Calibration piece and calibration assembly for track detection

Abstract

The utility model provides a calibration piece for track detection and a calibration assembly, and the calibration piece comprises a calibration piece main body part, a plurality of first protrusions disposed on the side edge part of the calibration piece main body part, and a plurality of second protrusions disposed on the end part of the calibration piece main body part. Each first bulge and each second bulge are provided with at least one corner part, so that the calibration method can be used for calibrating a sensor group comprising a plurality of line laser sensors, during calibration, in profile data, the plurality of corner parts of the first bulges and the second bulges can be used as a plurality of feature points, and the plurality of feature points are arranged in a non-linear manner; therefore, the plurality of feature points can be utilized to calibrate the spatial poses of the line laser sensors with different positions and orientations in the sensor group. Meanwhile, the distance between the corners is known, so that calibration parameters between the coordinate distance and the actual physical distance of the line laser sensor can be obtained.

Description

Technical Field

[0001] The utility model belongs to the technical field of track detection, and in particular relates to a calibration piece and a calibration component for track detection. Background Art

[0002] In order to ensure the safe operation of the track, various inspections need to be carried out regularly, including the inspection of the rail profile. With the development of technology, more and more semi-automatic equipment is being used for track inspection. For example, for rail profile inspection, a detection trolley equipped with a sensor group can be used to obtain data. The sensor group includes multiple line laser sensors arranged along the circumference of the rail. When the detection trolley moves along the rail, the rail is scanned by multiple line laser sensors on board, thereby obtaining rail profile data for further calculation and analysis.

[0003] Before using such an inspection vehicle to obtain track profile data, it is necessary to first calibrate all the line laser sensors on the vehicle using a calibration piece. At present, a calibration piece with one or more bosses is usually used to calibrate line laser sensors. However, for a sensor group with multiple line laser sensors facing different angles, such a calibration piece is difficult to use for calibration because the data scanned by the multiple line laser sensors are not in the same coordinate system. In addition, since the size of the calibration piece is small and the detection range of the sensor group of the inspection vehicle is large, it is also difficult to cover the calibration of all sensors at one time. Utility Model Content

[0004] The utility model is designed to solve the above problems and aims to provide a calibration component that can conveniently calibrate multiple line laser sensors of track detection equipment. The utility model adopts the following technical solutions:

[0005] The utility model provides a calibration piece for track detection, which is used for calibrating a sensor group including multiple sensors, and is characterized in that it comprises: a calibration piece main body; a plurality of first protrusions, which are respectively arranged on the side edge portions of the calibration piece main body; and a plurality of second protrusions, which are respectively arranged on the end portions of the calibration piece main body, wherein the outer end portions of each of the first protrusions and each of the second protrusions have at least one corner portion.

[0006] The calibration piece for track detection provided by the utility model may also have such technical features, wherein the main body of the calibration piece is in the shape of a rectangular plate, a plurality of the first protrusions are arranged along the length direction of the main body of the calibration piece, and each of the first protrusions is in the shape of a square column and extends along the width direction of the main body of the calibration piece.

[0007] The track detection calibration piece provided by the utility model may also have such technical features, and also include: a plurality of third protrusions, which are arranged on the side edge portion and respectively arranged between the first protrusions, wherein each of the third protrusions is in the shape of a pointed column and extends along the width direction of the calibration piece main body.

[0008] The track detection calibration piece provided by the utility model may also have such a technical feature, wherein the extension length of the third protrusion is greater than the extension length of the first protrusion, and at least n first protrusions are arranged between two of the third protrusions, and n≥2.

[0009] The calibration piece for track detection provided by the utility model may also have such technical features, wherein the main body of the calibration piece is in the shape of a rectangular plate, and a plurality of the second protrusions are arranged in sequence along the width direction of the main body of the calibration piece, and each of the second protrusions is in the shape of a pointed column and extends along the length direction of the main body of the calibration piece.

[0010] The calibration piece for track detection provided by the utility model may also have such a technical feature, wherein the length of the main body of the calibration piece corresponds to the distance between the two line laser sensors in the sensor group that are farthest apart.

[0011] The calibration piece for track detection provided by the utility model may also have such technical features, wherein the main body of the calibration piece has: a plurality of middle mounting holes, respectively arranged in the middle of the main body of the calibration piece; and a plurality of bottom mounting holes, respectively arranged on the other side of the main body of the calibration piece opposite to the side edge portion.

[0012] The track detection calibration piece provided by the utility model may also have such a technical feature, wherein the calibration piece body has a pair of slots, which are arranged on the other side opposite to the side edge portion and close to the end portion.

