Platform gauge measuring instrument based on 3D scanning technology

Abstract

The utility model relates to a platform clearance measuring instrument based on 3D scanning technology, which comprises a rail car, the rail car comprises a rail car fixed wheel side, a rail car cross beam and a rail car moving wheel side, the rail car fixed wheel side is fixedly connected with one end of the rail car cross beam, and the rail car moving wheel side is movably connected with the other end of the rail car cross beam. A 3D scanning module is installed above the side of a fixed wheel of the rail car, and a control and data processing terminal is installed on a cross beam of the rail car. The measuring device has the advantages that full-automatic and full-coverage limit measurement of the side surface of the whole station can be realized; the functions of data analysis, over-limit early warning and over-limit alarm can be realized; a platform three-dimensional model can be drawn in a point cloud form according to the space coordinates of the tracks corresponding to the side face of the whole platform, the platform three-dimensional model can be further included in a station scene, and three-dimensional display of a platform face measurement result in the station scene is achieved; the expansibility is realized; and the running stability of the rail car is high.

Description

Technical Field

[0001] The utility model relates to the technical field of railway platform clearance measurement, in particular to a platform clearance measuring instrument based on 3D scanning technology. Background Art

[0002] The platform limit is a safety limit range that ensures that no contact accidents occur between the railway platform and passing vehicles. It is necessary to measure the platform limit dimensions regularly to detect the sections where the platform intrudes into the safety limit range due to changes in its appearance, and to repair them in a timely manner.

[0003] The current platform limit measurement equipment is mainly divided into two categories: contact and non-contact. Contact measuring instruments have low measurement efficiency and cannot realize motion measurement. Non-contact measuring instruments mainly use technical solutions such as point laser ranging, line laser ranging and image analysis to realize motion measurement. Among them, although the point laser ranging solution has high measurement accuracy, it cannot directly obtain the limit value points on the platform contour; the line laser ranging solution can obtain the limit value points on the platform contour, but the measurement accuracy is poor and it is difficult to meet the measurement accuracy requirements of the National Railway Group for platform limits; although the image analysis solution can meet the accuracy requirements and can obtain the limit value points on the platform contour, it is limited by hardware performance and has a low sampling frequency, and cannot achieve fast continuous measurement. Summary of the invention

[0004] The purpose of the utility model is to provide a platform limit measuring instrument based on 3D scanning technology in response to the above-mentioned deficiencies of the prior art, wherein a 3D camera and a linear laser are installed on a rail vehicle that can travel on a track, and the linear laser is vertically irradiated on the side of the platform, thereby forming a laser contour line on the surface of the platform; an image of the laser contour line area is captured by a 3D camera and processed to obtain the spatial coordinates of the camera position corresponding to each point on the contour where the laser line is located; combined with the installation position of the 3D camera on the rail vehicle and the positional relationship of the track, the limit dimensions corresponding to each point on the platform contour where the laser line is located can be calculated, and the limit dimensions corresponding to the platform contour at each position are continuously measured at high speed on the moving rail vehicle, and finally the spatial coordinates of the entire platform side corresponding to the track are obtained.

[0005] The purpose of this utility model is achieved by the following technical solutions:

[0006] A platform limit measuring instrument based on 3D scanning technology is characterized by: comprising a rail car, the rail car comprising a fixed wheel side of the rail car, a rail car cross beam and a movable wheel side of the rail car, wherein the fixed wheel side of the rail car is fixedly connected to one end of the rail car cross beam, the movable wheel side of the rail car is movably connected to the other end of the rail car cross beam, a 3D scanning module is installed above the fixed wheel side of the rail car, and a control and data processing terminal is installed on the rail car cross beam.

[0007] The 3D scanning module includes a line laser emitter, a line laser emitter driver, a scanning module housing and a 3D camera, wherein the laser emitter, the line laser emitter driver and the 3D camera are installed inside the scanning module housing, the line laser emitter driver is connected to drive the line laser emitter, and the working directions of the line laser emitter and the 3D camera are both toward the platform and there is a certain angle and distance between the two.

