CN114889658A - Bullet train bottom inspection positioning method and device based on laser multipoint distance measurement - Google Patents
Bullet train bottom inspection positioning method and device based on laser multipoint distance measurement Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention belongs to the technical field of inspection of motor train units, and discloses a method and a device for inspecting and positioning the bottom of a motor train unit based on laser multipoint distance measurement, wherein the method for inspecting and positioning the bottom of the motor train unit comprises the steps of arranging a plurality of laser distance measurement sensors on an inspection robot, and the inspection robot walks from a starting point to a terminal point to perform forward inspection; identifying the position of the bogie in the forward inspection process; starting reverse routing inspection after the terminal point is passed; the reverse inspection process positions the bogie to determine the inspection position, and the inspection robot sequentially reaches a plurality of inspection positions and finally passes through the starting point. The invention can identify and position the bottom of the head of the bullet train and the bottom of the tail of the bullet train so as to start and finish inspection and realize the automatic control of the inspection robot; through laser range finding sensor, can discern and fix a position bogie, location efficiency is high and positioning accuracy is high, improves the working range coverage.
Description
Technical Field
The invention relates to the technical field of motor train unit inspection, in particular to a motor train unit bottom inspection positioning method and device based on laser multipoint ranging.
Background
Along with the development of high-speed railway operation, the requirement for railway safety inspection is increased, so that a more efficient and more accurate inspection positioning method is more required under the condition of a larger operation range, so that the accurate inspection of key parts is realized.
The inspection of the bottom of a high-speed railway motor car is usually provided with high-definition imaging equipment such as an industrial camera and the like, and the bottom of the motor car is continuously photographed and recorded in the inspection process. Due to the limitation of the shooting frequency and the shooting angle of the imaging equipment, some key inspection positions at the bottom of the bullet train need to be shot in a fixed-point and multi-angle mode for multiple times so as to obtain enough parameters, and therefore the key inspection positions need to be inspected and positioned. The key inspection positions are generally positions of wheel sets of a vehicle head, a vehicle tail and a bogie, the conventional inspection positioning method comprises mechanical distance measurement positioning, photographing positioning and the like, the positioning accuracy of the former is high, but the problem of reduced positioning accuracy caused by accumulated errors exists in long-distance detection positioning, the coverage rate of an operation range is low, and the positioning efficiency is low; the latter has high positioning efficiency, but has low positioning precision, high difficulty in processing a large amount of picture data and high cost.
Disclosure of Invention
The invention aims to provide a bullet train bottom inspection positioning method based on laser multipoint distance measurement, which aims to solve the problems of low inspection positioning efficiency and low positioning accuracy of the bottom of a high-speed rail bullet train and improve the coverage rate of an operation range.
The invention aims to provide a bullet train bottom routing inspection positioning device based on laser multipoint distance measurement, so as to solve the contradiction between the efficiency and the precision of routing inspection positioning of the bottom of a high-speed railway bullet train and improve the coverage rate of an operation range.
In order to achieve the first purpose, the invention adopts the following technical scheme:
a bullet train bottom inspection positioning method based on laser multipoint ranging comprises the following steps:
s1, arranging a plurality of laser ranging sensors on the inspection robot;
s2, the inspection robot walks from the starting point to the end point to perform forward inspection; the starting point is the bottom of the motor train car head, the end point is the bottom of the motor train car tail, or the end point is the bottom of the motor train car head, and the starting point is the bottom of the motor train car tail;
s3, identifying the position of the bogie in the forward inspection process;
s4, after the inspection robot passes through the terminal, starting reverse inspection;
s5, the reverse inspection process positions the bogie to determine the inspection position, and the inspection robot reaches the inspection position through multi-stage deceleration;
and S6, the inspection robot continues to perform reverse inspection, and the step S5 is repeatedly executed until the inspection robot sequentially reaches a plurality of inspection positions and finally passes through the starting point.
Optionally, it is a plurality of laser rangefinder sensor follows patrol and examine the robot patrol and examine the direction of patrolling and examining symmetrical distribution, laser rangefinder sensor's laser emission direction includes perpendicular upwards direct projection, the oblique upwards alternately correlation and/or perpendicular downwards direct projection.
Optionally, step S2 further includes a method for positioning the start point and the end point, including the following steps:
s21, arranging a first laser ranging sensor and a second laser ranging sensor which are vertically and directly upwards at two ends of the top of the inspection robot along the inspection direction respectively, wherein the inspection robot inspects in the forward direction, and when the measured value of the first laser ranging sensor jumps from the maximum value to the preset value, the inspection robot reaches the starting point and stores the current measured value as the characteristic value of the starting point;
s22, when the inspection robot inspects the measured value of the second laser ranging sensor in the forward direction to be equal to the characteristic value of the starting point, the inspection robot passes through the starting point;
s23, when the inspection robot inspects the measured value of the first laser ranging sensor in the forward direction and jumps from a preset value to a maximum value, the inspection robot reaches the end point and stores the current measured value as an end point characteristic value;
s24, when the inspection robot is inspecting forward until the measured value of the second laser ranging sensor is equal to the characteristic value of the end point, the inspection robot passes through the end point.