[0013] The utility model provides a calibration component for track detection, which is characterized by comprising: a connecting frame, the length of which matches the width of the track; and two calibration pieces for track detection, which are respectively installed at two ends of the connecting frame in the length direction.

[0014] The calibration component for track detection provided by the utility model may also have such technical features, wherein the connecting frame includes: a connecting frame main body; two calibration piece installation parts, which are respectively arranged at two ends of the connecting frame main body, each of the calibration piece installation parts has an installation notch, and the corresponding calibration piece is embedded and installed in the installation notch.

[0015] Function and effect of utility model

[0016] According to the calibration piece and calibration assembly for track detection of the utility model, the calibration piece includes a calibration piece main body, a plurality of first protrusions arranged on the side edge of the calibration piece main body, and a plurality of second protrusions arranged on the end of the calibration piece main body, and each first protrusion and each second protrusion have at least one corner, so it can be used to calibrate a sensor group including multiple line laser sensors. During calibration, in the profile data, the corners of the first protrusion and the second protrusion can be used as multiple feature points, and the multiple feature points will form a non-linear arrangement, so that the multiple feature points can be used to calibrate the spatial posture of line laser sensors at multiple positions and different directions in the sensor group. At the same time, since the distance between each corner is known, the calibration parameters between the coordinate distance of the line laser sensor and the actual physical distance can also be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a stereogram of a calibration assembly for track detection in an embodiment of the utility model;

[0018] Figure 2 It is a structural exploded view of the calibration assembly for track detection in an embodiment of the utility model;

[0019] Figure 3 It is a three-dimensional diagram of the connecting frame in the embodiment of the utility model;

[0020] Figure 4 It is a stereoscopic diagram of a calibration piece for track detection in an embodiment of the utility model;

[0021] Figure 5 It is a stereogram of different angles of the calibration piece for track detection in the embodiment of the utility model;

[0022] Figure 6 It is a three-dimensional diagram of the detection trolley in the embodiment of the utility model;

[0023] Figure 7 It is a schematic diagram of the distribution of sensors in the vehicle body in the embodiment of the utility model.

[0024] Reference numerals:

[0025] A calibration component 10 for track detection; a connecting frame 11; a connecting frame body 111; a strip-shaped through hole 111a; a calibration piece mounting portion 112; a mounting notch 112a; a clearance groove 112b; a first mounting plate 1121; a middle connecting hole 1121a; a second mounting plate 1122; a bottom connecting hole 1122a; a handle portion 113; a calibration piece 12 for track detection; a calibration piece body 125; a middle mounting hole 125a; a bottom mounting hole 125b; a slot 125c; a first protrusion 121; an outer end face 121a; a corner portion 121b; a second protrusion 122; a top corner portion 122a; a third protrusion 123; a detection trolley 20; a vehicle body 21; a sensor group 22; a line laser sensor 221; a walking wheel 23; a push rod 24; and a rail 9. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following specifically describes the track detection calibration part and track detection calibration assembly of the present invention in combination with the embodiments and drawings.

[0027] <Example>

[0028] This embodiment provides a calibration component for track detection, which is used to calibrate the sensor group on the detection vehicle. In order to better explain the function of the calibration component, the structure of the detection vehicle will be briefly described below.

[0029] Figure 6 It is a stereogram of the detection vehicle in this embodiment.

[0030] like Figure 6 As shown, the detection vehicle 20 includes a vehicle body 21, two sensor groups 22 respectively installed on both sides of the vehicle body 21, four running wheels 23 installed on the vehicle body 21 through a bracket, a push rod 24 installed in the middle of one side of the vehicle body 21, and a data acquisition device (not shown in the figure) arranged on the vehicle body 21.

[0031] The width of the vehicle body 21 matches the width of the track. The two sensor groups 22 correspond to the two rails 9 on both sides of the track. Each sensor group 22 includes multiple line laser sensors 221. There are two running wheels 23 on each side, which can roll along the two rails 9. The push rod 24 is used by the inspection personnel to push the vehicle body 21.

[0032] Therefore, the inspection personnel can push the inspection vehicle 20 to move along the rails. During the moving process, the inspection vehicle 20 scans the rails 9 through the multiple line laser sensors 221 on board to obtain the profile data of the rails 9.

[0033] Figure 7 Schematic diagram of the distribution of sensors in the vehicle body in this embodiment.