[0008] A motor and an encoder are installed on the fixed wheel side of the rail vehicle, the motor is connected to drive the fixed wheel of the rail vehicle, and the encoder is connected to the fixed wheel of the rail vehicle; the motor is connected and controlled by the control and data processing terminal, and the encoder is connected to the control and data processing terminal.

[0009] An inclination sensor and a displacement sensor are installed on the rail vehicle cross beam, and the inclination sensor and the displacement sensor are connected to the control and data processing terminal.

[0010] A motor is installed on the moving wheel side of the rail vehicle, and the motor is connected to drive the moving wheel of the rail vehicle; the motor is connected and controlled by the control and data processing terminal.

[0011] The advantages of the utility model are: it can realize fully automatic and full-coverage limit measurement of the side of the entire platform; it can realize data analysis, over-limit warning and over-limit alarm functions; the spatial coordinates of the entire platform side corresponding to the track can be used to draw a three-dimensional platform model in the form of a point cloud, and the three-dimensional platform model can be further incorporated into the station scene to realize the three-dimensional display of the platform surface measurement results in the station scene; it has scalability; the rail vehicle has strong stability in operation, a simple and reasonable structure, is easy to install and disassemble, and is suitable for promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0013] Figure 2 It is a structural schematic diagram of the 3D scanning module in the present utility model. DETAILED DESCRIPTION

[0014] The following is a further detailed description of the features of the present invention and other related features through embodiments in conjunction with the accompanying drawings to facilitate understanding by technicians in the same industry:

[0015] like Figure 1-2 As shown, the marks in the figure respectively represent: 3D scanning module 1, rail vehicle fixed wheel side 2, rail vehicle cross beam 3, control and data processing terminal 4, rail vehicle moving wheel side 5, line laser emitter 1-1, line laser emitter driver 1-2, scanning module housing 1-3, 3D camera 1-4.

[0016] Example: Figure 1 As shown, the platform limit measuring instrument based on 3D scanning technology in this embodiment includes a rail car fixed wheel side 2, a rail car cross beam 3, a control and data processing terminal 4, and a rail car moving wheel side 5. The rail car as a whole can be placed above the railway track and move forward or backward along the track direction. Among them, the rail car fixed wheel side 2 is fixedly connected to one end of the rail car cross beam 3, and the rail car moving wheel side 5 is not fixedly connected to the other end of the rail car cross beam 3. The rail car moving wheel side 5 can be telescopically moved and rotated within a certain range along the axial direction of the rail car cross beam 3 to adapt to the distance and angle changes between the two rails and improve the stability of the rail car operation. The 3D scanning module 1 is installed above the fixed wheel side 2 of the rail car using a quick-release structure. The control and data processing terminal 4 is installed above the rail car cross beam 3 using a quick-release structure.

[0017] like Figure 2 As shown, the 3D scanning module 1 includes a line laser emitter 1-1, a line laser emitter driver 1-2, a scanning module housing 1-3 and a 3D camera 1-4. The line laser emitter 1-1, the line laser emitter driver 1-2 and the 3D camera 1-4 are respectively installed inside the scanning module housing 1-3. The line laser emitter 1-1 and the 3D camera 1-4 maintain a specific angle and distance, and the line laser emitter 1-1 is driven to work by the line laser emitter driver 1-2. The working directions of the line laser emitter 1-1 and the 3D camera 1-4 are both toward the platform.

[0018] In this embodiment, a motor and an encoder are installed on the fixed wheel side 2 of the rail vehicle, a tilt sensor and a displacement sensor are installed on the rail vehicle cross beam 3, and a motor is installed on the moving wheel side 5 of the rail vehicle.

[0019] When in use, the rail vehicle in this embodiment is placed on the track, and the control and data processing terminal 4 controls the motors on the fixed wheel side 2 and the moving wheel side 5 of the rail vehicle to work, thereby driving the rail vehicle as a whole to move along the track. The moving wheel side 5 of the rail vehicle can adapt to the distance and angle changes between the two rails through axial movement and rotation, thereby improving the stability of the rail vehicle operation.

