A platform limit measurement method based on laser point cloud

Abstract

The present invention discloses a platform limit measurement method based on laser point cloud, and the specific steps are as follows: S1: install a line laser measuring instrument on a line laser measuring instrument installation trolley, and debug the line laser measuring instrument; S2: adjust the position of the line laser measuring instrument and fix it, start the power supply, and then start the line laser measuring instrument; S3: start the line laser measuring instrument to measure, scan the platform morphology through the line laser measuring instrument, continuously read the detection results from the line laser measuring instrument to form point cloud data, and store the point cloud data set in a thread sharing list; S4: filter, downsample, remove invalid points, and convert the tilt coordinates of the point cloud data to form platform feature data and complete the measurement. The present invention divides data reading and point cloud data processing into two independent thread steps, which is convenient for data processing. For defective platforms, the position of the locator can be accurately located and sent to the background, and the cause of the defect can also be accurately determined.

Description

Technical Field

[0001] The invention relates to the technical field of platform clearance measurement, and in particular to a platform clearance measurement method based on laser point cloud. Background Art

[0002] Subway limits are graphics, coordinate parameters and contour dimension lines that ensure the safe operation of the subway, limit the cross-sectional dimensions of vehicles, limit the installation dimensions of equipment along the line, and determine the effective clearance dimensions of building structures. There are two main methods for limit detection: contact limit detection and non-contact limit detection. Contact limit detection is the main means of early detection, which mainly includes cross-section method, comprehensive section method, trajectory method and other methods. The detection process is mainly carried out by physical contact using on-board limit frames or manually operated tools such as levels, tape measures, pendants, theodolites, etc. It has the disadvantages of low accuracy, slow speed, large workload, poor reliability, etc., and it is impossible to achieve effective continuous detection, which may lead to missed detection.

[0003] Non-contact detection technology has the advantages of high efficiency, high precision and contactlessness. It overcomes the defects of the original detection methods and has achieved rapid development in recent years. The main non-contact detection methods include video camera method and laser scanning method. The video camera method uses high-speed, high-resolution cameras to carry out rapid detection of limits based on mobile binocular vision measurement, but it has high requirements for the light environment and its application in tunnels is limited. The laser scanning method is a multifunctional rapid detection method developed for the detection, maintenance and management of railway tunnel building limits. The laser scanning equipment continuously measures the distance information of surrounding buildings to form a building limit profile. It is less disturbed by external factors such as light and can be used in complex tunnel environments. Therefore, the laser can be used for measurement in a variety of environments, and is not greatly affected even on cloudy or rainy days.

[0004] Some existing laser point cloud rail transit platform actual limit measurement operations are cumbersome and complex procedures. After being placed on the track, these devices cannot adjust their stability in real time, nor can they affect the measurement accuracy according to the change in the distance between the track and the platform caused by the track deformation, and they cannot judge whether the track is abnormal during the measurement process. In addition, the unstable line laser measuring instrument reduces the accuracy of the measurement data, and will cause deviations in the subsequent processing data and the formation of point cloud data to produce platform feature data. It is troublesome to upload the location of platform defects and analyze the causes of the defects. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present invention is to propose a platform limit measurement method based on laser point cloud, which solves the problems of complicated procedures and cumbersome operation of laser point cloud platform limit measurement, difficulty in eliminating the influence of track anomalies on data, difficulty in uploading the location of platform defects and difficulty in analyzing the causes of defects.

[0006] According to a platform limit measurement method based on laser point cloud proposed by the present invention, the specific steps are as follows:

[0007] S1: Assemble the line laser measuring instrument installation trolley, install the line laser measuring instrument on the line laser measuring instrument installation trolley, and debug the line laser measuring instrument;

[0008] S2: Set up the installation trolley of the line laser measuring instrument on the track beside the platform, adjust the position of the line laser measuring instrument and fix it, start the power, then start the line laser measuring instrument, determine the connection status of the line laser measuring instrument, debug until the connection is successful, obtain the IP address of the line laser measuring instrument, and initialize the line laser measuring instrument after obtaining the IP address;

