CN210374990U - Straddle type monorail image modeling rail inspection vehicle - Google Patents
Straddle type monorail image modeling rail inspection vehicle Download PDFInfo
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- CN210374990U CN210374990U CN201921350737.0U CN201921350737U CN210374990U CN 210374990 U CN210374990 U CN 210374990U CN 201921350737 U CN201921350737 U CN 201921350737U CN 210374990 U CN210374990 U CN 210374990U
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Abstract
The utility model relates to an image modeling rail inspection vehicle of a straddle type monorail, which comprises a trolley, a digital camera, an RTK device and a scanner; the trolley movably spans on the track beam, and the mobile station of the RTK device is fixed at the top of the trolley; the trolley is provided with a first support corresponding to two outer sides of the track beam respectively, and a second support corresponding to the upper part of the track beam is horizontally arranged on the trolley; a plurality of the digital cameras are arranged on the first rack along the vertical direction, and a plurality of the digital cameras are arranged on the second rack along the horizontal direction; the two first supports are respectively provided with the scanners. The utility model has the advantages that: the three-dimensional image modeling of the appearance of the straddle type monorail can be quickly and effectively completed, and the problem that the traditional scanning method is complex to operate is solved; the workload of operators is greatly reduced on the premise of ensuring the efficiency; and (4) combining a three-dimensional image model to finish the accurate detection of the appearance size of the single track.
Description
Technical Field
The utility model relates to a railway track roof beam detects technical field, concretely relates to single-track image modeling rail of formula of striding examines car.
Background
With the development of science and technology, the urban public transportation mode in China changes day by day. From bus to subway, to the light rail, to BRT, then to city monorail train, all have never accelerated the step of city development, various detection means also slowly rise simultaneously, but the detection technique of track beam traffic adopts artificial means more at present, and efficiency is very low, still has some automatic checkout devices, and the operation is too complicated to the affiliated function of device is too specialized, makes general detection workman not skilled operation fast. A great deal of time and effort is required to fully master the task. The workload of post-processing is greatly increased and the accuracy of detection is influenced. Meanwhile, the traditional detection means is always operated by a worker in person, so that certain danger exists. In addition, the traditional detection of the rail beam also needs a great number of tools to implement, and the taking of the rail beam to the site by workers is very tiring. And at the same time is very complex to implement.
Chinese utility model patent with publication number CN206187015U discloses a track roof beam detects car, mainly be equipped with drive arrangement, speed change gear, controlling means and laser rangefinder, to the track roof beam adopt laser rangefinder can only the linear check size's of single requirement, to the triangular pit, detection such as slope has the limitation, has the laser rangefinder who makes a video recording simultaneously, and the pixel can not reach the precision of requirement, and the image probably has the quality problem that noise interfered with the image. Secondly, the linear control of the whole track beam cannot be accurately grasped.
SUMMERY OF THE UTILITY MODEL
To sum up, for overcoming prior art's not enough, the utility model aims to solve the technical problem that a formula monorail is striden is modeled the rail and is examined the car is provided, realizes that the rail is examined the car and is acquireed high quality, clear three-dimensional image model about striding a formula monorail outward appearance fast to and single-track linear control.
The utility model provides an above-mentioned technical problem's technical scheme as follows: an image modeling rail inspection vehicle for a straddle type monorail comprises a trolley, a digital camera, an RTK device and a scanner; the trolley is movably arranged on the track beam, and the mobile station of the RTK device is fixed at the top of the trolley; the outer parts of the two sides of the trolley corresponding to the track beam are respectively and vertically provided with a first support, and a second support is horizontally arranged above the trolley corresponding to the track beam; a plurality of the digital cameras are arranged on the first rack along the vertical direction, and a plurality of the digital cameras are arranged on the second rack along the horizontal direction; the two first supports are respectively provided with the scanners.
