A limit automatic measuring device

Abstract

The present invention provides a limit automatic measurement device, including a limit automatic measurement robot, the limit automatic measurement robot includes a walking mechanism, a limit positioning mechanism, and a precise measurement mechanism, the limit positioning mechanism includes a vertical lifting component, an angle adjustment component, and a first laser radar, the precise measurement mechanism includes a parallel rotation component, a vertical rotation component, a second laser radar and a third laser radar relatively arranged on the vertical rotation component, and a comparison module; the first laser radar is used to measure the position of the track, the edge of the platform, and the edge of the platform canopy and locate; the second laser radar and the third laser radar are used to measure the horizontal distance and vertical distance of the center line of the track from the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track; the comparison module is used to compare the data monitored by the second laser radar and the third laser radar with a preset threshold. The present invention improves measurement efficiency and reduces maintenance risks.

Description

Technical Field

[0001] The invention relates to the technical field of track detection, and in particular to an automatic limit measurement device. Background Art

[0002] Railway platform limits need to be measured regularly. During the construction of new railways, the limit data will change due to track fine-tuning, so frequent measurements are needed.

[0003] At present, platform limit measurement devices all use manual on-track measurement during the window period. Due to the complexity of the measurement operation process and the low fulfillment rate of the window application, the operation efficiency is low and cannot meet the existing measurement needs. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automatic limit measurement device, aiming to solve the technical problems in the prior art that platform limit measurement devices all use manual on-track measurement during the window period, and due to the complicated measurement operation process and low application window fulfillment rate, the operation efficiency is low and the existing measurement needs cannot be met.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] A clearance automatic measurement device, comprising a clearance automatic measurement robot, the clearance automatic measurement robot comprising a walking mechanism, a clearance positioning mechanism arranged on the walking mechanism, and a precise measurement mechanism arranged on the clearance positioning mechanism, the clearance positioning mechanism comprising a vertical lifting assembly arranged on the walking mechanism, an angle adjustment assembly arranged on the vertical lifting assembly, and a first laser radar arranged on the angle adjustment assembly, the precise measurement mechanism comprising a parallel rotation assembly arranged on the vertical lifting assembly, a vertical rotation assembly arranged on the parallel rotation assembly, a second laser radar and a third laser radar arranged on the vertical rotation assembly, and a comparison module;

[0007] The first laser radar is used to measure the position of the track, the edge of the platform, and the edge of the platform canopy and perform positioning;

[0008] The second laser radar and the third laser radar are used to measure the horizontal distance and vertical distance between the center line of the track and the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track;

[0009] The comparison module is used to compare the data monitored by the second laser radar and the third laser radar with a preset threshold.

[0010] According to one aspect of the above technical solution, the walking mechanism includes a vehicle body chassis, driving wheels arranged on the vehicle body chassis, an initial adjustment platform and a controller located in the vehicle body chassis, and telescopic adjustable legs connecting the initial adjustment platform and the vehicle body chassis.

[0011] According to one aspect of the above technical solution, a countersunk hole is drilled through the initial adjustment platform, and the walking mechanism also includes a level maintaining platform arranged in the countersunk hole, a left and right level and a front and rear level located on the level maintaining platform, and a fine-tuning electric telescopic device connecting the level maintaining platform and the vehicle body chassis, and the controller is electrically connected to the left and right level, the front and rear level, and the fine-tuning electric telescopic device, respectively.

[0012] According to one aspect of the above technical solution, the fine-tuning electric telescopic device is used to adjust the horizontal holding platform to a horizontal state, and the specific steps include:

[0013] The controller reads information of the left and right level gauges and the front and rear level gauges to obtain the left and right tilt angles and the front and rear tilt angles of the level maintaining platform;

[0014] Assuming that the horizontal holding platform is a rectangle, the side length of the horizontal holding platform along the forward direction is set to Lx, the side length along the left and right direction is set to Ly, and the fine-tuning electric telescopic device is used as a support point to construct a geometric model;

[0015] Based on the geometric model, the front and rear tilt angle θx and the left and right tilt angle θy are obtained, and the front and rear height adjustment amount Δ of the fine-tuning electric telescopic device is calculated by trigonometric functions. h A and Δ h B, and left and right height adjustment Δ h C and Δ h D;

