS, includes track board transport vechicle (10), track board panel turnover machine (20), photogrammetry system (30), its characterized in that:
the track plate transport vehicle (10) comprises a plate transport trolley (101) and a track (102), and a jack (103) which is in supporting fit with the CRTS III type track plate (40) to be detected is further arranged on the plate transport trolley;
the track plate turnover machine (20) comprises a turnover machine frame (201), a locking device (202), a rotating shaft (203), a bearing support (204), a safety pin (205), a fixing clamp (206) and a turnover machine control cabinet (207); the turning plate machine frame (201) is erected above the track (102) through bearing supports (204) fixed on two sides of the track (102), a locking device (202) is used for fixing a track plate (40) and is arranged on the turning plate machine frame (201), a rotating shaft (203) is used for turning the track plate turning machine (20) and is arranged in the middle of the bearing supports (204), a safety pin (205) used for limiting a fixing clamp (206) is arranged on the lower portion of the bearing supports (204), and a signal output end of a turning plate machine control cabinet (207) is connected with a signal input end of the turning plate machine frame (201);
the photogrammetric system (30) comprises a mechanical measuring arm (301), a mechanical arm action rack (302), a track board storage platform (303), a scanning system calibration platform (304), a raster scanner (305), a CCD dual-camera tracker (306), a tracker action track (307) and a PC control counter (308); the mechanical measurement arm (301) is movably connected with a mechanical arm action rack (302), the grating scanner (305) is fixedly connected with the mechanical measurement arm (301), the track board storage platform (303) is arranged above the track (102), the scanning system calibration platform (304) is arranged on one side of the track board storage platform (303), the CCD double-camera tracker (306) is arranged on one side of the track board storage platform (303) through a tracker action track (307) to realize synchronous motion with the mechanical measurement arm (301), the signal output end of the PC control counter (308) is respectively connected with the signal input ends of the mechanical measurement arm (301), the grating scanner (305) and the CCD double-camera tracker (306), and the signal input end of the PC control counter (308) is respectively connected with the signal output ends of the mechanical measurement arm (301), the scanning system calibration platform (304), the grating scanner (305) and the CCD double-camera tracker (306).
2. The CRTS III type plate ballastless track plate detection system of claim 1, which is characterized in that: the locking device (202) comprises at least one of a front locking device (2021), an upper locking device (2022) and a rear locking device (2023); the front locking device (2021) is arranged at the front part of the plate turnover rack (201) and is movably connected with the fixing clamp (209), the upper locking device (2022) is arranged at the upper part of the plate turnover rack (201), and the rear locking device (2023) is arranged at the rear part of the plate turnover rack (201) close to the photogrammetric system (30); the end part of the rotating shaft (203) is also provided with a rotating shaft joint (2031).
3. The CRTS III type plate ballastless track plate detection system according to claim 2, characterized in that: a rubber pad is also arranged on the locking device (202); the upper locking device (2022) consists of a cylindrical hydraulic main rod (2022-1) and two cylindrical hydraulic auxiliary rods (2022-2).
4. The CRTS III type plate ballastless track plate detection system according to claim 1, characterized in that: the mechanical measuring arm (301) consists of a mechanical arm first joint (301-1), a mechanical arm second joint (301-2), a mechanical arm third joint (301-3), a mechanical arm fourth joint (301-4), a mechanical arm foot (301-5) and a mechanical arm moving device (301-6); the mechanical arm moving device (301-6) is movably connected with the upper part of the mechanical arm action rack (302), the mechanical arm foot part (301-5) is movably connected with the lower part of the mechanical arm action rack (302), the mechanical arm foot part (301-5), the mechanical arm first joint (301-1), the mechanical arm second joint (301-2), the mechanical arm third joint (301-3) and the mechanical arm fourth joint (301-4) are sequentially and movably connected, and the grating scanner (305) is fixedly connected with the mechanical arm fourth joint (301-4).
5. The CRTS III type plate ballastless track plate detection system of claim 1, which is characterized in that: the mechanical arm moving rack (302) is composed of a main structure steel frame (302-1) and a reinforced door type steel frame (302-2), the reinforced door type steel frame (302-2) is used for stabilizing the main structure steel frame (302-1) and is fixedly connected with the main structure steel frame (302-1), a bracket (302-3) is arranged on the upper portion of the main structure steel frame (302-1), and the upper portion of the bracket (302-3) is welded with a mechanical arm walking channel (302-4); the track plate storage platform (303) is composed of a plurality of rectangular steel columns (303-1) and is distributed at two sides of the track (102) of the plate conveying trolley; the scanning system calibration platform (304) is composed of a rectangular steel column (304-1) and a calibration plate (304-2) welded to the top of the steel column.
