Robot-supported 3D scanner stereoscopic detection equipment and track plate detection method

Abstract

The present application relates to a robot-equipped three-dimensional scanner stereoscopic detection device and a track plate detection method, wherein the device includes a tracker, a robotic arm and a three-dimensional scanner, and further includes: a main stand; a supporting platform for supporting the track plate to be tested; a side bracket, provided with at least three and arranged on the two long sides and at least one short side of the supporting platform; target points, arrayed on the upper end face of the side bracket, including a plurality of coordinate targets, at least three coordinate targets distributed on the upper end face of the side bracket, all coordinate targets having the same height and the point cloud scanned by the three-dimensional scanner is used to construct the horizontal plane of the working coordinate system; a balancing device, used to balance the upper surface of the track plate to be tested on the supporting platform to be coplanar with the horizontal plane of the working coordinate system before scanning. The present application balances the upper surface of the track plate to be tested on the supporting platform to be coplanar with the horizontal plane of the working coordinate system by using a balancing device, which can significantly reduce the amount of point cloud data calculation and scanning errors, and improve the efficiency of track plate scanning and detection.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional scanning technology, and in particular to a robot-equipped three-dimensional scanner stereo detection device and a track plate detection method. Background Art

[0002] With the advancement of science and technology, my country's high-speed rail has surpassed 300 km / h. High-speed operation places higher demands on track safety. Like most other countries, my country's high-speed rail utilizes slab track (CRTS-type track slabs), and has gone through three stages of development: CRTS I, CRTS II, and CRTS III.

[0003] However, the CRTS III track slab formwork has multiple casting holes in its baseplate mold, making the entire slab susceptible to deformation. The rail support platform has diverse geometric shapes, requiring high precision in geometric parameters, and even higher requirements for surface flatness and slope control of the sleeper. The geometric accuracy of the track slab plays a vital role in ensuring the safe and smooth operation of high-speed railways, making the measurement of several key geometric parameters of the track slab crucial.

[0004] In the related art, Chinese patent application number CN201710620166.7 proposes a CRTS III slab track inspection system and method. The inspection system includes a track slab transport vehicle, a track slab flipper, and a photogrammetry system. The method includes the following steps: track slab transportation, track slab flipping, system debugging, and track slab photographic imaging. In recent years, automated production lines for CRTS III slab track slabs have emerged in China. However, track slab inspection still relies on traditional measurement methods: total stations combined with manual inspection. This method is slow and has low accuracy. This invention utilizes a mechanical measuring arm and a photogrammetry system, allowing for seamless integration with previous and subsequent processes. The inspection time for a single track slab is 3 minutes, with an accuracy of 0.025mm. This improves both measurement time and accuracy by over 10 times compared to traditional methods, significantly saving labor costs and ensuring quality assurance for the prefabrication of CRTS III slab track slabs.

[0005] However, track slabs are typically large, with a standard length of 5600mm, a width of 2500mm, and a thickness of 200mm. A single slab weighs up to 8 tons, while the allowable machining error for track slabs is 0.5mm. This results in massive point cloud data during 3D scanning, a huge amount of registration calculations during dimensional inspection, and point cloud splicing deviations caused by accumulated registration errors during mobile scanning. Traditional natural feature point splicing also lacks accuracy on uniformly textured surfaces, making it impossible to meet the current production demand of 100 track slabs per day. Summary of the Invention

[0006] In order to improve the problem that the point cloud registration calculation is huge during mobile three-dimensional scanning due to the large size of the track plate and the accumulation of registration errors easily leads to point cloud splicing deviation, the present application provides a robot-equipped three-dimensional scanner stereo detection device and a track plate detection method.

[0007] The first aspect of the present application provides a robot-equipped three-dimensional scanner stereoscopic detection device that adopts the following technical solution:

[0008] A robot-supported 3D scanner stereoscopic detection device includes a tracker, a robotic arm, and a 3D scanner, and also includes:

[0009] a main stand on which the tracker and the three-dimensional scanner are mounted;

[0010] The bearing platform is used to support the track plate to be tested;

[0011] There are at least three side brackets arranged on two long sides and at least one short side of the supporting platform;

[0012] Target points are distributed in an array on the upper end surface of the side bracket, including a plurality of coordinate targets, with at least three of the coordinate targets distributed on the upper end surface of the side bracket. All coordinate targets are at the same height, and the point cloud scanned by the 3D scanner is used to construct the horizontal plane of the working coordinate system; and

[0013] The balancing device is used to balance the upper surface of the track plate to be measured on the supporting platform until it is coplanar with the horizontal plane of the working coordinate system before scanning.