[0016] If θx>0, then Δ h A=- Lx ×tan ( θx ) / 2,Δ h B = Lx ×tan ( θx ) / 2;

[0017] If θx<0, then Δ h A= Lx ×tan ( θx ) / 2,Δ h B = - Lx ×tan ( θx ) / 2;

[0018] If θy>0, then Δ h A=- Ly ×tan ( θy ) / 2,Δ h B = Ly ×tan ( θy ) / 2;

[0019] If θy<0, then Δ h A= Ly ×tan ( θy ) / 2,Δ h B = - Ly ×tan ( θy ) / 2;

[0020] Based on the height adjustment amount Δ h A and Δ h B, and the left and right height adjustment amount Δ h C and Δ h D. The controller sends the adjustment amount to the corresponding fine-tuning electric telescopic device, so that the fine-tuning electric telescopic device adjusts the height of the supporting point until the horizontal holding platform is in a horizontal state.

[0021] According to one aspect of the above technical solution, the vertical lifting assembly includes a liftable column disposed on the horizontal holding platform, and an electric lifter located in the liftable column and connected to the horizontal holding platform.

[0022] According to one aspect of the above technical solution, the angle adjustment assembly includes a first angle driver arranged on the liftable column, a first mechanical arm connected to the first angle driver, a second angle driver arranged on the first mechanical arm, a second mechanical arm connected to the second angle driver, a third angle driver arranged on the second mechanical arm, and a radar frame connected to the third angle driver, and the first laser radar is fixedly connected to the radar frame.

[0023] According to one aspect of the above technical solution, the first laser radar is used to measure and locate the position of the track, the edge of the platform, and the edge of the platform canopy, and the specific steps include:

[0024] Start the first angle driver and the second angle driver to adjust the first mechanical arm and the second mechanical arm to desired positions respectively;

[0025] Starting the third angle driver to adjust the radar frame together with the first laser radar to a horizontal state;

[0026] The first laser radar is started to scan the track, platform, and platform canopy to locate the positions of the track, platform edge, and platform canopy edge.

[0027] According to one aspect of the above technical solution, the parallel rotation assembly includes a horizontal angle adjuster arranged on the liftable column, the vertical rotation assembly includes a left pitch angle adjuster and a right pitch angle adjuster relatively arranged on the horizontal angle adjuster, the second laser radar is fixedly connected to the left pitch angle adjuster, and the third laser radar is fixedly connected to the right pitch angle adjuster.

[0028] According to one aspect of the above technical solution, there are two automatic limit measurement robots, which are respectively arranged on the left and right platforms. The second laser radar and the third laser radar are used to measure the horizontal distance and vertical distance between the center line of the track and the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track. The specific steps include:

[0029] Adjusting the position of the second laser radar by the left pitch angle adjuster, and adjusting the position of the third laser radar by the right pitch angle adjuster;

[0030] The second laser radar or the third laser radar is projected to the right edge of the track on the left side by the automatic limit measurement robot on the right platform, thereby obtaining the beam length L4 and the vertical angle β;

[0031] The second laser radar or the third laser radar is projected to the left edge of the track on the right side by the automatic limit measurement robot on the left platform, thereby obtaining the beam length L2 and the vertical angle α;

[0032] The second laser radar or the third laser radar is projected to the edge of the platform by the automatic limit measurement robot of the platform on either side, thereby obtaining the beam length L6 and the vertical angle δ;

[0033] Calculate the limits of the platforms on both sides and automatically measure the distance L5 between the robots;

[0034] Calculate the horizontal distance A1 between the center line of the track and the edge of the platform based on the beam lengths L2, L4, L6, the distance L5, and the vertical angles α, β, δ;

[0035] ;

[0036] in, , , ;

[0037] Calculate the vertical distance B1 between the center line of the track and the edge of the platform based on the beam lengths L2, L4, L6, and the vertical angles α, β, δ;

[0038] ;

[0039] in, , , ;

[0040] Calculating the inclination φ of the track based on the beam lengths L2, L4, and the vertical angles α, β;

[0041] ;

[0042] The second laser radar and the third laser radar are projected to the top surface of the track and the bottom surface of the platform canopy by the automatic limit measurement robot to obtain beam lengths L7 and L8, and horizontal angles β1 and β2 respectively;

