阅读说明：本技术 一种悬挂式单轨箱型轨道梁内部结构的检测装置及其方法 (Detection device and method for internal structure of suspension type monorail box type track beam ) 是由 孙保燕 覃禹程 韦龙华 周鑫 张小可 黄邦伟 姚学杰 莫春华 于 2020-07-13 设计创作，主要内容包括：本发明涉及一种悬挂式单轨箱型轨道梁内部结构的检测装置及其方法,包括移动检测车、相机阵列系统、照明系统、标识系统、RTK定位器、数据存储器和控制器；移动检测车通过行走装置可滑动的悬挂在悬挂式单轨箱型轨道梁的底部；在移动检测车上设有立柱,立柱的顶部设有检测台；相机阵列系统处于检测台的两端；照明系统处于检测台的中部；标识系统安装在相机阵列系统上；RTK定位器、数据存储器和控制器分别处于移动检测车上；数据存储器通过数据线连接相机阵列系统,控制器分别通过控制线路连接行走装置、相机阵列系统以及标识系统。本发明的有益效果是：使检测工作逐步趋向于智能化数字化,且可以完成对悬挂式单轨箱型轨道梁的精准检测。(The invention relates to a detection device and a detection method for an internal structure of a suspended monorail box type track beam, wherein the detection device comprises a mobile detection vehicle, a camera array system, a lighting system, an identification system, an RTK positioner, a data memory and a controller; the mobile detection vehicle can be suspended at the bottom of the suspension type monorail box-type track beam in a sliding way through the traveling device; an upright post is arranged on the mobile detection vehicle, and a detection platform is arranged at the top of the upright post; the camera array system is arranged at two ends of the detection platform; the lighting system is positioned in the middle of the detection table; the identification system is mounted on the camera array system; the RTK positioner, the data memory and the controller are respectively positioned on the mobile detection vehicle; the data memory is connected with the camera array system through a data line, and the controller is respectively connected with the walking device, the camera array system and the identification system through control lines. The invention has the beneficial effects that: the detection work gradually tends to intelligent digitization, and accurate detection of the suspension type single-rail box-type track beam can be completed.)

1. A detection device for an internal structure of a suspended monorail box-type track beam is characterized by comprising a mobile detection vehicle (1), a camera array system, a lighting system, an identification system, an RTK positioner (2), a data memory (3) and a controller (4); the top of the mobile detection vehicle (1) is suspended at the bottom of the suspension type monorail box-type track beam (5) in a sliding way through a walking device; an upright post (6) vertically and upwards extending into the suspension type single-rail box type track beam (5) is arranged on the mobile detection vehicle (1), and a detection platform (7) is horizontally arranged at the top of the upright post (6); the camera array systems are positioned at two ends of the detection table (7) and used for acquiring image information of two sides and the top in the suspended monorail box-type track beam (5) in a plurality of areas, and different acquisition areas have preset overlapping degrees; the lighting system is positioned in the middle of the detection table (7) and is used for lighting the two sides and the top of the inside of the suspension type monorail box-shaped track beam (5) so as to ensure the illumination environment for image acquisition; the identification system is arranged on the camera array system, and laser identification points with different shapes are marked on the two sides and the top in the suspended monorail box-type track beam (5) in the process of image information acquisition; the RTK positioner (2), the data memory (3) and the controller (4) are respectively positioned on the mobile detection vehicle (1), and the RTK positioner (2) obtains a walking track line diagram of the mobile detection vehicle (1) by positioning the position of the mobile detection vehicle (1); the data storage (3) is connected with the camera array system through a data line and stores image information acquired by the camera array system, and the controller (4) is respectively connected with the walking device, the camera array system and the identification system through control lines.