[0014] Furthermore, the target point further comprises a plurality of alignment targets distributed in an array on the upper end surface of the side bracket, and the alignment targets are arranged at intervals along the length direction of the side bracket;

[0015] The scanning path of the three-dimensional scanner is a serpentine extension along the length of the carrier platform, with its longitudinal displacement being no less than the distance between the two side brackets on the long side of the carrier platform, and its lateral displacement being greater than the length of the long side of the carrier platform;

[0016] The distance between two adjacent registration targets along the length direction of the side bracket is not greater than the lateral displacement traveled by the three-dimensional scanner after completing one longitudinal displacement.

[0017] Furthermore, the absolute vertical heights of the alignment targets on the two side brackets located on the long side of the supporting platform are different, and the absolute vertical heights of the alignment targets on the same side bracket are the same.

[0018] Furthermore, the absolute vertical heights of the alignment targets on the same side bracket are arranged alternately in size along the length direction of the supporting platform, and after the three-dimensional scanner completes a lateral displacement, the absolute vertical heights of the alignment targets at both ends of the scanning path are the same or different.

[0019] Furthermore, the coordinate targets are distributed on the side bracket at intervals along the length direction of the side bracket, and the absolute vertical height of the coordinate targets is different from the absolute vertical height of the registration targets.

[0020] Furthermore, the balancing device includes:

[0021] A lifting member is installed on the bearing platform, and is provided in plurality and distributed at least at the four corners of the bearing platform;

[0022] The detection plates are arranged along the width direction of the carrier platform, and two of them are provided and are arranged at both ends of the length direction of the carrier platform;

[0023] There are multiple detection mechanisms, and the detection mechanisms are set at both ends of the detection plate, and the detection mechanisms are used to detect the absolute vertical height of the upper surface of the track plate to be tested on the supporting platform;

[0024] There are two flipping mechanisms, which are respectively provided at both ends of the length direction of the carrier platform, and are used to drive the corresponding test plate to flip up to be parallel to the upper surface of the track plate to be tested or flip down to below the carrier platform surface; and

[0025] The balancing controller is configured to compare the absolute vertical height detected by the detection mechanism with a set value and control the operation of the adjacent lifting members.

[0026] Furthermore, the detection mechanism includes:

[0027] A detection rod is elastically provided on the detection plate, and the detection rod is perpendicular to the detection plate;

[0028] The displacement sensor is arranged on the detection plate and is used to detect the axial displacement of the detection rod.

[0029] Furthermore, an inspection arc plate is installed at the end of the supporting platform in the length direction. When the flipping mechanism controls the flipping of the inspection plate, the detection rod is pressed against the outer arc side of the inspection arc plate, and the displacement value detected by the displacement sensor is the set value of the axial displacement of the detection rod when the upper surface of the track plate to be tested is coplanar with the horizontal plane of the working coordinate system.

[0030] The second aspect of the present application provides a track plate detection method using the following technical solution:

[0031] A track plate detection method, based on the above-mentioned robot-equipped three-dimensional scanner stereoscopic detection device, includes the following steps:

[0032] S1. Construct the horizontal plane of the working coordinate system based on all the coordinate targets, set the length direction of the carrier as the x-axis, the width direction as the y-axis, and the height direction as the z-axis, and verify and ensure that the z-axis coordinate value of the coordinate target is zero;

[0033] S2. The track plate to be tested is transferred to the loading platform, and the upper surface of the track plate to be tested is leveled as a whole to be coplanar with the horizontal plane of the working coordinate system by the balancing device;

[0034] S3. Setting the scanning path of the 3D scanner to extend in a serpentine manner along the length of the platform, with each scan path in the y-axis direction sweeping over at least the target points on the two side supports; setting registration targets on the side supports, and setting the z-axis coordinate values ​​of the multiple registration targets to at least two different values ​​or to non-zero values;

[0035] S4. Control the 3D scanner to scan according to the set path. After obtaining the point cloud data, each time a complete scan of the path in the y-axis direction is completed, the coordinate values ​​of the target points at both ends of the path are used to align the point cloud data scanned by the track plate to be measured;

[0036] S5. Organize the 3D imaging point cloud data of the track plate to be tested, remove noise points, and perform geometric parameter detection.

[0037] Furthermore, when the three-dimensional scanner completes a scan along the y-axis path in step S4, its end path point scans at least one of the registration targets.