[0043] Based on the beam lengths L7 and L8, and the horizontal angles β1 and β2, the vertical height H7 between the top surface of the track and the automatic limit measurement robot, and the vertical height H8 between the automatic limit measurement robot and the bottom surface of the platform canopy are calculated, and then the distance H between the bottom surface of the platform canopy and the top surface of the track is calculated;

[0044] H=H7+H8.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] By setting up an automatic limit measurement robot with night vision function, it can automatically identify obstacles, automatically identify platform and canopy violations and alarm, and can walk smoothly in the safety area of ​​various types of platforms. The railway platform limit automatic measurement robot can run automatically, autonomously identify limit information and transmit data to on-site operators in real time, and can also be remotely operated by on-site operators. The mobile platform body and the fixed column of this measurement robot are connected by a high-precision leveling device, which can keep the fixed column in an absolute vertical state during the operation of the mobile platform and the measurement process to ensure measurement accuracy. This measurement robot uses the laser radar measurement data as preliminary positioning. Under the guidance of the laser radar preliminary positioning, the high-precision laser rangefinder can quickly point to the target point to be measured, and realize fast and high-precision limit data measurement. The present invention can effectively perform real-time, fast and high-precision measurement of railway platform and canopy limits, providing strong guarantee for safe railway driving. The present invention has a high degree of automation, which not only greatly improves the measurement efficiency, but also reduces the personal safety risk of maintenance personnel on the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic structural diagram of the automatic limit measurement device in the first embodiment of the present invention at a first viewing angle;

[0048] Figure 2 It is a schematic structural diagram of the automatic limit measurement device in the first embodiment of the present invention at a second viewing angle;

[0049] Figure 3 It is a schematic diagram of the structure in the chassis of the vehicle body;

[0050] Figure 4 for Figure 3 Structural diagram of the middle initial adjustment platform;

[0051] Figure 5 It is a schematic diagram of the calculation of the horizontal distance between the center line of the track and the edge of the platform in the first embodiment of the present invention;

[0052] Figure 6 It is a schematic diagram of calculating the vertical distance between the center line of the track and the edge of the platform in the first embodiment of the present invention;

[0053] Figure 7 It is a schematic diagram of calculating the distance between the bottom surface of the platform canopy and the top surface of the track in the first embodiment of the present invention;

[0054] Description of main component symbols:

[0055]

[0056] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0057] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0058] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0060] See also Figures 1 to 4 , shown is an automatic limit measurement device in the first embodiment of the present invention, characterized in that it includes an automatic limit measurement robot, the automatic limit measurement robot includes a walking mechanism 801, a limit positioning mechanism arranged on the walking mechanism 801, and a precise measurement mechanism arranged on the limit positioning mechanism, the limit positioning mechanism includes a vertical lifting component located on the walking mechanism 801, an angle adjustment component arranged on the vertical lifting component, and a first laser radar 702 located on the angle adjustment component, the precise measurement mechanism includes a parallel rotation component arranged on the vertical lifting component, a vertical rotation component arranged on the parallel rotation component, a second laser radar 101 and a third laser radar 102 arranged relatively on the vertical rotation component, and a comparison module;

[0061] The first laser radar 702 is used to measure the position of the track, the edge of the platform, and the edge of the platform canopy and perform positioning;

[0062] The second laser radar 101 and the third laser radar 102 are used to measure the horizontal distance and vertical distance between the center line of the track and the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track;

[0063] The comparison module is used to compare the data monitored by the second laser radar 101 and the third laser radar 102 with a preset threshold.

[0064] It can be understood that the present invention has a night vision function by setting an automatic limit measurement robot, which can automatically identify obstacles, automatically identify platform and canopy violations and alarm, and can walk smoothly in the safety area of ​​various types of platforms. The railway platform limit automatic measurement robot can run automatically, autonomously identify limit information and transmit data to on-site operators in real time, and can also be remotely operated by on-site operators. The mobile platform body and the fixed column of this measurement robot are connected by a high-precision leveling device, which can keep the fixed column in an absolute vertical state during the operation of the mobile platform and the measurement process to ensure the measurement accuracy. This measurement robot uses the laser radar measurement data as preliminary positioning. Under the guidance of the preliminary positioning of the laser radar, the high-precision laser rangefinder can quickly point to the target point to be measured, and realize fast and high-precision limit data measurement. The present invention can effectively perform real-time, fast and high-precision measurement of railway platform and canopy limits, providing a strong guarantee for safe railway driving. The present invention has a high degree of automation, which not only greatly improves the measurement efficiency, but also reduces the personal safety risk of maintenance personnel on the road.