[0009] S3: Start the line laser measuring instrument to measure, scan the platform topography through the line laser measuring instrument 5, continuously read the detection results from the line laser measuring instrument to form point cloud data, analyze the point cloud data to form a platform point cloud data set, and store the point cloud data set in the thread sharing list;

[0010] S4: Obtain the point cloud data of the platform from the thread sharing list, filter, downsample, remove invalid points, and perform tilt coordinate conversion on the point cloud data, identify the key structural parameters of the contour and distinguish the structural type of the platform contour, form the platform feature data, and complete the measurement;

[0011] The linear laser measuring instrument installation trolley comprises a trolley frame, track rollers, batteries, an electric control box, a radiator, a mounting rotating bracket and a fixed locking rod frame. Two symmetrical track rollers are respectively arranged on the left and right sides of the trolley frame. A battery is installed near one end of the trolley frame. The mounting rotating bracket is rotatably installed on the trolley frame near the other end. A fixed locking rod frame is provided at the edge of the trolley frame near the other end. The linear laser measuring instrument is installed on the top of the mounting rotating bracket. A bracket groove is provided on the trolley frame. After the rotating bracket is flipped and inserted into the bracket slot, the line laser measuring instrument is attached to the battery and placed in the trolley frame. After the installed rotating bracket is flipped out of the bracket slot, it is attached to the fixed locking rod frame and fixed. An electric control box is provided at the bottom of the middle position of the bracket slot. A control panel is provided on one side of the electric control box and a radiator is provided on the other side. Two track gauge sensors are symmetrically provided below the two ends of the trolley frame. A pressure sensor is provided in the track roller. The battery supplies power to the electric control box, and the electric control box is electrically connected to the line laser measuring instrument, the radiator, the track gauge sensor and the pressure sensor.

[0012] In some embodiments of the present invention, after the line laser measuring instrument is initialized in step S2, it also includes checking whether the line laser measuring instrument is ready. If it is ready, it enters the continuous reading and acquisition state. If it is not ready, an alarm is issued, the acquisition is terminated, and re-debugging is performed.

[0013] In other embodiments of the present invention, in step S3, the detection results of the line laser measuring instrument are continuously read to form point cloud data, and the validity of the point cloud data is judged and analyzed. If the point cloud data is valid, it is stored in the thread sharing list. If it is invalid, an alarm is issued, the collection is stopped, and re-debugging is performed.

[0014] In other embodiments of the present invention, after filtering, downsampling, removing invalid points, and converting the tilt coordinates of the point cloud data in step S4, it is necessary to determine whether there are defects. If there are no defects, directly enter the contour recognition program. If there are defects, analyze the defect location data, classify and identify the defects, and then enter the platform feature data formation program.

[0015] In some other embodiments of the present invention, the defect judgment method is: comparing the point cloud data with the platform template database to determine the health status of the platform. If the two have a high degree of match, it is determined to be a complete platform structure, otherwise, it is determined to be a defective area for processing.

[0016] In other embodiments of the present invention, the platform data defect determination includes cracks, pits and protrusions, and the identified platform defect area information is marked, and the platform defect area information includes area size, shape and position.

[0017] In other embodiments of the present invention, the pressure sensor inside the track roller is used to detect whether each track roller touches the track to determine whether the line lasers of the four track rollers are placed stably to ensure the stability of the line laser of the line laser measuring instrument.

[0018] In some other embodiments of the present invention, the two track gauge sensors are located inside the two tracks and are used to measure the distance between the two tracks.

[0019] In some other embodiments of the present invention, a locking block is provided on the top of the fixed locking rod frame, and the locking block is provided with clamping edges at both ends of the side facing the rotating bracket and a bolt hole in the middle. A clamping strip that can be inserted between the two clamping edges is installed on the rotating bracket, and a fixing bolt is provided in the middle of the clamping strip, and the fixing bolt is used to be installed in the bolt hole.

[0020] In some other embodiments of the present invention, the data reading of the line laser measuring instrument in step S3 and the processing of the point cloud data in step S4 are two independent thread steps.

