A fast reconstruction system, method and application of a 3D scene of a magnetic levitation track

Abstract

The present invention relates to a fast reconstruction system, method and application of a three-dimensional scene of a magnetic levitation track. The reconstruction system includes: a mobile carrier platform straddling the magnetic levitation track; a sensor module for collecting point clouds of the magnetic levitation track data; navigation module, used to obtain the moving position and attitude parameters of the mobile carrier platform; GPS clock, used to provide time information; router, used to realize data communication; industrial computer, connected to router and navigation module respectively, used to The three-dimensional scene reconstruction of the maglev track is performed on the data; wherein, the sensor module includes a set of first laser scanners and two sets of second laser scanners, and the first laser scanner is used to collect point cloud data above the maglev track, The second laser scanner is used to collect point cloud data on both sides of the maglev track and the stator coil. Compared with the prior art, the invention has the advantages of accurate reconstruction, improved monitoring quality and the like.

Description

technical field [0001] The invention relates to the technical field of magnetic levitation track monitoring, in particular to a system, method and application for fast reconstruction of a three-dimensional scene of a magnetic levitation track. Background technique [0002] The high-speed maglev train is a new type of ground vehicle that uses electromagnetic force to achieve vehicle suspension and guidance, and linear motors to achieve traction drive. Composition, the train "flies" around the sliding surface, guide surface and stator surface. However, with the long-term operation of the track, the surrounding environment of the maglev track is becoming more and more complicated, such as the excavation of underground wells, the construction of surrounding building pipelines and other facilities, which lead to soil subsidence, and some trees and floating objects on the outside of the track line are easy to invade the train running. In the safety limit range, obstacles falling ...

AI Technical Summary

Problems solved by technology

(1) For the monitoring of the levitation control system of maglev trains, Shanghai Maglev Transportation Development Co., Ltd. has designed a constant conduction electromagnetic levitation track inspection vehicle. The car body is equipped with suspension gap sensors, current sensors, acceleration sensors and speed measurement and positioning sensors. The suspension node obtains information such as gap, voltage and current, vertical acceleration, speed, etc., and transmits the data to the diagnostic system for fault diagnosis, so as to adjust the running status of the suspension vehicle and the track in time, and the technology is relatively mature; however, the overall structure of the vehicle is complex and the equipment Poor portability, high cost, etc.

(2) For the detection of the gauge and irregularity of the maglev track, a total station can be used for static collection. Based on the ground and the track platform, reliable detection results can be obtained, but only at night or other non-train operating periods carried out, and the detection efficiency is low

This method is simple and efficient, but it cannot diagnose the overall state of the track, and cannot directly find the cause of the fault

(4) In terms of maglev traffic boundary detection, there is no mature boundary design and calculation system at present. According to the "Metro Gauge Standard", the vehicle boundary, equipment boundary, and building boundary parameters of maglev trains in straight or curved sections are given, but temporarily no practical application

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