[0038] In summary, the beneficial technical effects of this application are:

[0039] 1. A working coordinate system is jointly constructed by multiple coordinate targets set on multiple side brackets, and the upper surface of the track plate to be tested is leveled to be coplanar with the horizontal plane of the working coordinate system through a balancing device. This allows the positioning data of the casting holes and sleepers on the track plate to be tested to only need to check the x-axis and y-axis coordinate values, which can reduce the inspection workload by 30%. In addition, when outputting the three-dimensional point cloud data of the sleepers, it is directly established on the horizontal plane of the working coordinate system, eliminating the need for redundant difference calculations and significantly reducing the amount of point cloud data calculations. In addition, based on the horizontal plane of the coordinate system constructed on the upper surface of the track plate to be tested, the flatness of the upper surface of the track to be tested and the error of each point can be quickly determined. Based on the point cloud coordinate values ​​of each point on the upper surface, it can directly identify and output, eliminating the need for a separate judgment algorithm, thereby reducing the amount of calculation during inspection.

[0040] 2. When performing a 3D scan of the track plate to be measured, the 3D scanner moves along a serpentine path. In addition to covering the scanning requirements, there are fewer repeated paths, which can significantly improve scanning efficiency. Moreover, after each Y-axis displacement path is completed, the registration targets at both ends of the path can correct the coordinate values ​​of the scanned point cloud data, which can effectively control scanning errors and overall stitching errors.

[0041] 3. By having at least two non-collinear coordinate targets on the same side bracket, and setting non-collinear coordinate targets on all three side brackets to construct a triangular datum, the plane accuracy of the working coordinate system constructed by all coordinate targets can be greatly improved. This in turn improves the accuracy of the point cloud data scanned by the 3D scanner and the accuracy of the registration targets during registration, significantly reducing registration errors and alignment deviations in overlapping point cloud areas. At the same time, in multi-batch scanning inspections, the comparability of track plate inspection data from multiple batches can be ensured, avoiding misjudgments due to coordinate system offsets.

[0042] 4. By connecting the inspection arc plate with a torsion spring on the flip axis, on the one hand, when it is in the storage state, the detection rod is pressed against the outer arc side of the detection arc plate, and the detection result of the displacement sensor can be verified to ensure that the displacement sensor, reset spring and detection rod are in normal working condition before each detection, so as to ensure the accuracy of the point cloud data of the track plate to be tested scanned by the three-dimensional scanner; on the other hand, in the process of entering / exiting the detection state, the inspection arc plate can also guide the detection rod, so that the detection rod can slide smoothly between the track plate to be tested and the inspection arc plate during the flipping process, and will not get stuck or stall and cause the detection rod to deform. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0044] Figure 2 Schematic diagram of the distribution of coordinate targets and registration targets according to an embodiment of the present application;

[0045] Figure 3 This is a scanning path diagram of a three-dimensional scanner in a top-down state according to an embodiment of the present application;

[0046] Figure 4 This is a structural diagram of the detection mechanism of the embodiment of the present application in the detection state;

[0047] Figure 5 yes Figure 4 A partial enlarged schematic diagram of part A;

[0048] Figure 6 It is a structural schematic diagram of the detection mechanism of the embodiment of the present application in the storage state.

[0049] Description of reference numerals:

[0050] 11. Tracker; 12. Robotic arm; 13. 3D scanner;

[0051] 21. Main stand; 22. Side stand;

[0052] 3. Loading platform; 31. Limit block;

[0053] 4. Track plate to be tested;

[0054] 5. Target point; 51. Coordinate target; 52. Registration target;

[0055] 6. Detection mechanism; 61. Detection plate; 62. Detection rod; 63. Displacement sensor; 64. Return spring; 65. Flip shaft;

[0056] 71. Inspection arc plate; 72. Support frame; 73. Torsion spring. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0058] The present application embodiment discloses a robot-equipped three-dimensional scanner stereoscopic detection device. Figure 1 and Figure 2 , which includes a tracker 11, a robotic arm 12 and a three-dimensional scanner 13, including:

[0059] The main stand 21, the tracker 11 and the three-dimensional scanner 13 are installed thereon, and the three-dimensional scanner 13 is installed on the robotic arm 12. The robotic arm 12 is slidably installed on the main stand 21 and moves along its length direction. The tracker 11 and the three-dimensional scanner 13 are used in conjunction with each other.