[0021] In the present invention, a line laser measuring instrument is installed on a trolley for mounting a line laser measuring instrument, which walks on a track and can automatically measure platform data. The data collection speed is fast, the processing speed is fast, and the operation is simple. Data reading and point cloud data processing are divided into two independent thread steps, which is convenient for data processing. The position of the defective platform can be accurately located and sent to the background, and the cause of the defect can be accurately determined. The trolley for mounting a line laser measuring instrument can also measure track defects to reduce the impact of track defects on the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic structural diagram of a platform limit measurement device based on laser point cloud proposed in the present invention.

[0024] Figure 2 for Figure 1 Enlarged schematic diagram at point A in the middle.

[0025] Figure 3 This is a schematic diagram of the bottom structure of a platform limit measurement device based on laser point cloud proposed in the present invention.

[0026] Figure 4 This is a schematic structural diagram of a platform limit measurement device based on laser point cloud in the measurement state proposed by the present invention.

[0027] Figure 5 This is a side schematic diagram of a platform limit measurement device based on laser point cloud proposed in the present invention in the slag measurement state.

[0028] Figure 6 This is a schematic diagram of the data reading principle of the laser measuring instrument proposed in the present invention.

[0029] Figure 7 This is a schematic diagram of the processing principle of point cloud data proposed in the present invention.

[0030] In the figure: 1. Trolley frame; 10. Electric control box; 11. Radiator; 12. Control panel; 2. Track roller; 3. Shipping roller; 4. Battery; 5. Line laser measuring instrument; 7. Install rotating bracket; 71. Install the rotating shaft at the bottom of the rotating bracket; 72. Clip strip; 721. Fixing bolt; 8. Fixing locking rod bracket; 81. Lock block; 811. Bolt hole; 9. Track gauge sensor. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] like Figure 1-7 The present invention proposes a platform limit measurement method based on laser point cloud, and the specific steps are as follows:

[0033] S1: Assemble the line laser measuring instrument installation trolley, install the line laser measuring instrument 5 on the line laser measuring instrument installation trolley, and debug the line laser measuring instrument 5;

[0034] S2: Set up the line laser measuring instrument installation trolley on the track beside the platform, adjust the position of the line laser measuring instrument 5 and fix it, start the power supply, then start the line laser measuring instrument 5, determine the connection status of the line laser measuring instrument 5, debug until the connection is successful, obtain the IP address of the line laser measuring instrument 5, and initialize the line laser measuring instrument 5 after obtaining the IP address;

[0035] S3: Start the line laser measuring instrument 5 to measure, scan the platform topography through the line laser measuring instrument 5, continuously read the detection results from the line laser measuring instrument 5 to form point cloud data, analyze the point cloud data to form a platform point cloud data set, and store the point cloud data set in the thread sharing list;

[0036] S4: Obtain the point cloud data of the platform from the thread sharing list, filter, downsample, remove invalid points, and perform tilt coordinate conversion on the point cloud data, identify the key structural parameters of the contour and distinguish the structural type of the platform contour, form the platform feature data, and complete the measurement;

[0037] The linear laser measuring instrument installation trolley comprises a trolley frame 1, a track roller 2, a battery 4, an electric control box 10, a radiator 11, a mounting rotating bracket 7 and a fixed locking rod frame 8. Two symmetrical track rollers 2 are respectively provided on the left and right sides of the trolley frame 1. A battery 4 is installed near one end of the trolley frame 1. The mounting rotating bracket 7 is rotatably installed on the trolley frame 1 near the other end. A fixed locking rod frame 8 is provided at the edge of the trolley frame 1 near the other end. The linear laser measuring instrument 5 is installed on the top of the mounting rotating bracket 7. A bracket groove is provided on the trolley frame 1. The mounting rotating bracket 7 After flipping and snapping into the bracket slot, the line laser measuring instrument 5 is attached to the battery 4 and placed in the trolley frame 1. The mounting rotating bracket 7 is flipped out of the bracket slot and attached to the fixed lock rod frame 8 and fixed. An electric control box is provided at the bottom of the middle position of the bracket slot. A control panel 12 is provided on one side of the electric control box 10 and a radiator 11 is provided on the other side. Two track gauge sensors 9 are symmetrically provided below the two ends of the trolley frame 1. A pressure sensor 21 is provided in the track roller 2. The battery 4 supplies power to the electric control box 10, and the electric control box 10 is electrically connected to the line laser measuring instrument 5, the radiator 11, the track gauge sensor 9 and the pressure sensor 21.