2. The detection device for the internal structure of the suspended monorail box-type track beam as defined in claim 1, wherein two walking devices are provided, are respectively arranged on the top of the front end and the rear end of the mobile detection vehicle (1), and each walking device comprises a stepping motor (8), four traveling wheels (9) and four guide wheels (10); the travelling wheels (9) are axially, horizontally and rotatably arranged at the top of the front end or the rear end of the mobile detection vehicle (1), and the bottoms of every two travelling wheels (9) are attached to one side of the bottom in the suspension type monorail box-type track beam (5); the stepping motor (8) is arranged at the top of the front end or the rear end of the mobile detection vehicle (1), and the stepping motor (8) is connected with and drives the corresponding travelling wheel (9) to rotate; the controller (4) is connected with the corresponding control circuit and controls the operation of the stepping motor (8);

the guide wheels (10) are axially vertically and rotatably arranged at the top of the mobile detection vehicle (1), two guide wheels (10) are arranged on the front sides of the four travelling wheels (9), the other two guide wheels (10) are arranged on the rear sides of the four travelling wheels (9), and each guide wheel (10) is attached to the corresponding position of the inner two sides of the suspended type monorail box-shaped track beam (5) respectively.

3. The detection device of the internal structure of a suspended monorail box-type track beam as defined in claim 2, characterized in that said camera array system comprises five acquisition units, each acquisition unit comprising two cameras (11); the two cameras (11) of the same acquisition unit are respectively and oppositely arranged at two ends of the detection table (7), the first acquisition unit acquires image information at the lower part of one side in the suspended type monorail box-shaped track beam (5), the second acquisition unit acquires image information at the upper part of one side in the suspended type monorail box-shaped track beam (5), the third acquisition unit acquires image information at the top in the suspended type monorail box-shaped track beam (5), the fourth acquisition unit acquires image information at the lower part of the other side in the suspended type monorail box-shaped track beam (5), and the fifth acquisition unit acquires image information at the upper part of the other side in the suspended type monorail box-shaped track beam (5); the controllers (4) are respectively connected with and control the operation of the cameras (11) through corresponding control lines.

4. The apparatus for detecting the internal structure of a suspended monorail box-type track beam as defined in claim 3, the device is characterized in that the two cameras (11) of the first acquisition unit form an included angle of 45 degrees with the lower portion of one side in the suspension type monorail box type track beam (5), the two cameras (11) of the second acquisition unit form an included angle of 45 degrees with the upper portion of one side in the suspension type monorail box type track beam (5), the two cameras (11) of the third acquisition unit form an included angle of 45 degrees with the top in the suspension type monorail box type track beam (5), the two cameras (11) of the fourth acquisition unit form an included angle of 45 degrees with the lower portion of the other side in the suspension type monorail box type track beam (5), and the two cameras (11) of the fifth acquisition unit form an included angle of 45 degrees with the upper portion of the other side in the suspension type monorail box type track beam (5).

5. Device for detecting the internal structure of a suspended monorail box-type track beam as claimed in claim 3, characterised in that the acquisition areas of two of said cameras (11) of the same acquisition unit overlap by at least fifty percent.

6. The device for detecting the internal structure of a suspended monorail box-type track beam as claimed in claim 3, characterized in that said lighting system comprises five strips of soft light (12), each strip of soft light (12) being located in the middle of said detection table (7) and being correspondingly arranged between two cameras (11) of the same collection unit.

7. The device for detecting the internal structure of the suspended monorail box-type track beam as claimed in claim 6, wherein the identification system comprises five infrared generators (13), the five infrared generators (13) are respectively arranged on five cameras (11) at the same end of the detection table (7) in a one-to-one correspondence manner, two infrared generators (13) respectively mark laser identification points with different shapes on the lower portion and the upper portion of one side in the suspended monorail box-type track beam (5) in the process of image information acquisition, the other two infrared generators (13) respectively mark laser identification points with different shapes on the lower portion and the upper portion of the other side in the suspended monorail box-type track beam (5) in the process of image information acquisition, and the remaining one infrared generator (13) marks laser identification points with different shapes on the top in the suspended monorail box-type track beam (5) in the process of image information acquisition Laser marking points of (1); the controller (4) is respectively connected with the corresponding control circuit and controls the operation of each infrared generator (13).

8. The apparatus for detecting the internal structure of a suspended monorail box-type track beam as defined in claim 7, further comprising a power supply (14); the power supply (14) is arranged on the mobile detection vehicle (1) and is respectively connected with the stepping motor (8), the camera (11), the soft light lamp strip (12) and the infrared generator (13) through power supply lines.