[0060] The supporting platform 3 is used to support the track plate 4 to be tested. Specifically, the supporting platform 3 is a rectangular frame structure, and a limit block 31 is provided at one end thereof to facilitate the rough positioning of the track plate 4 to be tested.

[0061] There are at least three side brackets 22, which are arranged on the two long sides and at least one short side of the supporting platform 3. The purpose of setting at least three side brackets 22 is that three points can determine a plane. By setting side brackets 22 on the three sides of the supporting platform 3, it is convenient to construct a large-scale, high-precision coordinate plane. In this embodiment, only three side brackets 22 are set, namely, one short side bracket 22 and two long side brackets 22.

[0062] The target points 5 are distributed in an array on the upper end surface of the side bracket 22. The target points 5 can be high-reflectivity metal targets or spherical targets; they include multiple coordinate targets 51. At least three coordinate targets 51 are distributed on the upper end surface of a side bracket 22. The coordinate targets 51 on the side bracket 22 are spaced apart along the length direction of the side bracket 22, and at least two coordinate targets 51 on the same side bracket 22 are not collinear. All coordinate targets 51 are at the same height and the point cloud scanned by the three-dimensional scanner 13 is used to construct the horizontal plane of the working coordinate system.

[0063] The balancing device is used to balance the upper surface of the track plate 4 to be measured on the supporting platform 3 to be coplanar with the horizontal plane of the working coordinate system before scanning.

[0064] Specifically, refer to Figure 2 and Figure 3 The target point 5 also includes a plurality of alignment targets 52 distributed in an array on the upper end surface of the side bracket 22. The alignment targets 52 are arranged at intervals along the length direction of the side bracket 22. The number of alignment targets 52 on the same side bracket 22 is greater than the number of coordinate targets 51.

[0065] The scanning path of the 3D scanner 13 extends in a serpentine pattern along the length of the platform 3. Its longitudinal displacement is no less than the distance between the two side supports 22 on the long sides of the platform 3, and its lateral displacement is greater than the length of the long side of the platform 3. The spacing between two adjacent registration targets 52 along the length of the side supports 22 is no greater than the lateral displacement traversed by the 3D scanner 13 after completing one longitudinal displacement. Assuming that the length of the platform 3 corresponds to the x-axis of the aforementioned working coordinate system, the width corresponds to the y-axis, and the height corresponds to the z-axis, then the aforementioned lateral displacement corresponds to the x-axis displacement, and the longitudinal displacement corresponds to the y-axis displacement.

[0066] Therefore, when performing three-dimensional scanning inspection on the track plate 4 to be tested, the track plate 4 to be tested is first transferred to the supporting platform 3, and one end of the track plate 4 to be tested is pressed against the limit block 31, and then the four corners of the upper surface of the track plate 4 to be tested are inspected by the balancing device and the upper surface is leveled to be coplanar with the horizontal plane of the working coordinate system constructed above, so that the positioning data of the casting holes and sleepers on the track plate 4 to be tested only need to check the x-axis and y-axis coordinate values, which can shorten the inspection workload by 30%; and when outputting the three-dimensional point cloud data of the sleeper, it is directly established on the horizontal plane of the working coordinate system, without the need for redundant difference calculation, and the amount of point cloud data calculation can also be greatly reduced; and based on the construction of the coordinate system horizontal plane on the upper surface of the track plate 4 to be tested, the flatness of the upper surface of the track to be tested and the errors of each point can be quickly obtained, and can be directly identified and output based on the point cloud coordinate values ​​of each point on the upper surface, without the need to design a separate judgment algorithm, thereby reducing the amount of calculation during inspection.

[0067] Moreover, when the three-dimensional scanner 13 performs a three-dimensional scan on the track plate 4 to be measured, it moves along a serpentine path. In addition to covering the scanning requirements, there are fewer repeated paths, which can significantly improve the scanning efficiency. Even in the area where sleepers are arranged on the track plate 4 to be measured, it is only necessary to increase the density of two adjacent y-axis displacement paths in this area to improve the scanning accuracy; therefore, the purpose of the aforementioned limit block 31 is also to locate the sleeper points on the track plate 4 to be measured to adapt to the preset scanning path of the three-dimensional scanner 13. It can be foreseen that the scanning path of the three-dimensional scanner 13 is distributed in a serpentine shape as a whole, but the density in the sleeper area along the x-axis direction is slightly greater than that in the area where sleepers are not arranged. Specifically, Figure 3 At the same time, each time a y-axis displacement path is completed, the registration targets 52 at both ends of the path can correct the coordinate values ​​of the scanned point cloud data, which can effectively control the scanning error and the overall stitching error.