6. The detection method of the CRTS III type slab ballastless track slab of claim 1~5, comprising the steps of:
s1, transporting a track slab: a jack (103) on the board conveying trolley (101) jacks up the track board (40) to move forward on the track (102), when the board conveying trolley (101) drives over the track board panel turnover machine (20), the jack (103) descends to enable the track board (40) to fall into the track board panel turnover machine (20), and then the board conveying trolley (101) waits in a waiting area;
s2, turning over the track slab: after a plate conveying trolley (101) moves to a waiting area, a locking device (202) enables a track plate (40) to be locked on a plate turning frame (201), the whole track plate turning machine (20) forms a closed structure, a limiting safety pin (205) on a fixing clamp (206) is opened, a rotating shaft (203) synchronously rotates 90 degrees clockwise, the track plate (40) is in a vertical state at the moment, after the track plate is stable, the rotating shaft (203) synchronously rotates 90 degrees clockwise again, and the track plate bearing table is upward at the moment, so that the plate turning work is completed; the locking device (202) is opened, the plate conveying trolley (101) drives back to the lower part of the track plate turnover machine (20), and the jack (103) is lifted to lift the track plate and convey the track plate to a track plate storage platform (303) in a track plate detection area; the plate conveying trolley (101) returns, the rotating shaft (203) rotates 180 degrees clockwise, and the plate conveying trolley returns to the initial state;
s3, debugging the system: connecting scanning equipment, calibrating a raster scanner (305) through a scanning system calibration table (304), and cooperatively testing a mechanical measuring arm (301) and a CCD double-camera tracker (306);
s4, track slab photography imaging: the method comprises the steps of respectively defining coordinates of a first joint (301-1) of a mechanical arm, a second joint (301-2) of the mechanical arm, a third joint (301-3) of the mechanical arm, a fourth joint (301-4) of the mechanical arm and a foot (301-5) of the mechanical arm, enabling the fourth joint (301-4) of the mechanical arm to hold a mechanical measuring arm (301) of a grating scanner (305) to respectively scan the side face of a track board (40) and the surface of a track bearing table along a preset path, simultaneously enabling a CCD double-camera tracker (306) to capture the fourth joint (301-4) of the mechanical arm in real time, enabling scanning results of the two joints to be transmitted to a PC control counter (308), and detecting whether the track board (40) has defects or not by means of specific software imaging according to obtained imaging.
7. The detection method of the CRTS III type slab ballastless track slab of claim 6, wherein the step S3 of scaling the raster scanner (305) comprises the following specific operations: firstly, entering a software scanning calibration system in a PC console (308), moving a mechanical measuring arm (301) to the position of 5-15cm from the top of a scanning system calibration platform (304), scanning 42 white areas on a calibration plate (304-2) at the top of the scanning system calibration platform (304) until an actual image is superposed with a theoretical image in the software scanning calibration system, and then clicking an 'optimization' button to finish the calibration of a raster scanner.
8. The detection method of the CRTS III type slab ballastless track slab of claim 6, wherein the mechanical measurement arm (301) and the CCD dual-camera tracker (306) perform cooperative test in step S3, and the specific operation is as follows: the mechanical measuring arm (301) is movably connected with the mechanical arm action rack (302) through a mechanical arm foot part (301-5) and a mechanical arm moving device (301-6), the action posture of the mechanical measuring arm (301) is updated by the PC control console (308) in real time, and signals are fed back to the CCD double-camera tracker (306), so that the CCD double-camera tracker (306) and the mechanical measuring arm (301) move cooperatively and are in pace with each other.
9. The detection method of the CRTS III type slab ballastless track slab of claim 6, wherein the preset path of the step S4 comprises:
s41, scanning the side surface of the track slab along the planes where the paths BA, AC, CD and DB are located respectively;
s42, raster scanning is performed on the rail support portion of the rail plate (40) along the paths Pj → Pr, pi → Pa, respectively.
10. The detection method of the CRTS III type slab ballastless track slab of claim 6, wherein the step S4 of defining the coordinates of the mechanical arm comprises the following steps: world coordinate World is established when a mechanical measuring arm (301) moves to the foot x =0、World y =0、World z =0, establishing a relative coordinate X at a first joint (301-1) of the robot arm 1 =0、Y 1 、Z 1 (ii) a Establishing a relative coordinate X at a second joint (301-2) of the mechanical arm 2 、Y 2 、Z 2 (ii) a Establishing X at the third joint (301-3) of the mechanical arm 3 、Y 3 、Z 3 =0; establishing X at the fourth joint (301-4) of the mechanical arm 4 、Y 4 =0、Z 4 =0。
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| CN108662997B (en) * | 2018-05-07 | 2020-08-07 | 西南交通大学 | Method for rapidly detecting key geometric dimension processing deviation of universal CRTS III type ballastless track slab |
| CN110398218A (en) * | 2019-08-01 | 2019-11-01 | 郑州铁总智能科技有限公司 | A kind of automatically scanning mapping system |
| CN111472217A (en) * | 2020-04-30 | 2020-07-31 | 中铁四局集团第五工程有限公司 | Rapid intelligent fine tuning system and fine tuning method for CRTS III type track slab |
| CN113375560B (en) * | 2021-07-13 | 2023-02-28 | 北京好运达智创科技有限公司 | Beam embedded part approach inspection system and method |
| CN117109438A (en) * | 2023-10-25 | 2023-11-24 | 上海模高信息科技有限公司 | Laser scanning system for scanning large workpiece based on track guiding matched trolley |
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