Track plate detection device and method for multi-sensor networking mobile measurement

Abstract

The invention relates to a multi-sensor networking mobile measurement track board detection device and method. The device comprises a mobile platform, and a side surface detection subsystem, a top surface detection subsystem, a verticality measurement assembly and the like which are arranged on the mobile platform; the mobile platform comprises a rack and a walking mechanism arranged at the bottom of the rack, the side surface detection subsystem comprises four side surface structured light camera modules, and the four side surface structured light camera modules are respectively mounted at four top corners of the rack; the top surface detection subsystem comprises a sliding frame sliding along the long edge direction of the rack and a top surface structured light camera module mounted on the sliding frame, and the sliding frame comprises two sliding rods arranged in parallel and two sliding blocks arranged at the two ends of the sliding rods. Compared with the prior art, the method has the advantages of high flexibility, high adaptability and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of track plate geometric parameter measurement, and in particular to a track plate detection device and method for multi-sensor networking mobile measurement. Background Art

[0002] Track slabs are the foundation for supporting rails, and their safety performance is a key factor in ensuring stable train operation and a good passenger experience. Therefore, it is particularly important to detect the dimensional deviation of track slabs in the early stage of laying.

[0003] At present, the main methods for measuring the geometric parameters of track plates include the vernier caliper method, the total station method, the digital photogrammetry method, and the laser scanner method. The vernier caliper method has a simple measurement principle and is easy to operate, but the detection efficiency is low and it relies on manual recording of detection data, and the data management efficiency is not high. The total station method, such as the publication number CN117934795A, uses a camera to extract the parameters collected by the total station, with high measurement accuracy and slightly improved measurement efficiency compared to the vernier caliper method, but the measurement of the plane angle parameters of the track plate requires the corresponding tooling, and a precision-machined target mirror needs to be arranged before measurement, which is not suitable for batch track plate detection. The digital photogrammetry method can instantly obtain a large amount of physical and geometric information of the object being measured, but a large number of targets need to be arranged on the track plate in advance, and the measurement efficiency is low. Correspondingly, the application publication number CN116542927A discloses a track plate detection method based on binocular vision, which solves the disadvantage that the monocular camera cannot directly obtain three-dimensional information, and uses the disparity map for flatness detection, with high detection efficiency and accuracy, but its detection index is single. The scanner method uses a handheld laser scanner to quickly obtain point cloud data on the track plate surface. The measurement results are accurate and can achieve more index detection, but it still requires a lot of manual intervention. Summary of the invention

[0004] The purpose of the present invention is to provide a track plate detection device and method for multi-sensor networking mobile measurement.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A track plate detection device for multi-sensor network mobile measurement, comprising a mobile platform (1), and a side detection subsystem (2), a top surface detection subsystem (3), and a verticality measurement component (4) arranged on the mobile platform (1);

[0007] The mobile platform (1) comprises a frame (101) and a walking mechanism arranged at the bottom of the frame (101); the frame (101) is a rectangular frame; the area enclosed by a projection on a horizontal plane is larger than the projection area of ​​a track plate (5) to be tested on the horizontal plane; and during testing, the projection area of ​​the track plate (5) to be tested on the horizontal plane is completely located within the projection area of ​​the frame (101) on the horizontal plane;

[0008] The side detection subsystem (2) comprises four side structured light camera modules (2-1), and the four side structured light camera modules (2-1) are respectively installed at four top corners of the frame (101);

[0009] The top surface detection subsystem (3) comprises a sliding frame (3-1) that slides along the long side direction of the frame (101), and a top surface structured light camera module (3-2) mounted on the sliding frame (3-1), wherein the sliding frame (3-1) comprises two sliding bars (3-1-1) arranged in parallel, and two sliders (3-1-2) arranged at both ends of the sliding bars (3-1-1), wherein one slider (3-1-2) connects one end of the two sliding bars (3-1-1), and the other slider (3-1-2) connects the other end of the two sliding bars (3-1-1), and the two sliders (3-1-2) are respectively connected to and cooperate with the two long sides of the frame (101) to drive the two sliding bars (3-1-1) to slide along the two long sides of the frame (101);

[0010] The verticality measurement assembly (4) comprises a vertical measurement module mounted on a sliding frame (3-1), wherein the vertical measurement module is arranged on a sliding rod (3-1-1), and the top surface structured light camera module (3-2) is arranged on another sliding rod (3-1-1).