[0065] Specifically, in the present embodiment, the walking mechanism 801 includes a vehicle chassis 802, a driving wheel 901 disposed on the vehicle chassis 802, an initial adjustment platform 803 and a controller 808 located in the vehicle chassis 802, and a telescopic adjustable leg 1001 connecting the initial adjustment platform 803 and the vehicle chassis 802, and the driving wheel 901 is connected to the vehicle chassis 802 through a connecting seat 902; a countersunk hole 804 is penetrated through the initial adjustment platform 803, and the walking mechanism 801 also includes a level maintaining platform 805 disposed in the countersunk hole 804, a left and right level 806 and a front and rear level 807 located on the level maintaining platform 805, and a fine-tuning electric telescope 1101 connecting the level maintaining platform 805 and the vehicle chassis 802, and the controller 808 is electrically connected to the left and right level 806, the front and rear level 807, and the fine-tuning electric telescope 1101, respectively.

[0066] It can be understood that the telescopic adjustable legs 1001 determine the height of the entire robot and are adjusted according to the site type requirements, and the fine-tuning electric telescope 1101 automatically adjusts the position of the horizontal holding platform 805 based on the data of the left and right level meters 806 and the front and rear level meters 807 read by the controller 808, wherein the telescopic adjustable legs 1001 are fixed to the initial adjustment platform 803 by the upper adjustable nuts 1002, and the telescopic amount is adjusted by the lower adjustable nuts 1003.

[0067] Specifically, the fine-tuning electric telescopic device 1101 is used to adjust the horizontal holding platform 805 to a horizontal state, and the specific steps include:

[0068] The controller 808 reads the information of the left and right level meter 806 and the front and rear level meter 807 to obtain the left and right tilt angle and the front and rear tilt angle of the level holding platform 805;

[0069] Assume that the horizontal holding platform 805 is a rectangle, the side length of the horizontal holding platform 805 along the forward direction is Lx, the side length along the left and right direction is Ly, and the fine-tuning electric telescopic device 1101 is used as a support point to construct a geometric model; for example, in the forward direction, when the horizontal holding platform 805 is tilted at an angle of 1°, the height difference Δ between the front and rear support points is h It can be calculated by trigonometric function: Δ h = Lx ×tan (1°).

[0070] Based on the geometric model, the front and rear tilt angle θx and the left and right tilt angle θy are obtained, and the front and rear height adjustment amount Δ of the fine-tuning electric retractor 1101 is calculated by trigonometric functions. h A and Δ h B, and left and right height adjustment Δh C and Δ h D;

[0071] If θx>0 (indicating that the front of the horizontally maintained platform 805 is high), then Δ h A=- Lx ×tan ( θx ) / 2,Δ h B = Lx ×tan ( θx ) / 2;

[0072] If θx<0 (indicating that the rear of the horizontal holding platform 805 is higher), then Δ h A= Lx ×tan ( θx ) / 2,Δ h B = - Lx ×tan ( θx ) / 2;

[0073] If θy>0 (indicating that the left side of the horizontal holding platform 805 is high), then Δ h A=- Ly ×tan ( θy ) / 2,Δ h B = Ly ×tan ( θy ) / 2;

[0074] If θy<0 (indicating that the right side of the horizontal holding platform 805 is high), then Δ h A= Ly ×tan ( θy ) / 2,Δ h B = - Ly ×tan ( θy ) / 2;

[0075] Based on the height adjustment amount Δ h A and Δ h B, and the left and right height adjustment amount Δ h C and Δ h D, the controller 808 sends the adjustment amount to the corresponding fine-tuning electric telescopic device 1101, so that the fine-tuning electric telescopic device 1101 adjusts the height of the supporting point until the horizontal holding platform 805 is in a horizontal state.