The utility model has the advantages that: be equipped with array camera group and two three-dimensional laser scanners, the efficiency and the quality of scanning have greatly been improved, and then can be quick, effectively accomplish the three-dimensional image modeling of outward appearance about the single track of formula of striding, the problem of traditional scanning method operation complicacy has been solved, the variety of controlling means function simultaneously, can accomplish the shooting by high efficiency to the single track that needs to detect, moreover, the steam generator is simple in operation, the very big work load that has alleviateed operating personnel under the prerequisite of assurance efficiency, and be furnished with the RTK device and can detect out the linear stability of single track, combine three-dimensional image model to accomplish the accurate detection of single track overall dimension, and the triangular pit on surface, detection such as slope.
On the basis of the technical scheme, the utility model discloses can also do following further improvement:
further, the trolley comprises a frame, a stepping motor and a control device; the frame is of a frame structure, rolling wheels are respectively arranged at the front and rear positions in the frame in a rolling manner, and the rolling wheels are axially and horizontally arranged to roll against the top of the track beam; guide wheels are respectively arranged at the front and rear positions of the two sides of the bottom of the frame in a rolling manner, and the guide wheels are axially and vertically arranged to cling to the two sides of the track beam to roll; the mobile station of the RTK device is fixed at the top of the frame, the two first supports are arranged on the frame and correspond to the positions outside two sides of the track beam, and the second support is arranged in the middle of the frame and corresponds to the position above the track beam;
the stepping motors are arranged at positions corresponding to the rolling wheels and the guide wheels in the frame, and each rolling wheel and each guide wheel are connected and driven by one stepping motor; the control device is arranged on the second support and is connected with the stepping motor through a control circuit, and the control device is also connected with the digital camera and the scanner through control data lines respectively.
Wherein, the control device adopts a chip with the model of TM 1650.
The beneficial effect of adopting the further scheme is that: the trolley embraces the track beam and rolls along the track beam.
Further, the focal length of the digital camera on the first support is X1Array pitchIs separated to D1，With a horizontal distance L from the track beam1，X1、D1And L1The relationship of (1) is: d1＝0.0039L1/X1(ii) a The focal length of the digital camera on the second bracket is X2The distance of the array is D2With a vertical distance L from the track beam2，X2、D2And L2Has a relationship of D2＝0.005875L2/X2。
The beneficial effect of adopting the further scheme is that: the overlapping degree of the digital cameras on the two sides and above the track beam reaches 75%, and the precision of the three-dimensional image model is guaranteed.
Further, the scanner is a three-dimensional laser scanner.
Drawings
Fig. 1 is a schematic view of the present invention as measured on a track beam (frame open);
FIG. 2 is a three-dimensional schematic view of the cart;
fig. 3 is a block flow diagram of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. digital camera, 2, RTK device, 3, scanner, 4, support, 5, frame, 6, controlling means, 7, rolling wheel, 8, leading wheel, 9, track roof beam, 10, second support, 11, step motor.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, the image modeling rail inspection vehicle for the straddle type monorail comprises a trolley, a digital camera 1, an RTK device 2 and a scanner 3. The trolley is movably arranged on a track beam 9, and the moving station of the RTK device 2 is fixed at the top of the trolley. The outer parts of the two sides of the trolley corresponding to the track beam 9 are respectively vertically provided with a first support 4, and a second support 10 is horizontally arranged above the trolley corresponding to the track beam 9. On the first support 4 along the verticalA plurality of the digital cameras 1 are arranged in a vertical direction, and a plurality of the digital cameras 1 are arranged on the second support 10 along a horizontal direction; the two first supports 4 are respectively provided with the scanners 3, and the scanners 3 are three-dimensional laser scanners. The focal length of the digital camera on the first support is X1The distance of the array is D1，With a horizontal distance L from the track beam1，X1、D1And L1The relationship of (1) is: d1＝0.0039L1/X1(ii) a The focal length of the digital camera on the second bracket is X2The distance of the array is D2With a vertical distance L from the track beam2，X2、D2And L2Has a relationship of D2＝0.005875L2/X2。