[0068] In addition, by having at least two non-collinear coordinate targets 51 on the same side bracket 22, and non-collinear coordinate targets 51 are set on the three side brackets 22 to construct a triangular reference, so that multiple coordinate targets 51 on one side bracket 22 can form a small-format coordinate plane, and then a large-format coordinate plane is constructed by multiple small-area coordinate planes on the three side brackets 22. This can greatly improve the accuracy of the working coordinate system plane constructed by all coordinate targets 51, thereby improving the accuracy of the point cloud data scanned by the three-dimensional scanner 13 and the accuracy of the alignment target 52 during alignment, greatly reducing the alignment error and the alignment deviation of the point cloud overlapping area. At the same time, in multi-batch scanning and detection, the comparability of multi-batch track plate detection data can be ensured to avoid misjudgment due to coordinate system offset.

[0069] In order to further improve the registration effect of target point 5.

[0070] In one feasible embodiment, the registration targets 52 located on the two side brackets 22 on the long sides of the support platform 3 have different absolute vertical heights, while the registration targets 52 on the same side bracket 22 have the same absolute vertical height. That is, when the 3D scanner 13 performs a scanning path in the y-axis direction, the z-axis coordinate values ​​of the registration targets 52 at both ends of the path differ, thereby correcting the z-axis coordinate values ​​of the scanned point cloud data, further reducing the z-axis coordinate value error of the scanned point cloud data of the track plate 4 to be measured.

[0071] In another feasible embodiment, the absolute vertical heights of the registration targets 52 on the same side bracket 22 are arranged in alternating order along the length of the support platform 3. After the 3D scanner 13 completes a single lateral displacement, the absolute vertical heights of the registration targets 52 at both ends of the scanning path are either the same or different. Thus, by performing multiple consecutive y-axis scans, the z-axis coordinate values ​​of the scanned point cloud data at the end paths can be corrected at least once, similarly reducing the z-axis coordinate error of the scanned point cloud data of the track plate 4 to be tested.

[0072] In other feasible embodiments, the coordinate targets 51 are spaced apart along the length of the side support 22, and the absolute vertical height of the coordinate targets 51 is different from the absolute vertical height of the registration targets 52. Thus, by combining the registration targets 52 and the coordinate targets 51, a difference in the z-axis coordinate value of the scanned point cloud data of the target point 5 can be generated, thereby correcting the z-axis coordinate value error of the scanned point cloud data of the track plate 4 to be tested.

[0073] During the specific settings, it can be matched according to actual needs; further, it can also be set to the z-axis coordinate value of the highest alignment target 52 and the z-axis coordinate value of the scanned point cloud data of the top plane of the sleeper of the standard track plate in the standard installation state, which can quickly identify the flatness of the sleeper surface.

[0074] In addition, in order to facilitate the rapid balancing of the same type of track plate, refer to Figure 4 and Figure 5 , the above-mentioned balancing device includes:

[0075] The lifting parts (not shown in the figure) are installed on the supporting platform 3. There are multiple lifting parts and they are distributed at least at the four corners of the supporting platform 3. The lifting parts are specifically linear drive parts such as high-precision cylinders, hydraulic cylinders, linear motors, etc., which are vertically installed in the frame of the supporting platform 3. The output end of the lifting parts does not protrude from the upper end surface of the supporting platform 3 in the initial state.

[0076] The detection plates 61 are arranged along the width direction of the carrier platform 3. There are two detection plates 61, which are arranged at both ends of the length direction of the carrier platform 3. The detection plates 61 can be parallel to the upper end surface of the carrier platform 3 and their length is less than the width of the carrier platform 3.

[0077] There are multiple detection mechanisms 6, and detection mechanisms 6 are set at both ends of the detection plate 61. The detection mechanism 6 is used to detect the absolute vertical height of the upper surface of the track plate 4 to be tested on the supporting platform 3. In this embodiment, there are four detection mechanisms 6 and they correspond one to one with the four jacking parts.

[0078] There are two flipping mechanisms, which are arranged at both ends of the load platform 3 in the length direction, and are used to drive the corresponding detection plate 61 to flip up to be parallel to the upper surface of the track plate 4 to be tested or flip down to below the surface of the load platform 3.