Optionally, the step S3 of identifying the position of the bogie includes the following steps:
s31, arranging a third laser ranging sensor, a fourth laser ranging sensor and a fifth laser ranging sensor at intervals along the inspection direction on the top of the inspection robot, wherein the third laser ranging sensor and the fifth laser ranging sensor are obliquely upward and oppositely shot to acquire data, and the fourth laser ranging sensor is vertically upward and directly shot to acquire data;
s32, when the inspection robot passes through the starting point, forward inspection is carried out, if the measured value of the third laser ranging sensor jumps from the maximum value to the preset value, the inspection robot reaches the first wheel pair of the bogie, and if the measured value of the fifth laser ranging sensor jumps from the maximum value to the preset value, the inspection robot reaches the second wheel pair of the bogie, and the fourth laser ranging sensor starts to collect data;
s33, when the measured value of the third laser ranging sensor jumps from a preset value to a maximum value, recording and storing the minimum value of the measured value of the fourth laser ranging sensor, and taking the minimum value as the characteristic value of the wheel shaft of the current bogie;
s34, when the measured value of the fifth laser ranging sensor jumps from a preset value to the maximum value, the inspection robot leaves the current bogie;
and S35, repeating the steps S32-S34, and continuing the forward routing inspection until the positions of all the bogies are identified and the end point is passed.
Optionally, the positioning the bogie in step S5 includes the following steps:
s51, arranging a sixth laser ranging sensor on the inspection robot, wherein the sixth laser ranging sensor obliquely and upwards crossly shoots and collects data, and the sixth laser ranging sensor and the second laser ranging sensor are arranged at the same end of the inspection robot;
s52, in the reverse patrol process of the patrol robot, when the measured value of the sixth laser ranging sensor jumps from the maximum value to the preset value, the patrol robot starts to decelerate at a first stage;
s53, when the measured value of the fifth laser ranging sensor jumps from the maximum value to a preset value, the inspection robot starts to decelerate in a second stage;
s54, when the measured value of the fourth laser ranging sensor is equal to the characteristic value of the wheel axle, the inspection robot immediately stops moving, and the inspection robot reaches the inspection position;
and S55, the inspection robot continues reverse inspection, and the steps S52-S54 are repeatedly executed until the inspection robot reaches all inspection positions in sequence and finally passes through the starting point.
Optionally, in the forward and reverse patrol processes, the patrol robot collects height data to correct the measurement value.
In order to achieve the second purpose, the invention adopts the following technical scheme:
a motor car bottom inspection positioning device based on laser multipoint ranging comprises an inspection robot, wherein the inspection robot can walk on an inspection rail at the bottom of a motor car to perform inspection positioning; patrol and examine the robot top and be equipped with first laser ranging sensor, second laser ranging sensor, third laser ranging sensor, fourth laser ranging sensor, fifth laser ranging sensor and sixth laser ranging sensor, first laser ranging sensor with second laser ranging sensor sets up patrol and examine the robot along the both ends of patrolling and examining the direction, third laser ranging sensor fourth laser ranging sensor with fifth laser ranging sensor follows it is in to patrol and examine the direction interval setting first laser ranging sensor with between the second laser ranging sensor, sixth laser ranging sensor with second laser ranging sensor sets up patrol and examine the robot with one end and setting up the outside of second laser ranging sensor, first laser ranging sensor second laser ranging sensor with fourth laser ranging sensor is perpendicular upwards collection number of penetrating directly According to the method, the third laser ranging sensor, the fifth laser ranging sensor and the sixth laser ranging sensor are obliquely upward cross correlation acquisition data.
Optionally, the top of patrolling and examining the robot still is equipped with seventh laser ranging sensor, seventh laser ranging sensor for sixth laser ranging sensor symmetry sets up the edge of patrolling and examining the robot patrol and examine the other end of direction.
Optionally, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the fourth laser ranging sensor, the fifth laser ranging sensor, the sixth laser ranging sensor and the seventh laser ranging sensor respectively include at least two the laser ranging sensors, and respectively about it sets up to patrol and examine the direction symmetry.
Optionally, the bottom of patrolling and examining the robot is equipped with two eighth laser rangefinder sensors, two eighth laser rangefinder sensor symmetry sets up it follows to patrol and examine the robot patrol and examine the both sides of direction, eighth laser rangefinder sensor is perpendicular downward direct injection data collection.
The invention has the beneficial effects that:
according to the bullet train bottom inspection positioning method based on laser multipoint ranging, the inspection robot is provided with the plurality of laser ranging sensors, so that the bottom of the head of the bullet train and the bottom of the tail of the bullet train can be identified and positioned, inspection can be started and ended conveniently, and automatic control of the inspection robot is realized; the laser ranging sensor can identify and position the wheel-axle pair of the bogie, and compared with the mechanical ranging positioning and photographing positioning method in the prior art, the positioning method has the advantages of high positioning efficiency and high positioning precision, and the laser ranging sensor can realize forward inspection and reverse inspection positioning in the full-length range of the high-speed rail vehicle, so that the coverage rate of an operation range is improved.
According to the bullet train bottom inspection positioning device based on laser multipoint distance measurement, the plurality of laser distance measurement sensors are arranged on the inspection robot, so that laser distance measurement identification and positioning in the full-length direction of the bottom of the bullet train are facilitated, the operation range with high coverage rate is achieved, the inspection positioning accuracy of the laser distance measurement sensors is higher compared with that of imaging equipment, and the inspection positioning efficiency of the laser distance measurement sensors on mechanical distance measurement positioning is higher.
Drawings
FIG. 1 is a flow chart of a bullet train bottom inspection positioning method based on laser multipoint ranging of the invention;
FIG. 2 is a schematic structural diagram of a bullet train bottom inspection positioning device based on laser multipoint distance measurement;
FIG. 3 is a flow chart of a method for identifying and locating a starting point and an end point based on laser multipoint ranging according to the present invention;
FIG. 4 is a flow chart of a method for identifying a bogie based on laser multipoint ranging according to the present invention;
fig. 5 is a flowchart of a bogie positioning method based on laser multipoint ranging according to the present invention.