As shown in fig. 2, the cart includes a frame 5, a stepping motor 11 and a control device 6. The frame 5 is of a frame structure, rolling wheels 7 are respectively arranged at the front and rear positions in the frame 5 in a rolling manner, and the rolling wheels 7 are axially and horizontally arranged to roll against the top of the track beam 9. Guide wheels 8 are respectively arranged at the front and rear positions of the two sides of the bottom of the frame 5 in a rolling manner, and the guide wheels 8 are axially and vertically arranged to cling to the two sides of the track beam 9 to roll. The mobile station of the RTK device 2 is fixed on the top of the frame 5, the two first supports 4 are arranged on the frame 5 and correspond to the positions outside the two sides of the track beam 9, and the second support 10 is arranged in the middle of the frame 5 and corresponds to the position above the track beam 9. The stepping motor 11 is installed in the frame 5 at a position corresponding to the rolling wheels 7 and the guide wheels 8, and each rolling wheel 7 and each guide wheel 8 are connected and driven by one stepping motor 11; the control device 6 is mounted on the second support 10, and is connected to the stepping motor 11 through a control circuit, and the control device 6 is further connected to the digital camera 1 and the scanner 3 through control data lines, respectively. The control circuitry and control data lines may be arranged within the carriage 5 to avoid that they affect the operation of the trolley on the rail beam 9.
As shown in fig. 3, the detection method for the image modeling rail inspection vehicle of the straddle type monorail comprises the following steps:
step S1, setting shooting parameters such as shutter time, sensitivity, and focal length of the digital camera 1, where the focal length of the digital camera 1 is X, the linear distance of the array is D, the horizontal distance from the track beam 9 is L, and the relationship between X, D and L is: d is 0.005875L/X.
Step S2, the base station and the rover station of the RTK device 2 are set, and the rover station of the RTK device 2 is fixed to the top of the cart.
In step S3, the external controller is connected to the control device 6 inside the cart by bluetooth.
In step S4, the controller sets the rotation speed and angle of the stepping motor 11 in the control device 6.
Step S5, the carriage is placed on the track beam 9 of the straddle type monorail.
In step S6, the digital camera 1 and the scanner 3 are connected to the control device 6 inside the cart via the control data line.
Step S7, starting the stepping motor 11 through the control device 6 by using the controller, simultaneously touching the shutter of the digital camera 1 and opening the scanner 3, starting automatic photographing by the digital camera 1, starting scanning by the scanner 3, simultaneously moving the trolley forward along the track beam 9 by a preset distance, and judging whether all the digital cameras 1 work normally when the trolley moves, if so, completing single scanning; if not, the method continues to wait until all the digital cameras 1 finish taking pictures.
Step S8, under the positioning of the RTK device 2, combining the photo image data obtained by the digital camera 1 and the three-dimensional image data obtained by the scanner 3 to obtain a high-quality three-dimensional image model of the track beam 9, and detecting the specific position of the triangular pit or the slope on the track beam 9 according to the three-dimensional image model, specifically as follows:
according to the three-dimensional image model, a real-scene model image of the track beam 9 can be obtained to restore the actual situation of the track beam 9, the specific position of the triangular pit can be judged by observing the real-scene model image, the actual size of the track beam 9 is obtained by measuring the real-scene model image, and the deviation of the actual track beam 9 is calculated according to the actual size of the track beam 9 and the design size of the track beam 9 so as to judge the specific position of the slope. At the same time, it can be verified whether the linearity of the rail beam 9 meets the requirements under the positioning of the RTK device 2: the RTK device 2 obtains three-dimensional coordinates of all point locations on the track beam 9 by differentiating different point locations in real time, calculates the linear length, the turning radius and the slope length of a vertical curve of the track beam 9 through the point location coordinates of a center line of the linear design of the track beam 9, and finally compares the calculation result with a preset value to verify whether the linearity of the track beam 9 meets the requirement or not.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (4)
1. An image modeling rail inspection vehicle for a straddle type monorail is characterized by comprising a trolley, a digital camera (1), an RTK device (2) and a scanner (3); the trolley is movably arranged on a track beam (9), and a moving station of the RTK device (2) is fixed at the top of the trolley; the outer parts of the two sides of the trolley corresponding to the track beam (9) are respectively and vertically provided with a first support (4), and a second support (10) is horizontally arranged above the trolley corresponding to the track beam (9); a plurality of the digital cameras (1) are arranged on the first support (4) along the vertical direction, and a plurality of the digital cameras (1) are arranged on the second support (10) along the horizontal direction; the two first supports (4) are respectively provided with the scanner (3).