[0011] The side structured light camera module (2-1) comprises a side structured light camera, a heading steering module (211), a pitch steering module (212) and a side camera fixing module (213); the side structured light camera is mounted on the side camera fixing module (213); the side camera fixing module (213) is connected to a first end of the pitch steering module (212); and a second end of the pitch steering module (212) is connected to the heading steering module (211);

[0012] The heading steering module (211) comprises a first transverse plate (211-1), a first vertical plate (211-2) and a third vertical plate (211-3) which are arranged perpendicular to each other in pairs, the first transverse plate (211-1) is provided with a first central positioning hole and a first arc hole, the first arc hole is arranged around the first central positioning hole, the first transverse plate (211-1) is mounted on the frame (101) by screws passing through the first central positioning hole and the first arc hole respectively, the posture of the heading steering module (211) is adjusted by adjusting the position of the screw passing through the first arc hole in the first arc hole to adjust the heading angle of the side structured light camera, the first side edge of the first vertical plate (211-2) is connected to the first side edge of the first transverse plate (211-1), and the first vertical plate (211-2) is connected to the first side edge of the first transverse plate (211-1), and the first vertical plate (211-2) is connected to the first side edge of the first transverse plate (211-1). ) on the first straight line is within half of the length of the projection line segment of the first horizontal plate (211-1) on the first straight line, and the projection line segment of the first vertical plate (211-2) on the first straight line coincides with one end of the projection line segment of the first horizontal plate (211-1) on the first straight line, the first side edge of the third vertical plate (211-3) is connected to the first side edge of the first vertical plate (211-2), the first side edge and the second side edge of the first vertical plate (211-2) are adjacent edges, and the projection of the third vertical plate (211-3) on the first straight line is located at one end of the projection line segment of the first horizontal plate (211-1) on the first straight line, wherein the first straight line is parallel to the first vertical plate (211-2) and perpendicular to the third vertical plate (211-3);

[0013] The pitch steering module (212) is provided with a second central positioning hole and a plurality of second arc holes, and all the second arc holes are arranged around the second central positioning hole. The pitch steering module (212) is mounted on the third vertical plate (211-3) by screws passing through the second central positioning hole and the second arc holes respectively. The position of the screw passing through the second arc hole is adjusted in the second arc hole to adjust the posture of the pitch steering module (212) so as to adjust the pitch angle of the side structured light camera.

[0014] The second side edge of the third vertical plate (211-3) is arc-shaped, wherein the second side edge of the third vertical plate (211-3) is arranged opposite to the first side edge.

[0015] The side camera fixing module (213) comprises a first bottom plate (213-1), a T-shaped side plate (213-2), a rectangular side plate (213-3) and an I-shaped top plate (213-4); the T-shaped side plate (213-2) and the rectangular side plate (213-3) are respectively connected to two ends of the first bottom plate (213-1) and are arranged perpendicularly to the first bottom plate (213-1); the T-shaped side plate (213-2) and the rectangular side plate (213-3) are arranged in parallel; the I-shaped top plate (213-4) is arranged with the first bottom plate (213-1) and is perpendicular to the T-shaped side plate (213-2); and two ends of the I-shaped top plate (213-4) are respectively connected to the tops of the T-shaped side plate (213-2) and the rectangular side plate (213-3).

[0016] The vertical measurement module comprises a device housing (41), a swing component (42), a movable shaft (45) and a probe (43); the swing component (42) and the probe (43) are coaxially arranged, and one end of the probe (43) is connected to the first end of the swing component (42); the outer diameter of the probe (43) is consistent with the inner diameter of the embedded sleeve on the track plate (5) to be measured; both ends of the movable shaft (45) are fixed on the side wall of the device housing (41); the axis of the movable shaft (45) intersects and is perpendicular to the axis of the swing component (42); the movable shaft (45) passes through the swing component (42) to realize the swing component (42) rotating around the movable shaft (45); a dial is provided on the top of the device housing (41); the swing component (42) is located in the device housing (41) and the second end points to the dial.

[0017] The second end of the swing component (42) is provided with a swing pointer (421).

[0018] When the axis of the swing component (42) coincides with the axis of the device housing (41), the swing pointer (421) points to the center of the scale plate, indicating that the embedded sleeve on the track plate (5) to be tested is arranged vertically.

[0019] The scale plate is composed of a plurality of concentric circles.

[0020] The walking mechanism comprises a plurality of universal wheels (103).