[0076] Furthermore, the vertical lifting component includes a liftable column arranged on the horizontal holding platform 805, and an electric lifter 403 located in the liftable column and connected to the horizontal holding platform 805, the liftable column includes a mother rod 402 connected to the horizontal holding platform 805, and a sub-rod 401 sliding along the mother rod 402, and the electric lifter 403 is connected to the sub-rod 401; the angle adjustment component includes a first angle driver 501 arranged on the liftable column, a first mechanical arm 601 connected to the first angle driver 501, a second angle driver 502 arranged on the first mechanical arm 601, a second mechanical arm 602 connected to the second angle driver 502, a third angle driver 503 arranged on the second mechanical arm 602, and a radar rack 701 connected to the third angle driver 503, and the first laser radar 702 is fixedly connected to the radar rack 701.

[0077] It can be understood that the angle adjustment component is used to adjust the position of the radar frame 701 together with the first laser radar 702, and to adjust the horizontality of the radar frame 701, thereby providing conditions for positioning the track, platform edge, and platform canopy edge.

[0078] Specifically, the first laser radar 702 is used to measure and locate the position of the track, the edge of the platform, and the edge of the platform canopy, and the specific steps include:

[0079] Start the first angle driver 501 and the second angle driver 502 to adjust the first robotic arm 601 and the second robotic arm 602 to desired positions respectively;

[0080] Start the third angle driver 503 to adjust the radar frame 701 and the first laser radar 702 to a horizontal state;

[0081] The first laser radar 702 is started to scan the track, platform, and platform canopy to locate the positions of the track, platform edge, and platform canopy edge.

[0082] Furthermore, the parallel rotation assembly includes a horizontal angle adjuster 301 arranged on the liftable column, the vertical rotation assembly includes a left pitch angle adjuster 201 and a right pitch angle adjuster 202 relatively arranged on the horizontal angle adjuster 301, the second laser radar 101 and the left pitch angle adjuster 201 are fixedly connected, and the third laser radar 102 and the right pitch angle adjuster 202 are fixedly connected.

[0083] It can be understood that the horizontal angle adjuster 301 is used to adjust the horizontal angles of the second laser radar 101 and the third laser radar 102 to meet various measurement conditions. The left pitch angle adjuster 201 and the right pitch angle adjuster 202 respectively adjust the rotation angles of the second laser radar 101 and the third laser radar 102, so that the second laser radar 101 and the third laser radar 102 can respectively measure any two of the track, platform, and awning to achieve more complex working conditions.

[0084] Specifically, there are two automatic limit measurement robots, which are respectively arranged on the left and right platforms. The second laser radar 101 and the third laser radar 102 are used to measure the horizontal distance and vertical distance between the center line of the track and the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track. The specific steps include:

[0085] See also Figure 5 , adjusting the position of the second laser radar 101 by the left pitch angle adjuster 201, and adjusting the position of the third laser radar 102 by the right pitch angle adjuster 202;

[0086] The second laser radar 101 or the third laser radar 102 is projected to the right edge of the track on the left side by the automatic limit measurement robot on the right platform, thereby obtaining the beam length L4 and the vertical angle β;

[0087] The second laser radar 101 or the third laser radar 102 is projected to the left edge of the track on the right side by the automatic limit measurement robot on the left platform, thereby obtaining the beam length L2 and the vertical angle α;

[0088] The second laser radar 101 or the third laser radar 102 is projected to the edge of the platform by the automatic limit measurement robot of the platform on either side, thereby obtaining the beam length L6 and the vertical angle δ;

[0089] Calculate the limits of the platforms on both sides and automatically measure the distance L5 between the robots;

[0090] Calculate the horizontal distance A1 between the center line of the track and the edge of the platform based on the beam lengths L2, L4, L6, the distance L5, and the vertical angles α, β, δ;

[0091] ;

[0092] in, , , ;

[0093] See also Figure 6 , calculating the vertical distance B1 between the center line of the track and the edge of the platform based on the beam lengths L2, L4, L6, and the vertical angles α, β, δ;

[0094] ;

[0095] in, , , ;

[0096] Calculating the inclination φ of the track based on the beam lengths L2, L4, and the vertical angles α, β;