[0034] like Figure 7 As shown, each sensor group 22 includes four line laser sensors 221, which are arranged circumferentially along the rail 9 on the corresponding side, and respectively acquire the profile data of the cross section of the rail 9 from different directions. Under the control of the data acquisition device, all the line laser sensors 221 can scan synchronously to obtain the profile data of the same cross section of the track, and the data of multiple sensors can be spliced ​​to obtain the complete profile of a cross section of the track.

[0035] In order to improve the accuracy of data collection, to be able to stitch the profile data of multiple sensors, and to be able to correspond the coordinate distance in the measured profile data (point cloud) with the actual physical distance, all line laser sensors 221 need to be calibrated.

[0036] Figure 1 is a stereogram of a calibration assembly for track detection in this embodiment, Figure 2 It is a structural breakdown diagram of the calibration components for track detection in the present embodiment.

[0037] like Figure 1 and Figure 2 As shown, the track detection calibration assembly 10 (hereinafter referred to as the calibration assembly 100 ) includes a connecting frame 11 and two track detection calibration parts 12 (hereinafter referred to as the calibration parts 12 ) detachably mounted on the connecting frame 11 .

[0038] Figure 3 2 is a three-dimensional diagram of the connecting frame in this embodiment.

[0039] like Figure 3 As shown, the connecting frame 11 includes a connecting frame body 111, two calibration component mounting parts 112 and a handle 113. The connecting frame body 111 and the two calibration component mounting parts 112 are formed in one piece. The handle 113 is mounted at the middle of one end (the upper end in the figure) of the connecting frame body 111 in the width direction by fasteners, so as to facilitate the inspection personnel to carry the calibration assembly 10.

[0040] The connecting frame body 111 is substantially in the shape of a rectangular plate and has a plurality of strip-shaped through holes 111 a extending along its height direction to reduce its structural weight. The plurality of strip-shaped through holes 111 a are arranged in sequence along the length direction of the connecting frame body 111 .

[0041] The two calibration piece installation parts 112 extend from both ends of the length direction of the connecting frame main body 111, and the length direction of the calibration piece installation parts 112 is consistent with the length direction of the connecting frame main body 111. Each calibration piece installation part 112 includes a first installation plate 1121 and a second installation plate 1122 which are perpendicular to each other, and both are rectangular parallelepiped plates. The surface direction of the first installation plate 1121 is consistent with the surface direction of the connecting frame main body 111, and the surface direction of the second installation plate 1122 is perpendicular to the surface direction of the connecting frame main body 111. An open installation notch 112a and an arc-shaped clearance groove 112b with an edge connected to the corner of the installation notch 112a are formed between the first installation plate 1121, the second installation plate 1122 and the end of the connecting frame main body 111.

[0042] Three middle connecting holes 1121a are opened in the middle part of the first mounting plate 1121 in the width direction, all of which are through holes and are arranged in sequence along the length direction of the first mounting plate 1121. Three bottom connecting holes 1122a are opened on the second mounting plate 1122, all of which are through countersunk holes and are arranged in sequence along the length direction of the second mounting plate 1122 for installing the calibration component 12.

[0043] Figure 4 is a stereogram of the calibration piece for track detection in this embodiment, Figure 5 Yes, this is a stereogram of the calibration piece for track detection at different angles in this embodiment. Figure 6 It is a cross-sectional view of the calibration component for track detection in this embodiment.

[0044] like Figures 4 to 6 As shown, the calibration piece 12 is generally in the shape of a straight long strip, and includes an integrally formed calibration piece body 125 , a plurality of first protrusions 121 , a plurality of second protrusions 122 , and a plurality of third protrusions 123 .

[0045] The calibration body 125 is roughly in the shape of a rectangular plate, and its length corresponds to the distance between the two line laser sensors 221 in the sensor group 22 that are farthest apart, so that the line lasers projected by all the line laser sensors 221 in the sensor group 22 can cover multiple protrusions. One end edge of the calibration body 125 in the width direction is a side edge portion for setting the protrusions ( Figure 4 The upper middle end), one end in the length direction is used to set the end of the protrusion ( Figure 4 center left).

[0046] The plurality of first protrusions 121 are respectively arranged on the above-mentioned side edge portions of the calibration piece main body 125, and are arranged along the length direction of the calibration piece main body 125. The plurality of first protrusions 121 have the same shape and size, and each first protrusion 121 is in the shape of a square column, extending along the width direction of the calibration piece main body 125 (that is, the height direction of the square column is consistent with the width direction of the calibration piece main body 125). The cross section of the first protrusion 121 is roughly square, and the surface direction of the outer end surface 121a of the first protrusion 121 away from the calibration piece main body 125 is perpendicular to the width direction of the calibration piece main body 125. The outer end of the first protrusion 121 has four corners 121b, and the corners 121b are easy to identify in the profile data.