9. A method for detecting the internal structure of a suspended monorail box-type track beam as defined in any one of claims 1 to 8, comprising the following steps:

step S1, according to the imaging principle of the camera array system, determining the area of the image acquisition area of the camera array system, determining the aperture size, ISO parameters and shutter time of the camera array system, respectively connecting the walking device, the camera array system and the identification system with the controller (4) through corresponding control lines, starting the lighting system, and setting the working parameters of the identification system through the controller (4);

step S2, according to the area of the image acquisition area of the camera array system and the working parameters of the walking device set by the controller (4), determining the advancing distance of the walking device to ensure that the two adjacent image acquisition areas have at least fifty percent of overlapping degree, and suspending the mobile detection vehicle (1) at the bottom of the suspended monorail box-type track beam (5) in a sliding way by the walking device;

S3, setting a moving station of the RTK positioner (2), and fixing the RTK positioner (2) on the mobile detection vehicle (1);

step S4, planning a task route and a length of the mobile detection vehicle (1), starting a walking device through a controller (4) and driving the mobile detection vehicle (1) to move at the bottom of the suspension type monorail box-type track beam (5);

step S5, in the movement process of the mobile detection vehicle (1), the controller (4) controls the camera array system to acquire image information of the two sides and the top in the suspended monorail box-type track beam (5), meanwhile, the controller (4) controls the lighting system to polish the two sides and the top in the suspended monorail box-type track beam (5), and the controller (4) controls the identification system to print laser identification points with different shapes on the two sides and the top in the suspended monorail box-type track beam (5); the camera array system acquires image information and inputs the image information through a data line and stores the image information in a data memory (3); after the acquisition task is finished, image information in the data storage (3) is imported into a computer, three-dimensional modeling is carried out on the suspension type monorail box type track beam (5) by combining with a laser identification point, a real and restored three-dimensional model of the suspension type monorail box type track beam (5) is finally obtained, the internal structure of the suspension type monorail box type track beam (5) can be detected through the three-dimensional model of the suspension type monorail box type track beam (5), and the maintenance point of the monorail box type track beam (5) is positioned through a walking track line diagram of the mobile detection vehicle (1) obtained through the RTK positioner (2).

10. The method for detecting the internal structure of the suspended monorail box-type track beam as defined in claim 9, wherein the three-dimensional modeling method comprises:

image information in the data storage (3) is led into a contextcapture to obtain a plurality of groups of photos, the photos are subjected to aerial triangulation, a series of point cloud data and textures containing various information of the photos are obtained by combining a walking track line diagram of the mobile detection vehicle (1) obtained by the RTK positioner (2) and laser identification points, then the point cloud data are submitted to production and packaged to form a triangular grid, then a white mold is formed, and finally the textures are attached to the surface of the white mold to obtain a real restored three-dimensional model of the suspended type single-rail box track beam (5).

Technical Field

The invention relates to the field of track beam detection, in particular to a device and a method for detecting an internal structure of a suspension type monorail box type track beam.

Background

In recent years, the traffic industry in China is rapidly developed, and people have more choices in trip modes, such as subways, light rails, urban monorail trains and the like, which provide convenience for our lives, and the trip safety is more and more valued by people while the trip efficiency is ensured. At present, a straddle type monorail is widely applied in a plurality of cities, a suspension type monorail is a transportation mode which is bound to improve the traveling efficiency of people in recent years, a suspension type monorail traveling system is located in a suspension type monorail box-type track beam (shown in figure 1), the suspension type monorail is not affected by severe weather environments, the environmental adaptability is good, and the straddle type monorail is safer and more stable than the straddle type monorail. At present, the internal technology and equipment in the aspect of detection of a straddle type monorail are relatively mature, a certain gap still exists in the aspect of detection of a suspended type monorail box type track beam, manual detection or semi-automatic detection is mainly used at present, the manual detection is very low in detection efficiency, certain unsafe factors exist in detection work, and the semi-automatic detection device is not developed enough, so that the suspended type monorail box type track beam detection technology still needs to be further developed, and a convenient, practical and low-cost dynamic detection device is needed to detect and evaluate the state of the suspended type monorail box type track beam.

Disclosure of Invention

In summary, to solve the defects in the prior art, the present invention provides a device and a method for detecting an internal structure of a suspended monorail box-type track beam.