[0021] A method for detecting a device as described above, comprising:

[0022] Step S1: Control the detection device to reach the measurement station corresponding to the track plate (5) to be detected;

[0023] Step S2: determining the shooting position of the top surface detection subsystem (3) in the width direction and the length direction according to the length and width range of the track plate (5) to be detected, and controlling the sliding frame (3-1) and the top surface structured light camera module (3-2) to slide based on the obtained shooting position;

[0024] Step S3: controlling the top surface structured light camera module (3-2) and the side surface structured light camera module (2-1) to shoot and obtain three-dimensional point cloud images of different sides of the track plate (5) to be inspected;

[0025] Step S4: When the top surface structured light camera module (3-2) sequentially scans the rail supports on both sides of the track plate (5) to be inspected along the length direction, the position information of the embedded sleeves is extracted from the three-dimensional point cloud of each pair of rail supports, thereby guiding the vertical measurement module to move to the top of each embedded sleeve, extend into the sleeve from top to bottom and measure its verticality;

[0026] Step S5: combining the relative position relationship between the top structured light camera module (3-2) and the side structured light camera module (2-1) and the two-dimensional motion law of the top structured light camera module (3-2), establishing a coordinate transformation relationship between different cameras, transforming the local three-dimensional point clouds obtained at all shooting positions into a unified coordinate system, and then combining the point cloud filtering and registration processing algorithm to splice the three-dimensional point clouds of each area into a three-dimensional point cloud model of the entire track plate (5) to be inspected;

[0027] Step S6: Compare the theoretical model of the track plate with the actual three-dimensional point cloud model, calculate the overall size deviation of the track plate, and use the point cloud segmentation and feature extraction method to divide the key areas including the plate top surface, embedded sleeve, rail bearing surface and jaw surface from the three-dimensional point cloud model of the track plate (5) to be tested, determine the relative position and geometric size deviation of each rail bearing platform and embedded sleeve, extract the rail bearing surface area on the track plate (5) to be tested, perform plane fitting and surface fitting on the three-dimensional point cloud contained in the area, calculate its horizontality and central warping, and realize the detection of the flatness of the plate top surface.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. A highly flexible and adaptable mobile measurement system. This detection device combines the large-scale and high-precision detection capabilities of a multi-sensor network with the flexible maneuverability of a mobile platform. It can not only meet the needs of efficient measurement of the external dimension parameters of large track plates, but also conduct full coverage detection of all areas of the track plates. It can also adapt to complex and changeable workplaces, conduct transfer measurements of track plates in different placements, and can also integrate a pre-buried casing verticality measurement device, with the ability to complete all inspection items.

[0030] 2. The mobile detection device adopts a multi-sensor data parallel collection and fusion processing strategy at each station. Sensors arranged in multiple positions synchronously collect the three-dimensional point cloud information of the top surface and four sides of the track plate, which greatly improves the efficiency of automatic collection of multi-dimensional data of the track plate. Combined with model constraints and multi-sensor coordinate transformation relationships, a series of local point cloud filtering and alignment are realized, and then the three-dimensional point cloud model of the entire track plate to be tested is obtained by splicing.

[0031] 3. Multi-parameter measurement method based on single model reconstruction: Combined with 3D point cloud feature extraction and multi-target segmentation methods, the position and size information of key areas such as the rail support and embedded casing are obtained from the 3D point cloud model of the track plate, and the errors of all external dimension parameters on the track plate are accurately calculated by comparing with the benchmark information provided by the theoretical design model. This method only requires one model reconstruction to complete the multi-parameter measurement task, effectively reducing the time and labor costs of the track plate detection process.

[0032] 4. Four side structured light camera modules (2-1) are respectively installed at four top corners of the frame (101), the top surface detection subsystem (3) includes a sliding frame (3-1) sliding along the long side direction of the frame (101), and a top surface structured light camera module (3-2) installed on the sliding frame (3-1), the sliding frame (3-1) includes two parallel sliding bars (3-1-1), and two sliders (3-1-2) arranged at both ends of the sliding bar (3-1-1), one of the sliders (3-1-2) connecting the two sliding bars (3-1-1) One end of the frame (101) is connected to another end of the two slide bars (3-1-1), and the other slide bar (3-1-2) is connected to the other end of the two slide bars (3-1-1), and the two slide bars (3-1-2) are respectively connected to and cooperate with the two long sides of the frame (101) to drive the two slide bars (3-1-1) to slide along the two long sides of the frame (101), so that the two long sides of the frame (101) are integrated for movement in the long side direction, and the sliding frame (3-1) realizes the carrier integration of the top surface structured light camera module (3-2) and the verticality measurement component (4), thereby reducing the overall volume, reducing the weight, and reducing energy consumption.

[0033] 5. The side structured light camera module (2-1) includes a side structured light camera, a heading steering module (211), a pitch steering module (212) and a side camera fixing module (213), and the length of the projection line segment of the first vertical plate (211-2) on the first straight line is within half of the length of the projection line segment of the first horizontal plate (211-1) on the first straight line, and the projection line segment of the first vertical plate (211-2) on the first straight line coincides with one end of the projection line segment of the first horizontal plate (211-1) on the first straight line, thereby achieving weight reduction and material saving without affecting the strength of the plate and facilitating the assembly of the first horizontal plate (211-1) and the frame (101).