[0097] ;

[0098] See also Figure 7 , the second laser radar 101 and the third laser radar 102 are projected to the top surface of the track and the bottom surface of the platform canopy by the limit automatic measurement robot to obtain the beam lengths L7 and L8, and the horizontal angles β1 and β2 respectively;

[0099] Based on the beam lengths L7 and L8, and the horizontal angles β1 and β2, the vertical height H7 between the top surface of the track and the automatic limit measurement robot, and the vertical height H8 between the automatic limit measurement robot and the bottom surface of the platform canopy are calculated, and then the distance H between the bottom surface of the platform canopy and the top surface of the track is calculated;

[0100] H=H7+H8.

[0101] Furthermore, after calculating each distance, the measured distance is compared with the preset distance threshold through the comparison module. If the calculated value is greater than the preset distance threshold, it means there is no boundary intrusion, and a safety signal is returned, and the device runs to the next detection point for measurement. If the calculated value is less than the preset distance threshold, it means there is boundary intrusion, and a warning signal is returned, waiting for staff to handle it.

[0102] In summary, the automatic limit measurement device in the above embodiments of the present invention has a high degree of automation, which not only greatly improves the measurement efficiency, but also reduces the personal safety risks of maintenance personnel when operating on the road.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0104] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A limit automatic measuring device, characterized in that: The invention comprises an automatic limit measurement robot, wherein the automatic limit measurement robot comprises a walking mechanism, a limit positioning mechanism arranged on the walking mechanism, and a precise measurement mechanism arranged on the limit positioning mechanism, wherein the limit positioning mechanism comprises a vertical lifting component arranged on the walking mechanism, an angle adjustment component arranged on the vertical lifting component, and a first laser radar arranged on the angle adjustment component, wherein the precise measurement mechanism comprises a parallel rotation component arranged on the vertical lifting component, a vertical rotation component arranged on the parallel rotation component, a second laser radar and a third laser radar arranged on the vertical rotation component, and a comparison module; The first laser radar is used to measure the position of the track, the edge of the platform, and the edge of the platform canopy and perform positioning; The angle adjustment assembly includes a first angle driver, a first mechanical arm connected to the first angle driver, a second angle driver disposed on the first mechanical arm, a second mechanical arm connected to the second angle driver, a third angle driver disposed on the second mechanical arm, and a radar frame connected to the third angle driver, wherein the first laser radar is fixedly connected to the radar frame; The first laser radar is used to measure and locate the position of the track, the edge of the platform, and the edge of the platform canopy, and the specific steps include: Start the first angle driver and the second angle driver to adjust the first mechanical arm and the second mechanical arm to desired positions respectively; Starting the third angle driver to adjust the radar frame together with the first laser radar to a horizontal state; The first laser radar is started to scan the track, the platform, and the platform canopy to locate the positions of the track, the edge of the platform, and the edge of the platform canopy; The second laser radar and the third laser radar are used to measure the horizontal distance and vertical distance between the center line of the track and the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track; The comparison module is used to compare the data monitored by the second laser radar and the third laser radar with a preset threshold.

2. The automatic limit measurement device according to claim 1, characterized in that: The walking mechanism comprises a vehicle chassis, driving wheels arranged on the vehicle chassis, an initial adjustment platform and a controller located in the vehicle chassis, and telescopic adjustable legs connecting the initial adjustment platform and the vehicle chassis.

3. The automatic limit measurement device according to claim 2, characterized in that: The initial adjustment platform is penetrated with a countersunk hole, and the walking mechanism also includes a level maintaining platform arranged in the countersunk hole, a left and right level and a front and rear level located on the level maintaining platform, and a fine-tuning electric telescopic device connecting the level maintaining platform and the vehicle body chassis, and the controller is electrically connected to the left and right level, the front and rear level, and the fine-tuning electric telescopic device respectively.