The technical scheme for solving the technical problems is as follows: a detection device for an internal structure of a suspended monorail box type track beam comprises a mobile detection vehicle, a camera array system, a lighting system, an identification system, an RTK positioner, a data memory and a controller; the top of the mobile detection vehicle can be suspended at the bottom of the suspension type monorail box-type track beam in a sliding manner through the traveling device; an upright post vertically extending upwards into the suspended monorail box type track beam is arranged on the mobile detection vehicle, and a detection platform is horizontally arranged at the top of the upright post; the camera array systems are positioned at two ends of the detection table and used for acquiring image information of two sides and the top in the suspended monorail box-type track beam in a plurality of areas, and different acquisition areas have preset overlapping degrees; the lighting system is positioned in the middle of the detection table and is used for lighting the two sides and the top of the inside of the suspended monorail box-type track beam so as to ensure an illumination environment for image acquisition; the identification system is arranged on the camera array system, and laser identification points with different shapes are marked on the two sides and the top in the suspended monorail box-type track beam in the image information acquisition process; the RTK positioner, the data memory and the controller are respectively positioned on the mobile detection vehicle, and the RTK positioner obtains a linear graph of the walking track of the mobile detection vehicle by positioning the position of the mobile detection vehicle; the data storage is connected with the camera array system through a data line and stores image information acquired by the camera array system, and the controller is respectively connected with the walking device, the camera array system and the identification system through control lines.

On the basis of the technical scheme, the invention can be further improved as follows:

furthermore, the two walking devices are respectively arranged at the tops of the front end and the rear end of the mobile detection vehicle and respectively comprise a stepping motor, four travelling wheels and four guide wheels; the travelling wheels are axially, horizontally and rotatably arranged at the top of the front end or the rear end of the mobile detection vehicle, and the bottoms of every two travelling wheels are attached to one side of the bottom in the suspended monorail box-type track beam; the stepping motor is arranged at the top of the front end or the rear end of the mobile detection vehicle and is connected with and drives the corresponding travelling wheel to rotate; the controller is connected with and controls the operation of the stepping motor through the corresponding control circuit;

the guide wheels are axially vertically and rotatably arranged on the top of the mobile detection vehicle, the two guide wheels are positioned on the front sides of the four travelling wheels, the other two guide wheels are positioned on the rear sides of the four travelling wheels, and each guide wheel is respectively attached to the corresponding position on two sides in the suspension type monorail box-shaped track beam.

Further, the camera array system comprises five acquisition units, each acquisition unit comprising two cameras; the two cameras of the same acquisition unit are respectively oppositely arranged at two ends of the detection platform, the first acquisition unit acquires image information at the lower part of one side in the suspended type monorail box-shaped track beam, the second acquisition unit acquires image information at the upper part of one side in the suspended type monorail box-shaped track beam, the third acquisition unit acquires image information at the top in the suspended type monorail box-shaped track beam, the fourth acquisition unit acquires image information at the lower part of the other side in the suspended type monorail box-shaped track beam, and the fifth acquisition unit acquires image information at the upper part of the other side in the suspended type monorail box-shaped track beam; the controllers are respectively connected with and control the operation of the cameras through the corresponding control circuits.

Further, the camera of two of first collection unit with one side lower part is 45 contained angles in the suspension type single track box track roof beam, the camera of second collection unit with one side upper portion is 45 contained angles in the suspension type single track box track roof beam, the camera of third collection unit with top is 45 contained angles in the suspension type single track box track roof beam, the camera of fourth collection unit with opposite side lower part is 45 contained angles in the suspension type single track box track roof beam, the camera of fifth collection unit with opposite side upper portion is 45 contained angles in the suspension type single track box track roof beam.

Further, the acquisition areas of two of the cameras of the same acquisition unit overlap by at least fifty percent.

Further, lighting system is five soft light areas, each soft light area is in examine test table middle part and correspond the two that set up at same acquisition unit between the camera.