In the figure:
1. a patrol robot; 11. a first laser ranging sensor; 12. a second laser ranging sensor; 13. a third laser ranging sensor; 14. a fourth laser ranging sensor; 15. a fifth laser ranging sensor; 16. a sixth laser ranging sensor; 17. a seventh laser ranging sensor; 18. and an eighth laser ranging sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The invention firstly provides a bullet train bottom inspection positioning method based on laser multipoint distance measurement, so as to solve the problems of low inspection positioning efficiency and low positioning accuracy of the bottom of a high-speed railway bullet train and improve the coverage rate of an operation range.
With reference to the flow shown in fig. 1 and the inspection robot 1 shown in fig. 2, the method for positioning the bottom of the bullet train in the inspection based on laser multipoint ranging according to the present embodiment includes the following steps:
s1, the inspection robot 1 is provided with a plurality of laser distance measuring sensors Ki.
It should be explained that, when the motor train unit is required to be patrolled, the motor train unit stops on the track bridge, the patrol trench is arranged below the track bridge, the patrol rail is arranged in the patrol trench, and the patrol robot 1 can walk on the patrol rail to patrol and locate the bottom of the motor train unit. When patrolling and examining, patrol and examine robot 1 and walk on the track of patrolling and examining of motor car bottom in order to carry out the operation of patrolling and examining of full length to the motor car bottom that awaits measuring, patrol and examine the operation in-process and patrol and locate through a plurality of laser ranging sensor Ki that set up on patrolling and examining robot 1 to patrol and examine the position to the motor car bottom and comprehensively patrol and examine if shoot operation content such as make a video recording, in this embodiment, use the bogie as the key position of patrolling and examining, wheel axle and wheel pair on the bogie discern and fix a position, in order to patrol and examine robot 1 location to patrolling and examining the position. In this embodiment, i is 1,2,3, … …,14, 15. In other embodiments, more laser ranging sensors may be provided for backup or accuracy requirements of detection, not limited to a specific number.
S2, the inspection robot 1 walks from the starting point to the end point to perform forward inspection; the starting point is the bottom of the head of the motor car, and the end point is the bottom of the tail of the motor car; or the end point is the bottom of the motor train head, and the starting point is the bottom of the motor train head;
it should be noted that, a plurality of laser ranging sensors Ki on the inspection robot 1 are symmetrically arranged along the inspection direction, any end of the inspection robot 1 along the inspection direction can be used as a front end or a tail end, and in the same process, the inspection robot 1 can start to advance from the head of the bullet train to be inspected to the tail direction for inspection and can also start to advance from the tail to the head direction for inspection, for convenience of description in the embodiment, the bottom of the head of the bullet train is used as a starting point, the bottom of the tail of the bullet train is used as an end point, the front end of the inspection robot 1 advances forward for forward inspection, and the tail end advances forward for reverse inspection, as shown in fig. 2.
S3, identifying the position of the bogie in the forward inspection process;
it will be appreciated that the base of the wagon will typically include a plurality of bogies and therefore the inspection robot 1 will pass all bogies of the wagon base in sequence and identify them one by one during the forward inspection process described above until it passes the destination.
S4, starting reverse inspection after the inspection robot 1 passes the end point;
it should be noted that the reverse direction inspection and the forward direction inspection are different in that the traveling direction is opposite, and the inspection robot 1 has forward and directional driving, so that the inspection robot 1 does not drop its head after inspecting in the forward direction and passing through the end point, and directly travels in the reverse direction along the inspection track after stopping to start the reverse direction inspection.
S5, positioning the bogie in the reverse inspection process to determine the inspection position, and enabling the inspection robot to reach the inspection position through multi-stage deceleration;
it should be noted that, in the reverse routing inspection process, the multiple bogies are sequentially positioned, so that the routing inspection mechanical arm on the routing inspection robot 1 can perform a focused routing inspection operation on the routing inspection position, and a specific routing inspection operation mode includes a photographing mode or a shooting mode, which is not within the protection scope of the present invention. After the inspection operation of the inspection position is completed, the inspection robot 1 can receive a completion instruction so as to continue to reversely inspect and walk to position the next bogie or the terminal point.
And S6, the inspection robot continues to perform reverse inspection, and the step S5 is repeatedly executed until the inspection robot sequentially reaches a plurality of inspection positions and finally passes through the starting point.
According to the bullet train bottom inspection positioning method based on laser multipoint ranging, the inspection robot 1 is provided with the plurality of laser ranging sensors Ki, so that the bottom of the head of a bullet train and the bottom of the tail of the bullet train can be identified and positioned, inspection can be started and ended conveniently, and automatic control of the inspection robot is realized; through laser rangefinder sensor Ki, can discern and fix a position bogie (including the wheel pair characteristic), it can accurately arrive through multistage speed reduction and patrol and examine the position and the bogie bottom so that patrol and examine to patrol and examine robot 1. Compared with the mechanical distance measurement positioning and photographing positioning method in the prior art, the routing inspection positioning method has the advantages of high positioning efficiency and high positioning precision, and the laser distance measurement sensor can realize forward routing inspection and reverse routing inspection positioning within the full-length range of the high-speed rail vehicle, so that the coverage rate of the operation range is improved.
Optionally, the plurality of laser ranging sensors Ki are symmetrically distributed along the inspection direction of the inspection robot 1, and the laser emission directions of the laser ranging sensors Ki include vertical upward direct projection, oblique upward cross-correlation and/or vertical downward direct projection.