4. The automatic limit measurement device according to claim 3 is characterized in that: The fine-tuning electric telescopic device is used to adjust the level holding platform to a horizontal state, and the specific steps include: The controller reads information of the left and right level gauges and the front and rear level gauges to obtain the left and right tilt angles and the front and rear tilt angles of the level maintaining platform; Assuming that the horizontal holding platform is a rectangle, the side length of the horizontal holding platform along the forward direction is set to Lx, and the side length along the left and right direction is set to Ly, and the fine-tuning electric telescopic device is used as a support point to construct a geometric model; Based on the geometric model, the front and rear tilt angle θx and the left and right tilt angle θy are obtained, and the front and rear height adjustment amount Δ of the fine-tuning electric telescopic device is calculated by trigonometric functions. h A and Δ h B, and left and right height adjustment Δ h C and Δ h D; If θx > 0, then Δ h A = - Lx × tan ( θx ) / 2, Δ h B = Lx × tan ( θx ) / 2; If θx < 0, then Δ h A = Lx × tan ( θx ) / 2, Δ h B = - Lx × tan ( θx ) / 2; If θy > 0, then Δ h A = - Ly × tan ( θy ) / 2, Δ h B = Ly × tan ( θy ) / 2; If θy < 0, then Δ h A = Ly × tan ( θy ) / 2, Δ h B = - Ly × tan ( θy ) / 2; Based on the height adjustment amount Δ h A and Δ h B, and the left and right height adjustment amount Δ h C and Δ h D. The controller sends the adjustment amount to the corresponding fine-tuning electric telescopic device, so that the fine-tuning electric telescopic device adjusts the height of the supporting point until the horizontal holding platform is in a horizontal state.

5. The automatic limit measurement device according to claim 4 is characterized in that: The vertical lifting assembly includes a liftable column disposed on the horizontal holding platform, and an electric lifter located in the liftable column and connected to the horizontal holding platform.

6. The automatic clearance measuring device according to claim 5, characterized in that: The first angle driver is arranged on the liftable column.

7. The automatic limit measurement device according to claim 6, characterized in that: The parallel rotation assembly includes a horizontal angle adjuster arranged on the liftable column, the vertical rotation assembly includes a left pitch angle adjuster and a right pitch angle adjuster arranged relatively to the horizontal angle adjuster, the second laser radar is fixedly connected to the left pitch angle adjuster, and the third laser radar is fixedly connected to the right pitch angle adjuster.

8. The automatic limit measurement device according to claim 7, characterized in that: There are two automatic limit measurement robots, which are respectively arranged on the left and right platforms. The second laser radar and the third laser radar are used to measure the horizontal distance and vertical distance between the center line of the track and the edge of the platform, the inclination of the track, and the distance between the bottom surface of the platform canopy and the top surface of the track. The specific steps include: Adjusting the position of the second laser radar by the left pitch angle adjuster, and adjusting the position of the third laser radar by the right pitch angle adjuster; The second laser radar or the third laser radar is projected to the right edge of the track on the left side by the automatic limit measurement robot on the right platform, thereby obtaining the beam length L4 and the vertical angle β; The second laser radar or the third laser radar is projected to the left edge of the track on the right side by the automatic limit measurement robot on the left platform, thereby obtaining the beam length L2 and the vertical angle α; The second laser radar or the third laser radar is projected to the edge of the platform by the automatic limit measurement robot of the platform on either side, thereby obtaining the beam length L6 and the vertical angle δ; Calculate the limits of the platforms on both sides and automatically measure the distance L5 between the robots; Calculate the horizontal distance A1 between the center line of the track and the edge of the platform based on the beam lengths L2, L4, L6, the distance L5, and the vertical angles α, β, δ; ； in, , , ; Calculate the vertical distance B1 between the center line of the track and the edge of the platform based on the beam lengths L2, L4, L6, and the vertical angles α, β, δ; ； in, , , ; Calculating the inclination φ of the track based on the beam lengths L2, L4, and the vertical angles α, β; ； The second laser radar and the third laser radar are projected to the top surface of the track and the bottom surface of the platform canopy by the automatic limit measurement robot to obtain beam lengths L7 and L8, and horizontal angles β1 and β2 respectively; Based on the beam lengths L7 and L8, and the horizontal angles β1 and β2, the vertical height H7 between the top surface of the track and the automatic limit measurement robot, and the vertical height H8 between the automatic limit measurement robot and the bottom surface of the platform canopy are calculated, and then the distance H between the bottom surface of the platform canopy and the top surface of the track is calculated; H=H7+H8.

Images