[0034] 6. Only one first arc-shaped hole is provided on the first transverse plate (211-1), and two second arc-shaped holes are provided on the pitch steering module (212), so that the pitch steering module (212) can overcome the rotational torque generated by gravity and improve stability. At the first transverse plate (211-1), since the entire first transverse plate (211-1) is horizontally arranged, gravity does not generate a torque that causes the first transverse plate (211-1) to rotate around the first central positioning hole, which can simplify the convenience of adjusting the heading angle.

[0035] 7. The second side edge opposite to the first side edge of the third vertical plate (211-3) is arranged to be arc-shaped, taking into account lightweight design and ease of assembly of the heading steering module (211) and the pitch steering module (212).

[0036] 7. A T-shaped side plate (213-2) is used on one side of the side camera fixing module (213), and a rectangular side plate is used on the other side. The side plate (213-2) only needs to share the limitation and fixing requirements of the side structured light camera, and it is estimated that a lightweight T-shaped design is adopted. In addition to the above two requirements, the side plate (213-3) also needs to meet the fastening requirements with the pitch steering module (212). It is necessary to consider the rotational torque generated by gravity that needs to be overcome when the fixing module (213) is in a non-horizontal posture, so a triangular array porous rectangular plate is adopted.

[0037] 8. By designing the vertical detection part as a structure composed of a device housing (41), a swing component (42), a movable shaft (45) and a probe (43), the swing component (42) is placed inside the device housing (41) for an integrated design, and a simple mechanical structure and geometric principle are used to achieve the verticality measurement of the embedded casing hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the present invention;

[0039] Figure 2 It is a schematic diagram of the structure of the side structured light camera module;

[0040] Figure 3 It is a structural schematic diagram of the vertical measurement module;

[0041] Figure 4 The following is a schematic diagram of the specific work process;

[0042] Wherein: 1. Mobile platform, 2. Side detection subsystem, 3. Top detection subsystem, 4. Verticality measurement subsystem, 5. Track plate to be tested, 101. Rack, 103. Universal wheel, 2-1. Side structured light camera module, 211. Side camera heading steering module, 212. Side camera pitch steering module, 213. Side camera fixing module, 211-1. First horizontal board, 211-2. First vertical board, 211-3. Third vertical board Plate, 3-1, sliding frame, 3-2, top surface structured light camera module, 3-1-1, sliding rod, 3-1-2, slider, 213-1, first bottom plate, 213-2, T-shaped side plate, 213-3, rectangular side plate, 213-4, I-shaped top plate, 41, device housing, 42, swinging part, 43, probe, 44, dial, 45, movable shaft, 411, housing base, 412, housing body, 421, swinging pointer. DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "proximal", "distal", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Physical quantities in formulas, if not separately marked, should be understood as basic quantities of the base units of the International System of Units, or derived quantities derived from the basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0046] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0049] A track plate detection device for multi-sensor network mobile measurement, comprising a mobile platform 1, and a side detection subsystem 2, a top surface detection subsystem 3, and a verticality measurement component 4 arranged on the mobile platform 1;

[0050] The mobile platform 1 includes a frame 101 and a walking mechanism arranged at the bottom of the frame 101. The frame 101 is a rectangular frame, and the area enclosed by the projection on the horizontal plane is larger than the projection area of ​​the track plate 5 to be tested on the horizontal plane. During the test, the projection area of ​​the track plate 5 to be tested on the horizontal plane is completely located within the projection area of ​​the frame 101 on the horizontal plane.

[0051] The side detection subsystem 2 includes four side structured light camera modules 2 - 1 , and the four side structured light camera modules 2 - 1 are respectively installed at the four corners of the frame 101 ;

[0052] The top surface detection subsystem 3 includes a sliding frame 3-1 that slides along the long side direction of the rack 101, and a top surface structured light camera module 3-2 installed on the sliding frame 3-1. The sliding frame 3-1 includes two parallel sliding bars 3-1-1, and two sliders 3-1-2 arranged at both ends of the sliding bars 3-1-1, wherein one slider 3-1-2 connects one end of the two sliding bars 3-1-1, and the other slider 3-1-2 connects the other end of the two sliding bars 3-1-1. The two sliders 3-1-2 are respectively connected and cooperated with the two long sides of the rack 101 to drive the two sliding bars 3-1-1 to slide along the two long sides of the rack 101;

[0053] The verticality measurement assembly 4 includes a vertical measurement module installed on the sliding frame 3-1, the vertical measurement module is arranged on one sliding rod 3-1-1, and the top surface structured light camera module 3-2 is arranged on another sliding rod 3-1-1.