It can be understood that the bogie is the main running gear in rail vehicle bottoms such as high-speed railway motor car, the major structure of bogie includes shaft and wheel pair, the wheel pair rotates and connects in the both ends of shaft, in this embodiment, it patrols and examines to patrol and examine robot 1 and walk in the motor car bottom and patrol and examine, adopt the mode collection data of perpendicular upwards penetrating directly, can carry out data acquisition so that discern the location to the bottom characteristic of motor car locomotive or rear of a vehicle and the shaft characteristic of bogie, and the wheel pair sets up the both ends at the shaft, consequently need adopt the mode of alternately correlation to discern and fix a position both sides wheel pair characteristic. The angle of the oblique upward cross correlation is preset according to the wheel pair characteristics of a specific bogie, so that the left and right wheel pairs can be accurately detected, and specific numerical limitation is not performed.
Optionally, step S2 further includes a method for positioning a start point and an end point, and as shown in the flowchart of fig. 3, the laser-based multipoint distance measuring method includes the following steps:
s21, arranging a first laser ranging sensor 11 and a second laser ranging sensor 12 which are vertically and directly upwards at two ends of the top of the inspection robot 1 along the inspection direction respectively, inspecting the inspection robot 1 in the forward direction, when the measured value of the first laser ranging sensor 11 jumps from the maximum value to the preset value, the inspection robot 1 reaches the starting point, and saving the current measured value as the characteristic value of the starting point;
it should be noted that, the inspection robot 1 starts to travel at a certain distance from the start point, starts to perform forward inspection after determining the position of the start point, stops performing forward inspection after the forward inspection reaches the end point and passes through the end point, and starts to perform reverse inspection, so that the start point and the end point need to be identified. For the laser ranging sensor Ki, it should be explained in advance that, according to the ranging principle, first, the first laser ranging sensor 1 (including the laser ranging sensor K9 and the laser ranging sensor K10) starts to acquire data, a measured value of the first laser ranging sensor is a maximum value when the bottom of the bullet train head is not detected, when the bottom of the bullet train head is detected, the measured value jumps from the maximum value to a preset value, and at this time, it is determined that the inspection robot 1 reaches the bottom of the bullet train head of the high-speed rail, that is, reaches a starting point. Therefore, the target objects such as the bottom of the vehicle head, the bottom of the vehicle tail or the wheel set of the wheel can be identified and positioned through the change of the measured value of the laser ranging sensor Ki before and after jumping and the auxiliary filtering technology. The preset value is a numerical value which is preset in the inspection control system and is consistent with the starting point, the end point, the characteristic value of the bogie and the like correspondingly, and is used for data matching and judgment. The preset values corresponding to the starting point and the end point are respectively height values or value ranges of the bottoms of the car head or the car tail, the preset values corresponding to the bogie are values or value ranges such as the height or the width of a wheel shaft and a wheel pair, and it should be understood that the preset value is not a specific value, is any value in the value range meeting the preset requirement, and can be set according to the precision requirement of routing inspection positioning or the performance of routing inspection equipment.
S22, when the inspection robot 1 inspects the measured value of the second laser ranging sensor 12 to be equal to the characteristic value of the starting point in the forward direction, the inspection robot passes through the starting point;
as shown in fig. 2, the second laser ranging sensor 12 includes a laser ranging sensor K2 and a laser ranging sensor K3, and stops collecting data after the first laser ranging sensor 11 detects the head of the motor car, and the second laser ranging sensor 12 starts collecting data, and when the measured value of the second laser ranging sensor 12 is equal to the characteristic value of the starting point, the inspection robot 1 is considered to pass through the starting point, the second laser ranging sensor 12 stops collecting data, and the first laser ranging sensor 11 starts collecting data.
S23, when the inspection robot 1 inspects the measured value of the first laser ranging sensor 11 in the forward direction and jumps from the preset value to the maximum value, the inspection robot 1 reaches the end point and stores the current measured value as the characteristic value of the end point;
in the forward inspection process of the inspection robot 1, the first laser ranging sensor 11 continuously collects and records a measured value, and when the head or the tail of the bullet train is not detected, the measured value of the first laser ranging sensor 11 is a distance parameter of different positions at the bottom of the bullet train; when the bottom of the tail of the motor train is detected, the measured value of the first laser ranging sensor 11 jumps, and the inspection robot 1 is considered to reach the end point. The first laser ranging sensor 11 stops collecting data and the second laser ranging sensor 12 starts collecting data.
And S24, when the inspection robot 1 inspects the measured value of the second laser ranging sensor 12 to be equal to the characteristic value of the end point in the forward direction, the inspection robot 1 passes through the end point. At this time, one forward inspection is completed. Therefore, the inspection robot 1 is judged and identified through the starting point and the end point, the inspection robot 1 can be ensured to completely pass through the bottom of the motor train car, and the omission of the bogie is avoided.
Optionally, in step S3, identifying the position of the bogie based on laser multipoint ranging, as shown in the flowchart of fig. 4, includes the following steps:
s31, arranging a third laser ranging sensor 13, a fourth laser ranging sensor 14 and a fifth laser ranging sensor 15 at intervals along the inspection direction at the top of the inspection robot 1, wherein the third laser ranging sensor 13 and the fifth laser ranging sensor 15 are obliquely upward and crossly shot to acquire data, and the fourth laser ranging sensor 14 is vertically upward and directly shot to acquire data; as shown in fig. 2, the third laser ranging sensor 13 includes a laser ranging sensor K7 and a laser ranging sensor K12, which are symmetrically disposed on both sides of the inspection robot 1, and the cross correlation can detect the wheel set of the bogie. The fifth laser ranging sensor 15 comprises a laser ranging sensor K5 and a laser ranging sensor K15, the sensors are symmetrically arranged on two sides of the inspection robot 1, and the cross correlation can detect the wheel pair of the bogie. The third laser ranging sensor 13 and the fifth laser ranging sensor 15 are respectively arranged at two ends of the fourth laser ranging sensor 14, the fourth laser ranging sensor 14 comprises a laser ranging sensor K6 and a laser ranging sensor K14 and is arranged in the middle of the inspection robot 1, and the wheel shaft between the two sets of wheel pairs is identified and positioned and detected by vertically and vertically directing upwards.