[0038] Using a line laser measuring instrument to install a trolley can effectively utilize existing tracks, but the width of the line laser measuring instrument installation trolley is small. Since the track spacing will change after long-term use, and the parallelism of the two tracks will also change, the long train is on the entire track, and the track spacing and track parallelism (with the horizontal plane) change in size, which has little effect on the train. However, since the width of the line laser measuring instrument installation trolley is less than 1 meter (about 50-70cm), the spacing between the tracks and whether the tracks are horizontal will have an impact on the movement of the line laser measuring instrument installation trolley in each segment. Therefore, the pressure sensor 21 set can check whether the track roller 2 is under pressure and whether the four track rollers 2 on the surface are all on the track. If it is not stable, the measurement data accuracy is reduced, and the unstable position of the track can also be determined. Similarly, two track gauge sensors 9 (similar to laser ranging probes) can measure the spacing between the two tracks, and the changing spacing tracks can be transmitted in time.

[0039] When in use, lift the line laser measuring instrument installation trolley onto the track (handles are provided on both sides of the line laser measuring instrument installation trolley), pull out the line laser measuring instrument 5, install the rotating bracket 7, flip it out, and fix it on the fixed locking rod bracket 8 near the bottom. The rotating bracket 7 is in a vertical state, and the line laser measuring instrument 5 faces the platform.

[0040] At this time, start the power supply, then start the line laser measuring instrument 5, debug the line laser measuring instrument 5, and determine whether the line laser measuring instrument 5 has been started and is ready. Initialize the line laser measuring instrument 5, locate the IP address, prepare to start measuring, and continuously emit lasers to detect the platform to form point cloud data. Analyze the point cloud data and judge its validity. If an abnormal situation occurs (does not meet the judgment requirements), such as no valid data is returned or the proportion of valid data is too small, a corresponding alarm message will be issued; if it runs normally, the point cloud data will be saved in the specified thread sharing list. This process can prevent the low reliability of the early data from entering the subsequent program, resulting in large data errors, which cannot be used and cannot be processed in time.

[0041] After the formed point cloud data is saved in the specified thread sharing list, the point cloud data in the thread sharing list is pulled for filtering, downsampling, invalid point removal, tilt coordinate conversion and other processing (system processing). After the processing is completed, it is compared with the database (intact platform database, that is, the platform map when the platform is built). If an abnormality is found, it is determined to be a defective platform. Then, the defect location is uploaded to the IP so that the location can be accurately found later for mechanical maintenance.

[0042] The driving structure and other simple structures on the trolley for installing the line laser measuring instrument are not drawn or described, and are conventional structures. The track roller 2 is driven to rotate by a driving motor.

[0043] After the line laser measuring instrument 5 is initialized in step S2, it also includes checking whether the line laser measuring instrument 5 is ready. If it is ready, it enters the continuous reading and acquisition state. If it is not ready, an alarm is issued, the acquisition is terminated, and re-debugging is performed. Since the initialization process takes time, the program may not be able to collect data even after initialization. Therefore, it is necessary to check whether the program can start measurement after initialization to prevent no measurement data from being presented after startup, resulting in a waste of measurement time.

[0044] In the step S3, the detection results of the line laser measuring instrument 5 are continuously read to form point cloud data, and the validity of the point cloud data is judged and analyzed. If the point cloud data is valid, it is stored in the thread sharing list. If it is invalid, an alarm is issued, the collection is stopped, and re-debugging is performed.

[0045] In reverse engineering, the point data set of the product appearance surface obtained by measuring instruments is also called point cloud. Usually, the number of points obtained by using a 3D coordinate measuring machine is relatively small, and the distance between points is relatively large, which is called sparse point cloud; while the point cloud obtained by using a 3D laser scanner or a photographic scanner has a large number of points and is relatively dense, which is called a dense point cloud. If the density or imaging of the point cloud data is low, it may affect the subsequent defect search. Set a density threshold and imaging clarity value for subsequent imaging. If it is lower than this value, invalid data will be determined.