[0047] The plurality of second protrusions 122 are respectively arranged on the above-mentioned ends of the calibration piece main body 125, and are arranged in sequence along the width direction of the calibration piece main body 125. The plurality of second protrusions 122 have the same shape and size, and each second protrusion 122 is a column with sharp corners, which can be regarded as a combination of a square column and a triangular column, wherein the height direction of the square column is consistent with the length direction of the calibration piece main body 125, the height direction of the triangular column is consistent with the thickness direction of the calibration piece main body 125, and the length and width of one side of the triangular column are the same as the side length of the square column. The outer end of the second protrusion 122 has two vertex portions 122a, which are also easy to identify in the profile data.

[0048] A plurality of third protrusions 123 are respectively arranged on the side edge of the calibration member body 125, that is, at the same end as the first protrusion 121, and the third protrusions 123 are respectively arranged between the first protrusions 121. The structure of the third protrusion 123 is substantially the same as that of the second protrusion 122, and will not be described again. The width of the third protrusion 123 (that is, the side length of the square column part) is the same as that of the first protrusion 121, and the extension length of the third protrusion 123 is greater than that of the first protrusion 121.

[0049] In this embodiment, ten first protrusions 121 and two third protrusions 123 are arranged on the side edge portion, and the protrusions are arranged in the form of one first protrusion 121, one third protrusion 123, four first protrusions 121, one third protrusion 123, and five first protrusions 121, and the protrusions are distributed at equal intervals. There are four second protrusions 122, which are distributed at equal intervals.

[0050] In addition, three middle mounting holes 125a, three bottom mounting holes 125b and a pair of slots 125c are provided on the calibration piece body 125. The three middle mounting holes 125a are through countersunk holes, which are provided in the middle of the calibration piece body 125 in the width direction and relatively close to one end in the length direction. The three middle mounting holes 125a are arranged in sequence along the length direction. A plurality of bottom mounting holes 125b are provided at the other end in the width direction of the calibration piece body 125 and are arranged in sequence along the length direction.

[0051] When the calibration piece 12 is inserted into the installation notch 112a of the connecting frame 11, the multiple middle installation holes 125a are aligned with the multiple middle connection holes 1121a, and the multiple bottom installation holes 125b are also aligned with the multiple bottom connection holes 1122a. At this time, fasteners can be set in the aligned holes to fix the calibration piece 12 on the connecting frame 11. When the calibration piece 12 is inserted into the installation notch 112a, the clearance groove 112b can prevent the corner of the calibration piece 12 from being bumped. After the two calibration pieces 12 are respectively installed at the two installation notches 112a of the connecting frame 11, the calibration assembly 10 is formed.

[0052] When in use, the calibration component 10 is placed on the track so that its length direction is roughly consistent with the width direction of the track. The two calibration parts 12 are roughly located at the two side rails, and the two pairs of slots 125c at both ends of the calibration component 10 are respectively embedded in corresponding brackets and other auxiliary parts to fix the calibration component 10.

[0053] In the obtained profile data of the calibration component 10, multiple raised corners are used as feature points, and the physical distance between the feature points (i.e., the distance between the corresponding raised corners) is known (can be obtained through design data or measurement), so the calibration parameters between the sensor coordinate distance and the actual physical distance can be obtained. In the profile data obtained by each sensor, multiple feature points are arranged roughly in an L shape. By aligning the feature points of each sensor accordingly, the spatial posture of multiple line laser sensors in the sensor group can be calibrated.

[0054] Since the calibration assembly 10 is relatively large in size, after use, the two calibration pieces 12 can be disassembled, and the connecting frame 11 and the calibration pieces 12 can be transported separately. When the protrusions on the calibration pieces 12 are worn, the calibration pieces 12 can also be replaced separately.

[0055] Example Function and Effect

[0056] According to the calibration piece for track detection and the calibration assembly for track detection provided in this embodiment, the calibration piece includes a calibration piece main body, a plurality of first protrusions arranged on the side edge of the calibration piece main body, and a plurality of second protrusions arranged on the end of the calibration piece main body, and each first protrusion and each second protrusion have at least one corner, so it can be used to calibrate a sensor group including multiple line laser sensors. During calibration, in the profile data, the multiple corners of the first protrusion and the second protrusion can be used as multiple feature points, and the multiple feature points will form a non-linear arrangement, so that the multiple feature points can be used to calibrate the spatial posture of the line laser sensors at multiple positions and different directions in the sensor group. At the same time, since the distance between the corners is known, the calibration parameters between the coordinate distance of the line laser sensor and the actual physical distance can also be obtained.