[0079] The balancing controller is configured to compare the absolute vertical height detected by the detection mechanism 6 with the set value and control the operation of the adjacent jacking parts. Specifically, when the absolute vertical height of the point on the upper surface of the track plate 4 to be tested is lower than the absolute height of the coordinate target 51, the corresponding jacking part is controlled to jack up the point on the track plate 4 to be tested until the detection values ​​of the four detection mechanisms 6 meet the requirements; when it is higher than the absolute height of the coordinate target 51, it is sufficient to ensure that the detection values ​​of the four detection mechanisms 6 are consistent; or when the detection values ​​of the four detection mechanisms 6 cannot be balanced to be consistent, it is ensured that the detection values ​​of the three detection mechanisms 6 are consistent and the absolute vertical heights of the upper surface of the track plate 4 to be tested at the three points are equal to the absolute height of the coordinate target 51.

[0080] Among them, reference Figure 4 and Figure 5 , the detection mechanism 6 includes:

[0081] The detection rod 62 is elastically arranged on the detection plate 61, and the detection rod 62 and the detection plate 61 are arranged perpendicularly; specifically, a through hole is opened on the detection plate 61, and a guide cylinder is fixed at the through hole. The detection rod 62 is passed through the guide cylinder, and a reset spring 64 is provided on the outer sleeve of the guide cylinder. One end of the reset spring 64 is fixed to the top of the detection rod 62, and the other end is fixed to the detection plate 61.

[0082] The displacement sensor 63 is provided on the detection plate 61 and is used to detect the axial displacement of the detection rod 62 , specifically, to detect the axial displacement of the top of the detection rod 62 .

[0083] Therefore, when the track plate 4 to be tested is transferred to the supporting platform 3, the two detection plates 61 are driven to flip over to the top of the track plate 4 to be tested and parallel to the surface of the supporting platform 3 by the two flipping mechanisms respectively. The four detection rods 62 respectively contact the upper surface of the four corners of the track plate 4 to be tested. The displacement sensor 63 detects the displacement of the detection rod 62 to determine whether it meets the set requirements. With the help of the control of the balancing controller, it can be ensured that the track plate 4 to be tested meets the requirement that the entire upper surface of the plate body or a local area meets the coplanarity with the horizontal plane of the working coordinate system, thereby facilitating high-precision and low-computation three-dimensional scanning detection of the track plate 4 to be tested.

[0084] In addition, the above-mentioned flipping mechanism includes a flipping shaft 65 rotatably mounted on the supporting platform 3, the detection plate 61 is fixed to the flipping shaft 65 through a bracket, one end of the flipping shaft 65 is coaxially fixed with a flipping gear, and a driving motor is provided in the supporting platform 3. The driving motor is a servo motor, which can accurately control the flipping angle of the flipping shaft 65. The output end of the driving motor is coaxially fixed with a driving gear that is meshed with the flipping gear, and a transmission wheel is coaxially fixed on the driving gear. A transmission wheel is also coaxially fixed on the other flipping shaft 65, and the two transmission wheels are connected in the same direction through a transmission member. Specifically, the transmission wheel can be a synchronous wheel or a sprocket, and the transmission member can be a synchronous belt or chain. In other feasible embodiments, the flipping mechanism can also be a drive transmission structure in other conventional technologies that can realize the synchronous and reverse rotation of the two flipping shafts 65, which will not be repeated here.

[0085] Therefore, when the driving motor drives the driving gear to rotate, it can drive the far-end flip shaft 65 to rotate in the same direction, and with the help of the flip gear, drive the proximal flip shaft 65 to rotate in the opposite direction, so that the two detection plates 61 can be flipped in the opposite direction synchronously, for example, flipped in the direction close to the middle of the supporting platform 3 at the same time, so that the two detection plates 61 enter the detection state at the same time; or flipped in the direction away from the middle of the supporting platform 3 at the same time, so that the two detection plates 61 enter the storage state at the same time, without affecting the transfer of the next track plate.

[0086] However, it is considered that when the detection mechanism 6 is used in continuous detection, the detection rod 62 may be worn or the return spring 64 may be elastically fatigued, resulting in a decrease in the balancing accuracy of the upper surface of the track plate.

[0087] For this purpose, refer to Figure 4 、 Figure 5 and Figure 6 An inspection arc plate 71 is installed at the end of the supporting platform 3 in the longitudinal direction. When the flipping mechanism controls the flipping of the inspection plate 61, the detection rod 62 is pressed against the outer arc side of the inspection arc plate 71, and the displacement value detected by the displacement sensor 63 is the set value of the axial displacement of the detection rod 62 when the upper surface of the track plate 4 to be tested is coplanar with the horizontal plane of the working coordinate system.