[0054] Thus, the two long sides of the frame 101 realize the integration of movement in the long side direction, and the sliding frame 3-1 realizes the carrier integration of the top surface structured light camera module 3-2 and the verticality measurement component 4, thereby reducing the overall volume, reducing weight, and reducing energy consumption.

[0055] In most embodiments, Figure 2 As shown, the side structured light camera module 2-1 includes a side structured light camera, a heading steering module 211, a pitch steering module 212 and a side camera fixing module 213, the side structured light camera is installed on the side camera fixing module 213, the side camera fixing module 213 is connected to a first end of the pitch steering module 212, and a second end of the pitch steering module 212 is connected to the heading steering module 211;

[0056] The side detection subsystem 2 captures the three-dimensional point cloud image of the four corners of the track plate 5 to be tested from the side to achieve overall length, width and height measurement; the top surface three-dimensional structured light camera module in the top surface detection subsystem 3 relies on the sliding frame 3-1 to complete the acquisition of all information on the top surface of the track plate 5 to be tested, and achieves measurement of surface defects, bottom plate flatness, flatness of the rail groove, height difference between the rail groove and the bottom plate, four-side warping, overall distortion, etc.; the verticality measurement module in the verticality detection subsystem 4 relies on the sliding frame 3-1 to adjust the positioning and detect the vertical skewness of the embedded sleeve and other embedded parts.

[0057] The heading steering module 211 includes a first transverse plate 211-1, a first vertical plate 211-2 and a third vertical plate 211-3 which are arranged perpendicular to each other in pairs. The first transverse plate 211-1 is provided with a first central positioning hole and a first arc hole, and the first arc hole is arranged around the first central positioning hole. The first transverse plate 211-1 is installed on the frame 101 by screws passing through the first central positioning hole and the first arc hole respectively. The position of the screw passing through the first arc hole in the first arc hole is adjusted to adjust the posture of the heading steering module 211 to adjust the side structured light. The heading angle of the camera, the first side edge of the first vertical plate 211-2 is connected to the first side edge of the first horizontal plate 211-1, and the length of the projection line segment of the first vertical plate 211-2 on the first straight line is within half of the length of the projection line segment of the first horizontal plate 211-1 on the first straight line, and the projection line segment of the first vertical plate 211-2 on the first straight line coincides with one end of the projection line segment of the first horizontal plate 211-1 on the first straight line, which reduces weight and saves materials without affecting the strength of the plate and facilitates the assembly of the first horizontal plate 211-1 and the rack 101. The first side edge of the third vertical plate 211-3 is connected to the first side edge of the first vertical plate 211-2, the first side edge and the second side edge of the first vertical plate 211-2 are adjacent edges, and the projection of the third vertical plate 211-3 on the first straight line is located at one end of the projection line segment of the first horizontal plate 211-1 on the first straight line, wherein the first straight line is parallel to the first vertical plate 211-2 and perpendicular to the third vertical plate 211-3;

[0058] A second central positioning hole and multiple second arc holes are provided on the pitch steering module 212. In the present embodiment, there are two second arc holes in total, and all the second arc holes are arranged around the second central positioning hole. The pitch steering module 212 is installed on the third vertical plate 211-3 by screws passing through the second central positioning hole and the second arc holes respectively. The posture of the pitch steering module 212 is adjusted by adjusting the position of the screw passing through the second arc hole in the second arc hole to adjust the pitch angle of the side structured light camera.

[0059] Only one first arc-shaped hole is provided on the first transverse plate 211-1, and two second arc-shaped holes are provided on the pitch steering module 212, so that the pitch steering module 212 can overcome the rotational torque generated by gravity and improve stability. At the first transverse plate 211-1, since the entire first transverse plate 211-1 is horizontally arranged, gravity does not generate a torque that causes the first transverse plate 211-1 to rotate around the first central positioning hole, which can simplify the convenience of adjusting the heading angle.

[0060] The second side edge of the third vertical plate 211-3 is arc-shaped, wherein the second side edge of the third vertical plate 211-3 is arranged opposite to the first side edge, taking into account lightweight design and ease of assembly of the heading steering module (211) and the pitch steering module (212).