Furthermore, the identification system is provided with five infrared ray generators, the five infrared ray generators are respectively arranged on the five cameras at the same end of the detection table in a one-to-one correspondence manner, in addition, two infrared ray generators respectively punch laser identification points with different shapes on the lower part and the upper part of one side in the suspended monorail box-shaped track beam in the image information acquisition process, the other two infrared ray generators respectively punch laser identification points with different shapes on the lower part and the upper part of the other side in the suspended monorail box-shaped track beam in the image information acquisition process, and the rest one infrared ray generator punches laser identification points with different shapes on the top in the suspended monorail box-shaped track beam in the image information acquisition process; the controller is respectively connected with and controls the operation of each infrared generator through the corresponding control circuit.

Further, the device also comprises a power supply; the power supply is arranged on the mobile detection vehicle and is respectively connected with the stepping motor, the camera, the soft light strip and the infrared generator through power supply lines.

The detection method of the detection device for the internal structure of the suspended monorail box-type track beam comprises the following steps:

step S1, according to the imaging principle of the camera array system, determining the area of the image acquisition area of the camera array system, determining the aperture size, ISO parameters and shutter time of the camera array system, respectively connecting the walking device, the camera array system and the identification system with the controller through corresponding control lines, starting the lighting system, and setting the working parameters of the identification system through the controller;

step S2, according to the area of the image acquisition area of the camera array system and the working parameters of the walking device set by the controller, determining the advancing distance of the walking device to ensure that the two adjacent image acquisition areas have at least more than fifty percent of overlapping degree, and suspending the mobile detection vehicle at the bottom of the suspension type monorail box-type track beam in a sliding way by the walking device;

step S3, setting a mobile station of the RTK positioner, and fixing the RTK positioner on a mobile detection vehicle;

Step S4, planning a task route and a length of the mobile detection vehicle, starting the traveling device through the controller and driving the mobile detection vehicle to move at the bottom of the suspension type monorail box-type track beam;

step S5, in the movement process of the mobile detection vehicle, the controller controls the camera array system to acquire image information of two sides and the top in the suspended monorail box-shaped track beam, the controller controls the lighting system to polish the two sides and the top in the suspended monorail box-shaped track beam, and the controller controls the identification system to punch laser identification points with different shapes on the two sides and the top in the suspended monorail box-shaped track beam; the camera array system acquires image information and inputs the image information through a data line and stores the image information in a data memory; after the acquisition task is finished, image information in the data storage device is led into a computer, three-dimensional modeling is carried out on the suspension type monorail box type track beam by combining with a laser identification point, a real and restored three-dimensional model of the suspension type monorail box type track beam is finally obtained, the internal structure of the suspension type monorail box type track beam can be detected through the three-dimensional model of the suspension type monorail box type track beam, and a maintenance point of the monorail box type track beam is positioned through a walking track linear graph of a mobile detection vehicle obtained through an RTK positioner.

Further, the three-dimensional modeling method comprises the following steps:

the method comprises the steps of importing image information in a data storage into a contextcapture to obtain a plurality of groups of photos, carrying out aerial triangulation on the photos, obtaining a series of point cloud data and textures containing various information of the photos by combining a walking track line diagram of a mobile detection vehicle obtained by an RTK positioner and laser identification points, submitting production to package the point cloud data to form a triangular grid, then forming a white mold, and finally attaching the textures to the surface of the white mold to obtain a real restored three-dimensional track model.

The invention has the beneficial effects that: the defects that the traditional detection method for the suspended type single-rail box-type track beam is complex in operation and large in workload are overcome, the workload of manual operation is effectively reduced while the detection efficiency and accuracy are guaranteed, the detection work gradually tends to be intelligent and digital, and the accurate detection of the suspended type single-rail box-type track beam can be completed by combining detected data.

Drawings

FIG. 1 is a three-dimensional view of a suspended monorail box-type track beam;

FIG. 2 is a three-dimensional view of the present invention;

FIG. 3 is an enlarged view A of FIG. 2;

fig. 4 is a schematic view of the present invention suspended from the bottom of a suspended monorail box-type track beam (with the top of the suspended monorail box-type track beam removed).