[0088] When the cam 72 is in the closed position, the stopper 73 is in the closed position, and the stopper 73 is in the closed position, so that the stopper 73 is in the closed position and the stopper 73 is in the closed position.

[0089] Thus, by checking the arrangement of the arc plate 71, on the one hand, when the detection plate 61 is in the storage state, as shown in FIG. Figure 6 As shown, the detection rod 62 is pressed against the outer arc side of the detection arc plate, and the detection result of the displacement sensor 63 can be verified to ensure that the displacement sensor 63, the reset spring 64 and the detection rod 62 are in normal working condition before each detection; once the detection rod 62 is worn or the reset spring 64 is elastically fatigued or the displacement sensor 63 malfunctions, the detection value of the displacement sensor 63 will change, which can be discovered and repaired in time by the staff to ensure the accuracy of the detection result of the detection mechanism 6, and then ensure the accuracy of the point cloud data of the track plate 4 to be tested scanned by the three-dimensional scanner 13.

[0090] On the other hand, when the detection plate 61 is flipped over to enter the detection state and when it enters the storage state from the detection state, the detection arc plate 71 can also guide the detection rod 62, so that the detection rod 62 can slide smoothly between the track plate 4 to be tested and the detection arc plate 71 during the flipping process, and will not get stuck or jerk, which will cause the detection rod 62 to deform. For example, when the detection plate 61 is flipped over from the detection state to enter the storage state, in the front stroke, when the detection plate 61 flips, the detection arc plate 71 still elastically presses against the end of the track plate 4 to be tested, and only the elastic pressing force gradually decreases, while the detection rod 62 passes over the joint between the track plate 4 to be tested and the detection arc plate 71 and presses against the outer arc side of the detection arc plate 71; in the back stroke, the torsion spring 73 returns to its initial shape, and the detection arc plate 71 rotates together with the detection plate 61 as the flip shaft 65 rotates, so that the dual effect of the detection arc plate 71 can be achieved.

[0091] The present application embodiment discloses a track plate detection method, based on the above-mentioned robot-equipped three-dimensional scanner stereo detection equipment, referring to Figure 1 、 Figure 2 and Figure 3 , which includes the following steps:

[0092] S1. Construct the horizontal plane of the working coordinate system based on all coordinate targets 51, set the length direction of the carrier 3 to the x-axis, the width direction to the y-axis, and the height direction to the z-axis, and verify and ensure that the z-axis coordinate value of the coordinate target 51 is zero;

[0093] S2. The track plate 4 to be tested is transferred to the supporting platform 3. The absolute vertical height of the upper surface of the track plate 4 to be tested is detected by the detection rod 62. The track plate 4 to be tested is leveled by the jacking member until it is coplanar with the horizontal plane of the working coordinate system. After the leveling is completed, the detection rod 62 is removed. The accuracy of the detection result of the detection mechanism 6 is verified by the detection value of the displacement sensor 63 when the detection rod 62 contacts the inspection arc plate 71 in the stored state.

[0094] S3. Set the scanning path of the 3D scanner 13 to extend in a serpentine shape along the length of the platform 3, and each scan path in the y-axis direction sweeps over at least the target points 5 on the side brackets 22 at both ends; set registration targets 52 on the side brackets 22, and set the z-axis coordinate values ​​of the multiple registration targets 52 to at least two different values ​​or to non-zero values;

[0095] S4. According to the set path control 3D scanner 13 to scan, after obtaining the point cloud data, each complete scan of the path in the y-axis direction, with the help of the coordinate values ​​of the target points 5 at both ends of the path to be measured track plate 4 scanned point cloud data for registration;

[0096] S5. Organize the 4D imaging point cloud data of the track plate to be tested, remove noise, and perform geometric parameter detection.

[0097] Furthermore, in step S4 , when the three-dimensional scanner 13 completes a scan along the y-axis path, its end path point scans at least one registration target 52 .