[0046] After filtering, downsampling, removing invalid points, and converting the tilt coordinates of the point cloud data in step S4, it is necessary to determine whether there are defects. If there are no defects, it will directly enter the contour recognition program. If there are defects, the defect position data will be analyzed, and the defects will be classified and identified, and then the platform feature data formation program will be entered. For platform defect classification, the image formed by the point cloud data must be compared with the original database to form a comparison of different points to determine what type of defect or other unclassified defects the different point positions are. Then, by uploading the defect type, the current platform feature data is formed.

[0047] The defect judgment method is: compare the point cloud data with the platform template database to judge the health status of the platform. If the two have a high degree of match, it is considered to be a complete platform structure, otherwise, it is judged to be a defective area for processing. By comparing the entire point cloud data, the overlap rate of point cloud data in a certain area is compared to determine the match degree, and for those with low overlap, a map is formed to determine what type of defect it belongs to. The judgment accuracy is high.

[0048] The platform data defect determination includes cracks, pits and protrusions, and the identified platform defect area information is marked, and the platform defect area information includes area size, shape and position.

[0049] The pressure sensor inside the track roller is used to detect whether each track roller touches the track, so as to determine whether the four track roller line lasers are placed stably to ensure the stability of the line laser measuring instrument. If it is not stable, the unstable position is determined and the data is automatically corrected. If the track roller cannot move due to instability, it is determined that the measurement cannot be performed and manual lifting is required. And the position is marked.

[0050] The two track gauge sensors 9 are located inside the two tracks and are used to measure the distance between the two tracks. Not only can the track distance be determined for later processing, but also an early warning can be given. When the track distance is greater than a certain value or less than a certain value, the laser measuring instrument installation trolley cannot continue to travel and measure, an alarm will be sounded, and the travel measurement will be stopped.

[0051] A locking block 81 is provided on the top of the fixed locking rod frame 8, and the locking block 81 is provided with clamping edges 82 at both ends of the side facing the installation of the rotating bracket 7 and a bolt hole 811 in the middle. A clamping strip 72 that can be clamped between the two clamping edges 82 is installed on the rotating bracket 7, and a fixing bolt 721 is provided in the middle of the clamping strip 72, and the fixing bolt 721 is used to be installed in the bolt hole 811.

[0052] Flip the rotating bracket 7 upwards, clamp the clamping strip 72 between the two clamping edges 82, and then screw the fixing bolts into the corresponding bolt holes 811 to fix the rotating bracket 7 in this position. The rotating bracket 7 cannot rotate. At this time, the line laser measuring instrument 5 is facing the platform ( Figure 5 ), after completing the measurement, unscrew the fixing bolts, flip the rotating bracket 7 into the bracket slot, and the line laser measuring instrument 5 is just stuck in the trolley frame 1. Figure 4 It can also be seen that a locking rod (inside the bracket slot) is provided for the rotating bracket 7 .

[0053] The data reading of the line laser measuring instrument 5 in step S3 and the processing of the point cloud data in step S4 are two independent thread steps. The two-step processing can be stopped in time if the data in each step is abnormal, so that more time is spent on processing the erroneous data.