[0061] The side camera fixing module 213 includes a first bottom plate 213-1, a T-shaped side plate 213-2, a rectangular side plate 213-3 and a straight top plate 213-4. The T-shaped side plate 213-2 and the rectangular side plate 213-3 are respectively connected to the two ends of the first bottom plate 213-1 and are arranged perpendicular to the first bottom plate 213-1. The T-shaped side plate 213-2 and the rectangular side plate 213-3 are arranged in parallel. The straight top plate 213-4 is arranged with the first bottom plate 213-1 and is arranged with the T-shaped side plate 213-2. The two ends of the vertical I-shaped top plate 213-4 are respectively connected to the top of the T-shaped side plate 213-2 and the rectangular side plate 213-3. The side plate 213-2 only needs to share the limitation and fixing requirements of the side structured light camera, and it is estimated that a lightweight T-shaped design is adopted. In addition to the above two requirements, the side plate 213-3 also needs to meet the fastening requirements with the pitch steering module 212. It is necessary to consider the rotational torque generated by gravity that needs to be overcome when the fixing module (213) is in a non-horizontal posture, so a triangular array porous rectangular plate is adopted.

[0062] like Figure 3 As shown, the vertical measurement module includes a device housing 41, a swing component 42, a movable shaft 45 and a probe 43. The swing component 42 and the probe 43 are coaxially arranged, and one end of the probe 43 is connected to the first end of the swing component 42. The outer diameter of the probe 43 is consistent with the inner diameter of the embedded sleeve on the track plate 5 to be measured. Both ends of the movable shaft 45 are fixed to the side wall of the device housing 41. The axis of the movable shaft 45 intersects and is perpendicular to the axis of the swing component 42. The movable shaft 45 passes through the swing component 42 to realize the swing component 42 rotating around the movable shaft 45. A dial is provided on the top of the device housing 41. The swing component 42 is located in the device housing 41 and the second end points to the dial. The vertical measurement module adopts an integrated design and uses a simple mechanical structure and geometric principles to realize the verticality measurement of the embedded sleeve hole.

[0063] In addition, in some embodiments, a swing pointer 421 is provided at the second end of the swing component 42, so that the angle pointed to can be more clearly defined. When the swing component 42 coincides with the axis of the device housing 41, the swing pointer 421 points to the center of the scale, indicating that the embedded sleeve on the track plate 5 to be tested is vertically arranged, and the scale consists of a plurality of concentric circles, each circle representing an inclination angle.

[0064] In addition, in this embodiment, the walking mechanism includes a plurality of universal wheels 103 , and of course other methods may be used in other embodiments.

[0065] A method for detecting a device as described above, such as Figure 4As shown in the figure, before the mobile measuring device is put into use, the relative position relationship of each 3D structured light camera and the verticality measurement component on the mobile platform needs to be calibrated in advance. On this basis, the process of detecting the external dimension parameters of each track plate includes the following steps:

[0066] Step S1: Control the detection device to reach the measurement station corresponding to the track plate 5 to be detected;

[0067] Step S2: determining the shooting position of the top surface detection subsystem 3 in the width direction and the length direction according to the length and width range of the track plate 5 to be detected, and controlling the sliding frame 3-1 and the top surface structured light camera module 3-2 to slide based on the obtained shooting position;

[0068] Step S3: controlling the top surface structured light camera module 3 - 2 and the side surface structured light camera module 2 - 1 to shoot and obtain three-dimensional point cloud images of different sides of the track plate 5 to be inspected;

[0069] Step S4: When the top surface structured light camera module 3-2 sequentially scans the rail supports on both sides of the track plate 5 to be inspected along the length direction, the position information of the embedded sleeves is extracted from the three-dimensional point cloud of each pair of rail supports, thereby guiding the vertical measurement module to move to the top of each embedded sleeve, extend into the sleeve from top to bottom and measure its verticality;

[0070] Step S5: Based on the relative position relationship between the top structured light camera module 3-2 and the side structured light camera module 2-1 and the two-dimensional motion law of the top structured light camera module 3-2, a coordinate transformation relationship between different cameras is established, and the local three-dimensional point clouds obtained from all shooting positions are transformed into a unified coordinate system. Then, combined with the point cloud filtering and registration processing algorithm, the three-dimensional point clouds of each area are spliced ​​into a three-dimensional point cloud model of the entire track plate 5 to be inspected;

[0071] Step S6: Compare the theoretical model of the track plate with the actual three-dimensional point cloud model, calculate the overall size deviation of the track plate, and use the point cloud segmentation and feature extraction method to divide the key areas including the top surface of the plate, the embedded sleeve, the rail-bearing surface and the jaw surface from the three-dimensional point cloud model of the track plate 5 to be tested, determine the relative position and geometric size deviation of each rail-bearing platform and the embedded sleeve, extract the rail-bearing surface area on the track plate 5 to be tested, perform plane fitting and surface fitting on the three-dimensional point cloud contained in the area, calculate its horizontality and central warping, and realize the detection of the flatness of the top surface of the plate.