[0098] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0099] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A robot-supported 3D scanner stereoscopic detection device, comprising a tracker, a robotic arm, and a 3D scanner, characterized in that: Also includes: a main stand on which the tracker and the three-dimensional scanner are mounted; The bearing platform is used to support the track plate to be tested; There are at least three side brackets arranged on two long sides and at least one short side of the supporting platform; Target points are distributed in an array on the upper end surface of the side bracket, including a plurality of coordinate targets, with at least three of the coordinate targets distributed on the upper end surface of the side bracket. All coordinate targets are at the same height and the point cloud scanned by the three-dimensional scanner is used to construct the horizontal plane of the working coordinate system; as well as A balancing device, used for balancing the upper surface of the track plate to be measured on the supporting platform to be coplanar with the horizontal plane of the working coordinate system before scanning; The balancing device comprises: A lifting member is installed on the bearing platform, and is provided in plurality and distributed at least at the four corners of the bearing platform; The detection plates are arranged along the width direction of the carrier platform, and two of them are provided and are arranged at both ends of the length direction of the carrier platform; There are multiple detection mechanisms, and the detection mechanisms are set at both ends of the detection plate, and the detection mechanisms are used to detect the absolute vertical height of the upper surface of the track plate to be tested on the supporting platform; There are two flipping mechanisms, which are respectively provided at both ends of the length direction of the carrier platform, and are used to drive the corresponding test plate to flip up to be parallel to the upper surface of the track plate to be tested or flip down to below the carrier platform surface; and a trim controller configured to compare the absolute vertical height detected by the detection mechanism with a set value and control the operation of the adjacent lifting members; The detection mechanism includes: A detection rod is elastically provided on the detection plate, and the detection rod is perpendicular to the detection plate; A displacement sensor is provided on the detection plate and is used to detect the axial displacement of the detection rod; An inspection arc plate is installed at the end of the supporting platform in the length direction. When the flipping mechanism controls the flipping of the inspection plate, the detection rod is pressed against the outer arc side of the inspection arc plate, and the displacement value detected by the displacement sensor is the set value of the axial displacement of the detection rod when the upper surface of the track plate to be tested is coplanar with the horizontal plane of the working coordinate system.

2. The robot-mounted three-dimensional scanner stereoscopic detection device according to claim 1, characterized in that: The target points further include a plurality of alignment targets distributed in an array on the upper end surface of the side bracket, and the alignment targets are spaced apart along the length direction of the side bracket; The scanning path of the three-dimensional scanner is a serpentine extension along the length of the carrier platform, with its longitudinal displacement being no less than the distance between the two side brackets on the long side of the carrier platform, and its lateral displacement being greater than the length of the long side of the carrier platform; The distance between two adjacent registration targets along the length direction of the side bracket is not greater than the lateral displacement traveled by the three-dimensional scanner after completing one longitudinal displacement.

3. The robot-mounted three-dimensional scanner stereoscopic detection device according to claim 2, characterized in that: The absolute vertical heights of the alignment targets on the two side brackets located on the long side of the carrying platform are different, and the absolute vertical heights of the alignment targets on the same side bracket are the same.

4. The robot-mounted three-dimensional scanner stereoscopic detection device according to claim 2, characterized in that: The absolute vertical heights of the alignment targets on the same side bracket are arranged alternately in size along the length direction of the carrier platform, and the absolute vertical heights of the alignment targets at both ends of the scanning path are the same or different after the three-dimensional scanner completes a lateral displacement.

5. The robot-mounted three-dimensional scanner stereoscopic detection device according to claim 2, characterized in that: The coordinate targets are distributed on the side bracket at intervals along the length direction of the side bracket, and the absolute vertical height of the coordinate targets is different from the absolute vertical height of the registration targets.

6. A track plate detection method based on a robot-assisted three-dimensional scanner stereoscopic detection device according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1. Construct the horizontal plane of the working coordinate system based on all the coordinate targets, set the length direction of the carrier as the x-axis, the width direction as the y-axis, and the height direction as the z-axis, and verify and ensure that the z-axis coordinate value of the coordinate target is zero; S2. The track plate to be tested is transferred to the loading platform, and the upper surface of the track plate to be tested is leveled as a whole to be coplanar with the horizontal plane of the working coordinate system by the balancing device; S3. Setting the scanning path of the 3D scanner to extend in a serpentine manner along the length of the platform, with each scan path in the y-axis direction sweeping over at least the target points on the two side supports; setting registration targets on the side supports, and setting the z-axis coordinate values ​​of the multiple registration targets to at least two different values ​​or to non-zero values; S4. Control the 3D scanner to scan according to the set path. After obtaining the point cloud data, each time a complete scan of the path in the y-axis direction is completed, the coordinate values ​​of the target points at both ends of the path are used to align the point cloud data scanned by the track plate to be measured; S5. Organize the 3D imaging point cloud data of the track plate to be tested, remove noise points, and perform geometric parameter detection.

7. The track plate detection method according to claim 6, characterized in that: When the three-dimensional scanner completes a scan along the y-axis path in step S4, its end path point scans at least one of the registration targets.

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