[0020] When the railcar moves, the encoder installed on the fixed wheel side 2 of the railcar can obtain the distance data of the railcar movement by measuring the rotation of the wheel. The inclination sensor on the railcar crossbeam 3 can obtain the inclination data of the current position of the railcar perpendicular to the track direction, and the displacement sensor can obtain the distance data between the two rails at the current position of the railcar.

[0021] The 3D scanning module 1 has the following working principle: the line laser transmitter driver 1-2 controls the line laser transmitter 1-1 to project a line laser in the vertical direction to the side of the platform. The 3D camera 1-4 captures and obtains the line laser image projected by the line laser transmitter 1-1 on the side of the platform, and further obtains the spatial coordinates of each point on the side of the platform where the line laser is located from the 3D camera 1-4 through image processing and analytical calculation, and transmits it to the control and data processing terminal 4.

[0022] The control and data processing terminal 4 stores the spatial coordinates of each point where the line laser is located from the 3D cameras 1-4, the inclination data of the current position of the rail vehicle perpendicular to the track direction, and the distance data between the two rails.

[0023] The platform limit dimensions at the current position of the rail vehicle can be calculated through the collected data.

[0024] When this embodiment is implemented, it can realize over-limit early warning prompts and over-limit alarms. Combined with the distance data of the rail car movement, a three-dimensional point cloud of the platform contour line is generated. The processing results of various data collected at all positions during the movement of the rail car are integrated to generate a three-dimensional point cloud of the side of the platform. The three-dimensional point cloud of the side of the platform is placed in the station scene model to realize the three-dimensional display of the platform surface measurement results in the station scene. Other functions can be expanded for use.

[0025] Although the above embodiments have described the concepts and embodiments of the purpose of the utility model in detail with reference to the accompanying drawings, ordinary technicians in this field can recognize that various improvements and modifications can still be made to the utility model without departing from the scope of the claims, so they are not described one by one here.

Claims

1. A platform limit measuring instrument based on 3D scanning technology, characterized in that: The invention comprises a rail vehicle, wherein the rail vehicle comprises a fixed wheel side of the rail vehicle, a rail vehicle cross beam and a movable wheel side of the rail vehicle, wherein the fixed wheel side of the rail vehicle is fixedly connected to one end of the cross beam of the rail vehicle, and the movable wheel side of the rail vehicle is movably connected to the other end of the cross beam of the rail vehicle, a 3D scanning module is installed above the fixed wheel side of the rail vehicle, and a control and data processing terminal is installed on the cross beam of the rail vehicle.

2. The platform limit measuring instrument based on 3D scanning technology according to claim 1, characterized in that: The 3D scanning module includes a line laser emitter, a line laser emitter driver, a scanning module housing and a 3D camera, wherein the laser emitter, the line laser emitter driver and the 3D camera are installed inside the scanning module housing, the line laser emitter driver is connected to drive the line laser emitter, and the working directions of the line laser emitter and the 3D camera are both toward the platform and there is a certain angle and distance between the two.

3. The platform limit measuring instrument based on 3D scanning technology according to claim 1, characterized in that: A motor and an encoder are installed on the fixed wheel side of the rail vehicle, the motor is connected to drive the fixed wheel of the rail vehicle, and the encoder is connected to the fixed wheel of the rail vehicle; the motor is connected and controlled by the control and data processing terminal, and the encoder is connected to the control and data processing terminal.

4. The platform clearance measuring instrument based on 3D scanning technology according to claim 1, characterized in that: An inclination sensor and a displacement sensor are installed on the rail vehicle cross beam, and the inclination sensor and the displacement sensor are connected to the control and data processing terminal.

5. The platform limit measuring instrument based on 3D scanning technology according to claim 1, characterized in that: A motor is installed on the moving wheel side of the rail vehicle, and the motor is connected to drive the moving wheel of the rail vehicle; the motor is connected and controlled by the control and data processing terminal.

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