S32, when the inspection robot 1 passes through the starting point, forward inspection is carried out, if the measured value of the third laser ranging sensor 13 jumps from the maximum value to the preset value, the inspection robot 1 reaches the first wheel pair of the bogie, and if the measured value of the fifth laser ranging sensor 15 jumps from the maximum value to the preset value, the inspection robot 1 reaches the second wheel pair of the bogie, and the fourth laser ranging sensor 14 starts to collect data;
specifically, in the forward inspection process, after the inspection robot 1 is judged to pass through the starting point, the third laser ranging sensor 13 starts to collect data, when the laser ranging sensor K7 and the laser ranging sensor K12 simultaneously detect bogie wheel pairs, the measured values of the two jump from the maximum value to the preset value, and the second laser ranging sensor 15 starts to collect data. When the laser ranging sensor K5 and the laser ranging sensor K15 detect the bogie wheel pairs at the same time, the measured values of the laser ranging sensor K5 and the laser ranging sensor K15 jump from the maximum value to the preset value, the fourth laser ranging sensor 14 starts to acquire data, and at the moment, the inspection robot 1 is judged to be near the position of the bogie wheel shaft.
S33, when the measured value of the third laser ranging sensor 13 jumps from the preset value to the maximum value, the minimum value of the measured value of the fourth laser ranging sensor 14 is recorded and stored and is used as the characteristic value of the wheel axle of the current bogie;
specifically, in the process that the inspection robot 1 continues to inspect in the forward direction, when the inspection robot 1 is near the position of the axle of the bogie, the fourth laser ranging sensor 14 (the laser ranging sensor K6 and the laser ranging sensor K14) continuously collects data and compares the collected data, and the minimum value is obtained in each comparison. When the inspection robot 1 leaves the position of the bogie wheel shaft, the measured value of the third laser ranging sensor 13 (the laser ranging sensor K7 and the laser ranging sensor K12) jumps, the minimum value of the measured value of the fourth laser ranging sensor 14 at the moment is recorded, and the characteristic value parameter of the bogie wheel shaft with the minimum value reflects the lowest point of the position of the wheel shaft.
S34, when the measured value of the fifth laser ranging sensor 15 (the laser ranging sensor K5 and the laser ranging sensor K15) jumps from the preset value to the maximum value, the inspection robot 1 leaves the current bogie;
it can be understood that the inspection robot 1 continues to perform forward inspection and travel, when the characteristic value of the bogie axle is obtained, the inspection robot 1 leaves the area of the bogie axle, and when the measured value of the fifth laser ranging sensor 15 jumps, it is determined that the inspection robot 1 leaves the current bogie and identifies the next bogie.
And S35, repeating the steps S32-S34, and continuing the forward inspection until the positions of all bogies are identified and the end point is passed.
Through the forward inspection process, the inspection robot 1 realizes characteristic values of all bogie axles between the starting point and the end point, including the quantity of the bogie axles and the axle position characteristic values, and is convenient for inspection positioning and operation on all bogies in the reverse inspection process.
Optionally, the bogie is positioned in step S5, and the process shown in fig. 5 includes the following steps:
s51, arranging a sixth laser ranging sensor 16 (a laser ranging sensor K1 and a laser ranging sensor K4) on the inspection robot 1, wherein the sixth laser ranging sensor 16 obliquely and upwards crossly shoots and collects data, and the sixth laser ranging sensor 16 and the second laser ranging sensor 12 are arranged at the same end of the inspection robot 1;
as shown in fig. 2, in the present embodiment, for convenience of description, the second laser ranging sensor 12 and the sixth laser ranging sensor 16 are both disposed at the tail end of the inspection robot 1, and during the reverse process, the sixth laser ranging sensor 16 and the second laser ranging sensor 12 preferentially detect the wheel-axle pair of the bogie and generate a jump of the measurement value.
S52, in the reverse patrol process of the patrol robot 1, when the measured value of the sixth laser ranging sensor 16 jumps from the maximum value to the preset value, the patrol robot 1 starts to decelerate at a first stage;
referring to fig. 2, in the reverse direction inspection, the sixth laser ranging sensor 16 is located in front of the traveling direction of the inspection robot 1, and preferentially detects characteristic data. When the measured value of the sixth laser ranging sensor 16 jumps, it is described that the sixth laser ranging sensor 16 detects the bogie wheel set, and the inspection robot 1 has reached the vicinity of the inspection position, at this time, the inspection robot 1 may perform primary deceleration. The specific parameters (including acceleration and other parameters) of the first-level deceleration are preset according to the length of the bogie, the wheel pair distance and the like, so that the inspection robot 1 can brake rapidly when stopping according to needs, and the positioning accuracy is improved.
S53, when the measured value of the fifth laser ranging sensor 15 jumps from the maximum value to the preset value, the inspection robot 1 starts to decelerate for the second time;
when the measured value of the fifth laser ranging sensor 15 jumps, the inspection robot 1 reaches the vicinity of the bogie wheel shaft, so that the two-stage deceleration is started, and the low-speed traveling is performed to facilitate the parking inspection operation.
S54, when the measured value of the fourth laser ranging sensor 14 is equal to the characteristic value of the wheel axle, the inspection robot 1 immediately stops moving, and the inspection robot 1 reaches the inspection position;
when the fourth laser ranging sensor 14 detects the bogie wheel shaft, the measured value of the fourth laser ranging sensor 14 is equal to the wheel shaft characteristic value stored in the identification process, the inspection robot 1 immediately stops moving, the inspection robot 1 is judged to reach the position of the bogie wheel shaft, namely the inspection position, and inspection operation is started, wherein the inspection operation comprises necessary inspection contents such as photographing and shooting. After the current bogie inspection operation is completed, the inspection robot 1 continues to perform reverse inspection and advance.