[0072] The above steps complete the detection of various indicators of track plate dimensional deviation.

[0073] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

Claims

1. A track plate detection device for multi-sensor network mobile measurement, characterized in that: It comprises a mobile platform (1), and a side surface detection subsystem (2), a top surface detection subsystem (3), and a verticality measurement component (4) arranged on the mobile platform (1); The mobile platform (1) comprises a frame (101) and a walking mechanism arranged at the bottom of the frame (101); the frame (101) is a rectangular frame; the area enclosed by a projection on a horizontal plane is larger than the projection area of ​​a track plate (5) to be tested on the horizontal plane; and during testing, the projection area of ​​the track plate (5) to be tested on the horizontal plane is completely located within the projection area of ​​the frame (101) on the horizontal plane; The side detection subsystem (2) comprises four side structured light camera modules (2-1), and the four side structured light camera modules (2-1) are respectively installed at four top corners of the frame (101); The top surface detection subsystem (3) comprises a sliding frame (3-1) that slides along the long side direction of the frame (101), and a top surface structured light camera module (3-2) mounted on the sliding frame (3-1), wherein the sliding frame (3-1) comprises two sliding bars (3-1-1) arranged in parallel, and two sliders (3-1-2) arranged at both ends of the sliding bars (3-1-1), wherein one slider (3-1-2) connects one end of the two sliding bars (3-1-1), and the other slider (3-1-2) connects the other end of the two sliding bars (3-1-1), and the two sliders (3-1-2) are respectively connected to and cooperate with the two long sides of the frame (101) to drive the two sliding bars (3-1-1) to slide along the two long sides of the frame (101); The verticality measurement assembly (4) comprises a vertical measurement module mounted on a sliding frame (3-1), wherein the vertical measurement module is arranged on a sliding rod (3-1-1), and the top surface structured light camera module (3-2) is arranged on another sliding rod (3-1-1).

2. A track plate detection device for multi-sensor network mobile measurement according to claim 1, characterized in that: The side structured light camera module (2-1) comprises a side structured light camera, a heading steering module (211), a pitch steering module (212) and a side camera fixing module (213); the side structured light camera is mounted on the side camera fixing module (213); the side camera fixing module (213) is connected to a first end of the pitch steering module (212); and a second end of the pitch steering module (212) is connected to the heading steering module (211); The heading steering module (211) comprises a first transverse plate (211-1), a first vertical plate (211-2) and a third vertical plate (211-3) which are arranged perpendicular to each other in pairs, the first transverse plate (211-1) is provided with a first central positioning hole and a first arc hole, the first arc hole is arranged around the first central positioning hole, the first transverse plate (211-1) is mounted on the frame (101) by screws passing through the first central positioning hole and the first arc hole respectively, the posture of the heading steering module (211) is adjusted by adjusting the position of the screw passing through the first arc hole in the first arc hole to adjust the heading angle of the side structured light camera, the first side edge of the first vertical plate (211-2) is connected to the first side edge of the first transverse plate (211-1), and the first vertical plate (211-2) is connected to the first side edge of the first transverse plate (211-1), and the first vertical plate (211-2) is connected to the first side edge of the first transverse plate (211-1). ) on the first straight line is within half of the length of the projection line segment of the first horizontal plate (211-1) on the first straight line, and the projection line segment of the first vertical plate (211-2) on the first straight line coincides with one end of the projection line segment of the first horizontal plate (211-1) on the first straight line, the first side edge of the third vertical plate (211-3) is connected to the first side edge of the first vertical plate (211-2), the first side edge and the second side edge of the first vertical plate (211-2) are adjacent edges, and the projection of the third vertical plate (211-3) on the first straight line is located at one end of the projection line segment of the first horizontal plate (211-1) on the first straight line, wherein the first straight line is parallel to the first vertical plate (211-2) and perpendicular to the third vertical plate (211-3); The pitch steering module (212) is provided with a second central positioning hole and a plurality of second arc holes, and all the second arc holes are arranged around the second central positioning hole. The pitch steering module (212) is mounted on the third vertical plate (211-3) by screws passing through the second central positioning hole and the second arc holes respectively. The position of the screw passing through the second arc hole is adjusted in the second arc hole to adjust the posture of the pitch steering module (212) so as to adjust the pitch angle of the side structured light camera.