2. The image modeling rail inspection vehicle of a straddle monorail according to claim 1, characterized in that the vehicle comprises a vehicle frame (5), a stepping motor (11) and a control device (6); the frame (5) is of a frame structure, rolling wheels (7) are respectively arranged at the front and rear positions in the frame (5) in a rolling manner, and the rolling wheels (7) are axially and horizontally arranged to roll against the top of the track beam (9); guide wheels (8) are respectively arranged at the front and rear positions of the two sides of the bottom of the frame (5) in a rolling manner, and the guide wheels (8) are axially and vertically arranged to cling to the two sides of the track beam (9) to roll; the moving station of the RTK device (2) is fixed at the top of the frame (5), the two first supports (4) are arranged on the frame (5) and correspond to positions outside two sides of the track beam (9), and the second support (10) is arranged in the middle of the frame (5) and corresponds to a position above the track beam (9);
the stepping motors (11) are arranged in the positions, corresponding to the rolling wheels (7) and the guide wheels (8), in the frame (5), and each rolling wheel (7) and each guide wheel (8) are connected and driven by one stepping motor (11); the control device (6) is arranged on the second support (10) and is connected with the stepping motor (11) through a control circuit, and the control device (6) is also connected with the digital camera (1) and the scanner (3) through control data lines respectively.
3. The image modeling rail inspection vehicle of a straddle-type monorail according to claim 1, characterized in that the focal length of the digital camera (1) on the first bracket (4) is X1The distance of the array is D1，The horizontal distance between the rail beam (9) and the rail beam is L1，X1、D1And L1The relationship of (1) is: d1＝0.0039L1/X1(ii) a The focal length of the digital camera (1) on the second bracket (10) is X2The distance of the array is D2The vertical distance between the rail beam (9) and the rail beam is L2，X2、D2And L2Has a relationship of D2＝0.005875L2/X2。
4. The image modeling rail inspection vehicle of a straddle monorail according to any one of claims 1 to 3, characterized in that the scanner (3) is a three-dimensional laser scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921350737.0U CN210374990U (en) | 2019-08-20 | 2019-08-20 | Straddle type monorail image modeling rail inspection vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921350737.0U CN210374990U (en) | 2019-08-20 | 2019-08-20 | Straddle type monorail image modeling rail inspection vehicle |
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| CN210374990U true CN210374990U (en) | 2020-04-21 |
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| CN201921350737.0U Active CN210374990U (en) | 2019-08-20 | 2019-08-20 | Straddle type monorail image modeling rail inspection vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110500955A (en) * | 2019-08-20 | 2019-11-26 | 桂林电子科技大学 | A kind of the image modeling track checking car and detection method of straddle-type monorail |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110500955A (en) * | 2019-08-20 | 2019-11-26 | 桂林电子科技大学 | A kind of the image modeling track checking car and detection method of straddle-type monorail |
| CN110500955B (en) * | 2019-08-20 | 2024-06-25 | 桂林电子科技大学 | Image modeling track inspection vehicle and detection method for straddle type monorail |
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