And S55, the inspection robot 1 continues reverse inspection, and the steps S52-S54 are repeatedly executed until the inspection robot 1 sequentially reaches all inspection positions and finally passes through the starting point.
Through foretell reverse process of patrolling and examining, patrol and examine robot 1 and realized patrolling and examining the location and patrol and examine the operation to all bogies that discern, patrol and examine the location and adopt one-level speed reduction and second grade speed reduction cooperation, do benefit to and patrol and examine robot 1 and brake the parking rapidly at the assigned position to stop at accurate position of patrolling and examining. And do benefit to when the position is patrolled and examined to the non-robot 1 and can pass through fast, improve and patrol and examine speed. The forward inspection identification and the reverse inspection positioning are matched, so that the accurate positioning of the inspection robot 1 to the inspection position is improved, and the positioning efficiency is high. The alternative work detection of a plurality of laser ranging sensors Ki is adopted, the inspection robot 1 carries out forward inspection, identification and reverse inspection and positioning on all bogies in the starting point and the terminal point, the coverage rate of the operation range is improved, and the application range is wide.
Optionally, in the forward patrol and the reverse patrol processes, the patrol robot 1 collects height data to correct the measurement value.
It can be understood that the inspection robot 1 runs on an inspection track at the bottom of a bullet train, a plurality of laser ranging sensors Ki are all arranged at the top of the inspection robot 1, in the process of the inspection robot 1, the inspection robot inevitably bumps or shakes, so that the measured value of the laser ranging sensor Ki has certain deviation, and the measurement and comparison of the preset value or the characteristic value are influenced, therefore, in the embodiment, the inspection robot 1 is arranged to detect the height of the position of the inspection robot, the method for detecting a plurality of laser ranging sensors Ki by measuring the height parameter of key parts at the bottom of a bullet train, the measured value of the laser ranging sensor Ki can be corrected by the self height error value of the inspection robot 1, so as to improve the data precision of the measured value and further improve the patrol positioning precision and patrol positioning efficiency of the patrol robot 1. The method for the inspection robot 1 to collect the height data of the inspection robot comprises but is not limited to the steps that a plurality of laser ranging sensors K13 are installed at the bottom of the inspection robot 1, the laser ranging sensors K13 are vertically and downwards directed to measure the distance between the bottom of the inspection robot 1 and an inspection track, the distance difference is obtained by comparing the distance difference with a standard value or a preset value, and the measured values of the laser ranging sensors Ki at the top of the inspection robot 1 are corrected through the distance difference.
Based on the bullet train bottom inspection positioning method based on the laser multipoint distance measurement, the invention also provides a bullet train bottom inspection positioning device based on the laser multipoint distance measurement for realizing the inspection positioning method, as shown in fig. 2, the inspection positioning device comprises an inspection robot 1, the inspection robot 1 can walk on an inspection track in a trench at the bottom of the bullet train for inspection, the inspection directions comprise forward inspection and reverse inspection, and the forward inspection and the reverse inspection directions are opposite along the inspection track; the top of the inspection robot 1 is provided with a first laser ranging sensor 11 (a laser ranging sensor K9 and a laser ranging sensor K10), a second laser ranging sensor 12 (a laser ranging sensor K2 and a laser ranging sensor K3), a third laser ranging sensor 13 (a laser ranging sensor K7 and a laser ranging sensor K12), a fourth laser ranging sensor 14 (a laser ranging sensor K6 and a laser ranging sensor K14), a fifth laser ranging sensor 15 (a laser ranging sensor K5 and a laser ranging sensor K15) and a sixth laser ranging sensor 16 (a laser ranging sensor K1 and a laser ranging sensor K4), the first laser ranging sensor 11 and the second laser ranging sensor 12 are arranged at two ends of the inspection robot 1 along the inspection direction, and the third laser ranging sensor 13, the fourth laser ranging sensor 14 and the fifth laser ranging sensor 15 are arranged at intervals of the first laser ranging sensor 11 and the laser ranging sensor K4 along the inspection direction Between the ware 12, sixth laser rangefinder sensor 16 sets up in patrolling and examining robot 1 with second laser rangefinder sensor 12 with the one end and set up in the outside of second laser rangefinder sensor 12, first laser rangefinder sensor 11, second laser rangefinder sensor 12 and fourth laser rangefinder sensor 14 are perpendicular upwards and penetrate the data of gathering directly, the setting is patrolling and examining robot 1's top intermediate position, two laser rangefinder sensors are about patrolling and examining the axis symmetry setting of robot 1, when patrolling and examining robot 1 and patrolling and examining the walking, the perpendicular line is just to the motor car bottom when penetrating directly upwards. The third laser ranging sensor 13, the fifth laser ranging sensor 15 and the sixth laser ranging sensor 16 are obliquely upward cross correlation acquisition data and are arranged on two sides of the inspection robot 1, every two laser ranging sensors are symmetrically arranged about the central axis of the inspection robot 1 respectively, cross correlation is achieved, detection of wheel pairs of a bogie is achieved, and the angle of the obliquely upward correlation is preset according to the height of the wheel pairs.
According to the bullet train bottom inspection positioning device based on laser multipoint distance measurement, the plurality of laser distance measurement sensors Ki are arranged on the inspection robot 1, so that laser distance measurement identification and positioning in the full-length direction of the bottom of a bullet train are facilitated, the laser distance measurement speed is high, data are accurate, the precision is high, the operation range with high coverage rate on the bottom of the bullet train is achieved, the inspection positioning precision is higher by adopting the laser distance measurement sensors compared with that of the imaging equipment, and the inspection positioning efficiency of the laser distance measurement sensors on mechanical distance measurement positioning is higher.