[0057] In the embodiment, multiple first protrusions are square column-shaped and have the same shape and size, and multiple second protrusions are pointed column-shaped and have the same shape and size, so they are easy to process. The first protrusions are arranged along a first direction (the length direction of the main body of the calibration piece), and the second protrusions are arranged along a second direction perpendicular thereto. Therefore, the feature points obtained by the calibration piece are arranged in an L shape. By aligning the feature points of different line laser sensors, the spatial position calibration of the sensor group can be achieved, and accurate calibration results can be obtained through the L-shaped arrangement of the feature points.

[0058] In the embodiment, two third protrusions are distributed between the multiple first protrusions. They are in the shape of pointed columns and are taller than the first protrusions. Their top angles are used as feature points. This makes the arrangement of the feature points more complex, thereby improving the calibration accuracy.

[0059] In the embodiment, the calibration assembly includes a connecting frame and two calibration parts installed at both ends of the connecting frame. The overall length corresponds to the track width. The two calibration parts can be placed above the two rails respectively. In this way, when there is a sensor group on each side of the detection trolley, such a calibration assembly can be used to calibrate the two sensor groups at the same time, which is more convenient and has higher calibration efficiency.

[0060] Furthermore, since the overall size of the calibration assembly is large, a split design is adopted, which can be disassembled during transportation. The connecting frame and the calibration parts can be transported separately, which is more convenient. In addition, if the calibration parts are worn, one of the calibration parts can be replaced separately to ensure the accuracy of the calibration without replacing the entire calibration assembly, which has lower usage costs.

[0061] The above embodiments are only used to illustrate the specific implementation of the utility model, and the utility model is not limited to the description scope of the above embodiments. The technicians in this industry should understand that the utility model is not limited by the above embodiments. The above embodiments and the description are only to illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A calibration component for track detection, used for calibrating a sensor group including multiple line laser sensors, characterized in that: include: The main body of the calibration part; A plurality of first protrusions are respectively arranged on the side edge portions of the main body of the calibration piece; as well as A plurality of second protrusions are respectively arranged on the ends of the main body of the calibration member, Wherein, the outer end of each of the first protrusions and each of the second protrusions has at least one corner.

2. The track detection calibration component according to claim 1, characterized in that: in, The main body of the calibration piece is in the shape of a rectangular plate. The plurality of first protrusions are arranged along the length direction of the main body of the calibration member, Each of the first protrusions is in the shape of a square column and extends along the width direction of the main body of the calibration member.

3. The track detection calibration component according to claim 2, characterized in that: Also includes: A plurality of third protrusions are arranged on the side edge portion and are respectively arranged between the first protrusions. Wherein, each of the third protrusions is in the shape of a pointed column and extends along the width direction of the main body of the calibration piece.

4. The track detection calibration component according to claim 3, characterized in that: in, The extension length of the third protrusion is greater than the extension length of the first protrusion, and at least n first protrusions are arranged between two third protrusions, where n≥2.

5. The track detection calibration component according to claim 1, characterized in that: in, The main body of the calibration piece is in the shape of a rectangular plate. The plurality of second protrusions are arranged in sequence along the width direction of the main body of the calibration element. Each of the second protrusions is in the shape of a pointed column and extends along the length direction of the main body of the calibration piece.

6. The track detection calibration component according to claim 1, characterized in that: in, The length of the main body of the calibration component corresponds to the distance between the two line laser sensors that are farthest apart in the sensor group.

7. The track detection calibration component according to claim 1, characterized in that: in, The main body of the calibration piece has: A plurality of middle mounting holes are respectively arranged in the middle of the main body of the calibration component; and A plurality of bottom mounting holes are respectively arranged on the other side of the main body of the calibration piece opposite to the side edge portion.

8. The track detection calibration component according to claim 1, characterized in that: in, The main body of the marking piece has a pair of slots, which are arranged on the other side opposite to the side edge and close to the end.

9. A calibration component for track detection, characterized in that: include: A connecting frame, the length of which matches the width of the track; as well as Two track detection calibration pieces are installed at both ends of the length direction of the connecting frame. Wherein, the track detection calibration part is the track detection calibration part described in any one of claims 1-8.

10. The track detection calibration assembly according to claim 9, characterized in that: in, The connecting frame comprises: A connecting frame main body; Two calibration piece mounting parts are respectively arranged at two ends of the connecting frame main body. Each of the calibration piece installation portions has an installation notch, and the corresponding calibration piece is embedded and installed in the installation notch.

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