[0054] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A platform limit measurement method based on laser point cloud, characterized in that: The specific steps are as follows: S1: Assemble the line laser measuring instrument installation trolley, install the line laser measuring instrument (5) on the line laser measuring instrument installation trolley, and debug the line laser measuring instrument (5); S2: Place the laser measuring instrument installation trolley on the track beside the platform, adjust the position of the laser measuring instrument (5) and fix it, start the power supply, then start the laser measuring instrument (5), determine the connection status of the laser measuring instrument (5), perform debugging until the connection is successful, obtain the IP address of the laser measuring instrument (5), and initialize the laser measuring instrument (5) after obtaining the IP address; S3: Start the line laser measuring instrument (5) to measure, scan the platform topography through the line laser measuring instrument (5), continuously read the detection results from the line laser measuring instrument (5) to form point cloud data, analyze the point cloud data to form a platform point cloud data set, and store the point cloud data set in a thread sharing list; S4: Obtain the point cloud data of the platform from the thread sharing list, filter, downsample, remove invalid points, and perform tilt coordinate conversion on the point cloud data, identify the key structural parameters of the contour and distinguish the structural type of the platform contour, form the platform feature data, and complete the measurement; The linear laser measuring instrument installation trolley comprises a trolley frame (1), track rollers (2), a battery (4), an electric control box (10), a radiator (11), a mounting rotating bracket (7) and a fixed locking rod frame (8); two symmetrical track rollers (2) are respectively provided on the left and right sides of the trolley frame (1); a battery (4) is installed on the trolley frame (1) near one end; the mounting rotating bracket (7) is rotatably installed on the trolley frame (1) near the other end; a fixed locking rod frame (8) is provided at the edge of the trolley frame (1) near the other end; the linear laser measuring instrument (5) is installed on the top of the mounting rotating bracket (7); a bracket groove is provided on the trolley frame (1); the mounting rotating bracket (7) After flipping and snapping into the bracket slot, the line laser measuring instrument (5) is attached to the battery (4) and placed in the trolley frame (1). After the mounting rotating bracket (7) flips out of the bracket slot, it is attached to the fixed lock rod frame (8) and fixed. An electric control box is provided at the bottom of the middle position of the bracket slot. A control panel (12) is provided on one side of the electric control box (10) and a radiator (11) is provided on the other side. Two track gauge sensors (9) are symmetrically provided below the two ends of the trolley frame (1). A pressure sensor (21) is provided in the track roller (2). The battery (4) supplies power to the electric control box (10). The electric control box (10) is electrically connected to the line laser measuring instrument (5), the radiator (11), the track gauge sensor (9) and the pressure sensor (21).

2. The platform limit measurement method based on laser point cloud according to claim 1, characterized in that: After the line laser measuring instrument (5) is initialized in step S2, the step also includes checking whether the line laser measuring instrument (5) is ready. If it is ready, it enters a continuous reading and acquisition state. If it is not ready, an alarm is issued, the acquisition is terminated, and re-debugging is performed.

3. The platform limit measurement method based on laser point cloud according to claim 1, characterized in that: In the step S3, the detection results of the line laser measuring instrument (5) are continuously read to form point cloud data, and the validity of the point cloud data is judged and analyzed. If the point cloud data is valid, it is stored in the thread sharing list. If it is invalid, an alarm is issued, the collection is stopped, and re-debugging is performed.

4. The platform limit measurement method based on laser point cloud according to claim 1 is characterized in that: After filtering, downsampling, removing invalid points, and converting the tilt coordinates of the point cloud data in step S4, it is necessary to determine whether there are defects. If there are no defects, directly enter the contour recognition program. If there are defects, analyze the defect location data, classify and identify the defects, and then enter the platform feature data formation program.

5. The platform limit measurement method based on laser point cloud according to claim 4 is characterized in that: The defect judgment method is: comparing the point cloud data with the platform template database to judge the health status of the platform. If the two have a high degree of match, it is determined to be a complete platform structure, otherwise, it is determined to be a defective area for processing.

6. The platform limit measurement method based on laser point cloud according to claim 1 is characterized in that: The platform data defect determination includes cracks, pits and protrusions, and the identified platform defect area information is marked, and the platform defect area information includes area size, shape and position.

7. The platform limit measurement method based on laser point cloud according to claim 1 is characterized in that: The pressure sensor inside the track roller is used to detect whether each track roller touches the track, so as to determine whether the line lasers of the four track rollers are placed stably, so as to ensure the stability of the line laser of the line laser measuring instrument.

8. The platform limit measurement method based on laser point cloud according to claim 1 is characterized in that: The two track gauge sensors (9) are located inside the two tracks and are used to measure the distance between the two tracks.

9. The platform limit measurement method based on laser point cloud according to claim 1, characterized in that: A locking block (81) is provided at the top of the fixed locking rod frame (8), and the locking block (81) is provided with clamping edges (82) at both ends of the side facing the rotating bracket (7) and a bolt hole (811) in the middle. A clamping strip (72) capable of being clamped between the two clamping edges (82) is installed on the rotating bracket (7), and a fixing bolt (721) is provided in the middle of the clamping strip (72), and the fixing bolt (721) is used to be installed in the bolt hole (811).

10. The platform limit measurement method based on laser point cloud according to claim 1, characterized in that: The data reading of the line laser measuring instrument (5) in step S3 and the processing of the point cloud data in step S4 are two independent thread steps.

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