Optionally, the top of the inspection robot 1 is further provided with a seventh laser ranging sensor 17 (a laser ranging sensor K8 and a laser ranging sensor K11) which is provided at the other end of the inspection robot 1 in the inspection direction with respect to the sixth laser ranging sensor 16.
As shown in fig. 2, the laser ranging sensor K8 and the laser ranging sensor K11 are symmetrically arranged on two sides of the first laser ranging sensor 11, and are symmetrically arranged relative to the central axis of the inspection robot 1, and the laser ranging sensor K8 and the laser ranging sensor K11 are obliquely and oppositely shot upwards to detect the bogie wheel pair. The outgoing angle in the oblique direction is preset according to the position and the height of the bogie wheel pair. The sixth laser ranging sensor 16 and the seventh laser ranging sensor 17 are respectively used for detecting and positioning the bogie wheel set when the inspection robot 1 uses any one of the two ends as the front end or the tail end, so that the inspection robot 1 can perform one-stage speed reduction control.
In the preferred scheme, the first laser ranging sensor 11, the second laser ranging sensor 12, the third laser ranging sensor 13, the fourth laser ranging sensor 14, the fifth laser ranging sensor 15, the sixth laser ranging sensor 16 and the seventh laser ranging sensor 17 respectively comprise at least two laser ranging sensors Ki, and are respectively and symmetrically arranged about the polling direction. Meanwhile, two laser ranging sensors K6 and a laser ranging sensor K14 of the fourth laser ranging sensor 14 are arranged at the middle position of the inspection robot 1, and other laser ranging sensors are symmetrically arranged at two ends of the inspection robot 1 about the fourth laser ranging sensor 14, so that the initial position of the inspection robot 1 is set, the front and back directions do not need to be considered, and the same forward inspection recognition and reverse inspection positioning can be realized. For a first laser ranging sensor 11, a second laser ranging sensor 12 and a fourth laser ranging sensor 14 which are vertically and upwardly directed to collect data, the third laser ranging sensor 13, a fifth laser ranging sensor 15, a sixth laser ranging sensor 16 and a seventh laser ranging sensor 17 which are obliquely and upwardly oppositely arranged are arranged at the positions, close to the central axis, of the top of the inspection robot 1 and symmetrically arranged at the two sides of the inspection robot 1. Of course, the present embodiment is only exemplarily described by the number of the laser ranging sensors, and the number of the laser ranging sensors Ki is not limited to a specific value under the limitation of parameters such as data accuracy and the length or width of the inspection robot 1, for example, a backup laser ranging sensor may be provided, or an encryption setting may be provided in the long axis direction of the inspection robot 1, and the present embodiment is not limited thereto.
Optionally, the bottom of the inspection robot 1 is provided with two eighth laser ranging sensors 18, the two eighth laser ranging sensors 18 are symmetrically arranged on two sides of the inspection robot 1 along the inspection direction, and the eighth laser ranging sensors 18 are used for vertically and directly acquiring data.
As shown in fig. 2, the two laser ranging sensors 18 are symmetrically arranged on two sides of the inspection robot 1 and are arranged at the bottom of the middle position of the inspection robot 1, and are used for detecting the vibration or shaking of the body of the inspection robot 1, obtaining real-time distance parameters between the bottom of the inspection robot 1 and an inspection track, comparing the real-time distance parameters with theoretical values or preset values to obtain distance difference values, and correcting or correcting the measured values of the other laser ranging sensors Ki.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a motor car bottom location method of patrolling and examining based on laser multipoint ranging which characterized in that includes:
s1, arranging a plurality of laser ranging sensors on the inspection robot (1);
s2, the inspection robot (1) walks from the starting point to the end point to perform forward inspection; the starting point is the bottom of the motor train head, and the end point is the bottom of the motor train tail, or the end point is the bottom of the motor train head and the starting point is the bottom of the motor train tail;
s3, identifying the position of the bogie in the forward inspection process;
s4, after the inspection robot (1) passes through the terminal point, starting reverse inspection;
s5, the reverse inspection process positions the bogie to determine the inspection position, and the inspection robot (1) reaches the inspection position through multi-stage deceleration;
and S6, the inspection robot (1) continues to perform reverse inspection, and the step S5 is repeatedly executed until the inspection robot (1) sequentially reaches a plurality of inspection positions and finally passes through the starting point.
2. The bullet train bottom inspection positioning method based on laser multipoint distance measurement according to claim 1, wherein the plurality of laser distance measurement sensors are symmetrically distributed along the inspection direction of the inspection robot (1), and the laser emission directions of the laser distance measurement sensors comprise vertical upward direct projection, oblique upward cross-correlation and/or vertical downward direct projection.
3. The laser multipoint ranging-based bullet train bottom patrol inspection positioning method according to claim 1, wherein the step S2 further comprises a method for positioning the starting point and the end point, and the method comprises the following steps:
s21, a first laser ranging sensor (11) and a second laser ranging sensor (12) which are vertically and upwardly directed are respectively arranged at two ends of the top of the inspection robot (1) along the inspection direction, the inspection robot (1) inspects in the forward direction, when the measured value of the first laser ranging sensor (11) jumps from the maximum value to the preset value, the inspection robot (1) reaches the starting point, and the current measured value is stored as the characteristic value of the starting point;
s22, when the inspection robot (1) inspects the measured value of the second laser ranging sensor (12) in the forward direction until the measured value is equal to the characteristic value of the starting point, the inspection robot (1) passes through the starting point;
s23, when the inspection robot (1) inspects the measured value of the first laser ranging sensor (11) in the forward direction, the inspection robot (1) reaches the end point and stores the current measured value as an end point characteristic value;
s24, when the inspection robot (1) inspects the measured value of the second laser ranging sensor (12) to the forward direction, the inspection robot (1) passes through the end point.