3. A track plate detection device for multi-sensor network mobile measurement according to claim 2, characterized in that: The second side edge of the third vertical plate (211-3) is arc-shaped, wherein the second side edge of the third vertical plate (211-3) is arranged opposite to the first side edge.

4. The track plate detection device for multi-sensor network mobile measurement according to claim 2, characterized in that: The side camera fixing module (213) comprises a first bottom plate (213-1), a T-shaped side plate (213-2), a rectangular side plate (213-3) and an I-shaped top plate (213-4); the T-shaped side plate (213-2) and the rectangular side plate (213-3) are respectively connected to two ends of the first bottom plate (213-1) and are arranged perpendicularly to the first bottom plate (213-1); the T-shaped side plate (213-2) and the rectangular side plate (213-3) are arranged in parallel; the I-shaped top plate (213-4) is arranged with the first bottom plate (213-1) and is perpendicular to the T-shaped side plate (213-2); and two ends of the I-shaped top plate (213-4) are respectively connected to the tops of the T-shaped side plate (213-2) and the rectangular side plate (213-3).

5. The track plate detection device for multi-sensor network mobile measurement according to claim 1, characterized in that: The vertical measurement module comprises a device housing (41), a swing component (42), a movable shaft (45) and a probe (43); the swing component (42) and the probe (43) are coaxially arranged, and one end of the probe (43) is connected to the first end of the swing component (42); the outer diameter of the probe (43) is consistent with the inner diameter of the embedded sleeve on the track plate (5) to be measured; both ends of the movable shaft (45) are fixed on the side wall of the device housing (41); the axis of the movable shaft (45) intersects and is perpendicular to the axis of the swing component (42); the movable shaft (45) passes through the swing component (42) to realize the swing component (42) rotating around the movable shaft (45); a dial is provided on the top of the device housing (41); the swing component (42) is located in the device housing (41) and the second end points to the dial.

6. A track plate detection device for multi-sensor network mobile measurement according to claim 5, characterized in that: The second end of the swing component (42) is provided with a swing pointer (421).

7. The track plate detection device for multi-sensor network mobile measurement according to claim 6, characterized in that: When the axis of the swing component (42) coincides with the axis of the device housing (41), the swing pointer (421) points to the center of the scale plate, indicating that the embedded sleeve on the track plate (5) to be tested is arranged vertically.

8. The track plate detection device for multi-sensor network mobile measurement according to claim 5, characterized in that: The scale plate is composed of a plurality of concentric circles.

9. The track plate detection device for multi-sensor network mobile measurement according to claim 1, characterized in that: The walking mechanism comprises a plurality of universal wheels (103).

10. A method for detecting a device as claimed in any one of claims 1 to 9, characterized in that: include: Step S1: Control the detection device to reach the measurement station corresponding to the track plate (5) to be detected; Step S2: determining the shooting position of the top surface detection subsystem (3) in the width direction and the length direction according to the length and width range of the track plate (5) to be detected, and controlling the sliding frame (3-1) and the top surface structured light camera module (3-2) to slide based on the obtained shooting position; Step S3: controlling the top surface structured light camera module (3-2) and the side surface structured light camera module (2-1) to shoot and obtain three-dimensional point cloud images of different sides of the track plate (5) to be inspected; Step S4: When the top surface structured light camera module (3-2) sequentially scans the rail supports on both sides of the track plate (5) to be inspected along the length direction, the position information of the embedded sleeves is extracted from the three-dimensional point cloud of each pair of rail supports, thereby guiding the vertical measurement module to move to the top of each embedded sleeve, extend into the sleeve from top to bottom and measure its verticality; Step S5: combining the relative position relationship between the top structured light camera module (3-2) and the side structured light camera module (2-1) and the two-dimensional motion law of the top structured light camera module (3-2), establishing a coordinate transformation relationship between different cameras, transforming the local three-dimensional point clouds obtained at all shooting positions into a unified coordinate system, and then combining the point cloud filtering and registration processing algorithm to splice the three-dimensional point clouds of each area into a three-dimensional point cloud model of the entire track plate (5) to be inspected; Step S6: Compare the theoretical model of the track plate with the actual three-dimensional point cloud model, calculate the overall size deviation of the track plate, and use the point cloud segmentation and feature extraction method to divide the key areas including the plate top surface, embedded sleeve, rail bearing surface and jaw surface from the three-dimensional point cloud model of the track plate (5) to be tested, determine the relative position and geometric size deviation of each rail bearing platform and embedded sleeve, extract the rail bearing surface area on the track plate (5) to be tested, perform plane fitting and surface fitting on the three-dimensional point cloud contained in the area, calculate its horizontality and central warping, and realize the detection of the flatness of the plate top surface.

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