4. The laser multipoint ranging-based bullet train bottom inspection and positioning method according to claim 3, wherein the step S3 of identifying the position of the bogie comprises the following steps:
s31, arranging a third laser ranging sensor (13), a fourth laser ranging sensor (14) and a fifth laser ranging sensor (15) at intervals along the inspection direction at the top of the inspection robot (1), wherein the third laser ranging sensor (13) and the fifth laser ranging sensor (15) are obliquely and upwards intersected and oppositely shot to acquire data, and the fourth laser ranging sensor (14) is vertically and upwards directly shot to acquire data;
s32, when the inspection robot (1) passes through the starting point, forward inspection is carried out, if the measured value of the third laser ranging sensor (13) jumps from the maximum value to the preset value, the inspection robot (1) reaches the first wheel pair of the bogie, if the measured value of the fifth laser ranging sensor (15) jumps from the maximum value to the preset value, the inspection robot (1) reaches the second wheel pair of the bogie, and the fourth laser ranging sensor (14) starts to collect data;
s33, when the measured value of the third laser ranging sensor (13) jumps from a preset value to a maximum value, recording and storing the minimum value of the measured value of the fourth laser ranging sensor (14) as the characteristic value of the current wheel shaft of the bogie;
s34, when the measured value of the fifth laser ranging sensor (15) jumps from a preset value to a maximum value, the inspection robot (1) leaves the current bogie;
and S35, repeating the steps S32-S34, and continuing the forward routing inspection until the positions of all the bogies are identified and the end point is passed.
5. The laser multipoint ranging-based bullet train bottom inspection positioning method according to claim 4, wherein the step S5 of positioning the bogie comprises the following steps:
s51, arranging a sixth laser ranging sensor (16) on the inspection robot (1), wherein the sixth laser ranging sensor (16) obliquely and upwards intersects and shoots for data acquisition, and the sixth laser ranging sensor (16) and the second laser ranging sensor (12) are arranged at the same end of the inspection robot (1);
s52, in the reverse patrol process of the patrol robot (1), when the measured value of the sixth laser ranging sensor (16) jumps from the maximum value to the preset value, the patrol robot (1) starts to decelerate at a first stage;
s53, when the jump from the maximum value to the preset value occurs in the measured value of the fifth laser ranging sensor (15), the inspection robot (1) starts to decelerate in a secondary mode;
s54, when the measured value of the fourth laser ranging sensor (14) is equal to the characteristic value of the wheel axle, the inspection robot (1) immediately stops moving, and the inspection robot (1) reaches the inspection position;
and S55, the inspection robot (1) continues reverse inspection, and the steps S52-S54 are repeatedly executed until the inspection robot (1) sequentially reaches all inspection positions and finally passes through the starting point.
6. The bullet train bottom inspection positioning method based on the laser multipoint distance measurement according to any one of claims 1-5, wherein in the forward inspection and the backward inspection, the inspection robot (1) collects height data to correct the measured value.
7. The bullet train bottom inspection positioning device based on laser multipoint ranging is characterized by comprising an inspection robot (1), wherein the inspection robot (1) can walk on an inspection track at the bottom of a bullet train to inspect and position the bottom of the bullet train; patrol and examine robot (1) top and be equipped with first laser ranging sensor (11), second laser ranging sensor (12), third laser ranging sensor (13), fourth laser ranging sensor (14), fifth laser ranging sensor (15) and sixth laser ranging sensor (16), first laser ranging sensor (11) with second laser ranging sensor (12) sets up patrol and examine robot (1) along the both ends of patrolling and examining the direction, third laser ranging sensor (13), fourth laser ranging sensor (14) with fifth laser ranging sensor (15) are followed it sets up to patrol and examine the direction interval first laser ranging sensor (11) with between second laser ranging sensor (12), sixth laser ranging sensor (16) with second laser ranging sensor (12) set up patrol and examine robot (1) same one end and set up the second laser ranging sensor surveys the same one end of patrolling and examining robot (1) And the distance between the first laser ranging sensor (11) and the second laser ranging sensor (12) and the fourth laser ranging sensor (14) is the vertical upward direct projection acquisition data, and the third laser ranging sensor (13), the fifth laser ranging sensor (15) and the sixth laser ranging sensor (16) are the oblique upward cross correlation acquisition data.
8. The laser multipoint ranging-based bullet train bottom inspection positioning device according to claim 7, wherein a seventh laser ranging sensor (17) is further arranged at the top of the inspection robot (1), and the seventh laser ranging sensor (17) is symmetrically arranged at the other end of the inspection robot (1) in the inspection direction relative to the sixth laser ranging sensor (16).
9. The laser multipoint ranging-based bullet train bottom inspection positioning device according to claim 8, wherein the first laser ranging sensor (11), the second laser ranging sensor (12), the third laser ranging sensor (13), the fourth laser ranging sensor (14), the fifth laser ranging sensor (15), the sixth laser ranging sensor (16) and the seventh laser ranging sensor (17) respectively comprise at least two laser ranging sensors and are respectively arranged symmetrically with respect to the inspection direction.
10. The bullet train bottom inspection positioning device based on laser multipoint ranging according to claim 7, wherein two eighth laser ranging sensors (18) are arranged at the bottom of the inspection robot (1), the two eighth laser ranging sensors (18) are symmetrically arranged on two sides of the inspection robot (1) along the inspection direction, and the eighth laser ranging sensors (18) are used for vertically and downwards directing to collect data.
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