In the drawings, the components represented by the respective reference numerals are listed below:

1. the device comprises a mobile detection vehicle, 2, an RTK positioner, 3, a data memory, 4, a controller, 5, a suspended single-rail box-type track beam, 6, a stand column, 7, a detection table, 8, a stepping motor, 9, a traveling wheel, 10, a guide wheel, 11, a camera, 12, a soft light lamp strip, 13, an infrared generator, 14 and a power supply.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in figures 1 and 2, the detection device for the internal structure of the suspended monorail box-type track beam comprises a mobile detection vehicle 1, a camera array system, a lighting system, an identification system, an RTK positioner 2, a data storage 3 and a controller 4. The top of the mobile detection vehicle 1 is suspended at the bottom of a suspension type monorail box-type track beam 5 in a sliding mode through a walking device. The movable detection vehicle 1 is provided with an upright post 6 vertically extending upwards into the suspended single-rail box-type track beam 5, and the top of the upright post 6 is horizontally provided with a detection platform 7. The camera array system is arranged at two ends of the detection table 7 and used for collecting image information of two sides and the top in the suspended monorail box-type track beam 5 in a plurality of areas, and different collection areas have preset overlapping degrees. The lighting system is arranged in the middle of the detection table 7 and is used for polishing the two sides and the top of the suspension type single-rail box-shaped track beam 5 to ensure an illumination environment for image acquisition. The identification system is arranged on the camera array system, and laser identification points with different shapes are marked on the two sides and the top in the suspended monorail box-shaped track beam 5 in the process of image information acquisition. The RTK positioner 2, the data memory 3 and the controller 4 are respectively arranged on the mobile detection vehicle 1 and at positions corresponding to the outer sides of the upright posts 6, and the RTK positioner 2 obtains a walking track line diagram of the mobile detection vehicle 1 by positioning the mobile detection vehicle 1. The data storage 3 is connected with the camera array system through a data line and stores image information acquired by the camera array system, the controller 4 is respectively connected with the walking device, the camera array system and the identification system through control lines, and a chip with the model of TB5128 can be selected.

The two walking devices are respectively arranged at the tops of the front end and the rear end of the mobile detection vehicle 1 and respectively comprise a stepping motor 8, four travelling wheels 9 and four guide wheels 10. The travelling wheels 9 are axially, horizontally and rotatably arranged at the top of the front end or the rear end of the mobile detection vehicle 1, and the bottoms of every two travelling wheels 9 are attached to one side of the bottom in the suspended monorail box-type track beam 5. The stepping motor 8 is arranged on the top of the front end or the rear end of the mobile detection vehicle 1, and the stepping motor 8 is connected with and drives the corresponding travelling wheel 9 to rotate. The controller 4 is connected with the corresponding control circuit and controls the operation of the stepping motor 8. The guide wheels 10 are axially vertically and rotatably arranged at the top of the mobile detection vehicle 1, two guide wheels 10 are arranged on the front sides of the four travelling wheels 9, the other two guide wheels 10 are arranged on the rear sides of the four travelling wheels 9, and each guide wheel 10 is respectively attached to the corresponding position on two sides in the suspension type monorail box-shaped track beam 5. The stepping motor 8 drives the inlet wheels 9 to roll along two sides of the bottom in the single-rail box-type track beam 5, so that the moving of the mobile detection vehicle 1 is realized, and the guide wheels 10 roll along two sides in the suspension type single-rail box-type track beam 5 respectively in the moving process, so that the moving track of the mobile detection vehicle 1 is ensured. The controller 4 controls the stepping motor 8 to drive the mobile detection vehicle 1 to run, and the vehicle travels to the next area to be detected after the detection of one area is finished.

The camera array system comprises five acquisition units, each acquisition unit comprises two cameras 11, and the two cameras 11 of each acquisition unit are symmetrically arranged relative to the detection table 7. The two cameras 11 of the same acquisition unit are respectively and oppositely arranged at two ends of the detection table 7, a first acquisition unit acquires image information of the lower portion of one side in the suspension type single-rail box-shaped track beam 5, a second acquisition unit acquires image information of the upper portion of one side in the suspension type single-rail box-shaped track beam 5, a third acquisition unit acquires image information of the top in the suspension type single-rail box-shaped track beam 5, a fourth acquisition unit acquires image information of the lower portion of the other side in the suspension type single-rail box-shaped track beam 5, and a fifth acquisition unit acquires image information of the upper portion of the other side in the suspension type single-rail box-shaped track beam 5. The controllers 4 are respectively connected with and control the operation of the cameras 11 through the corresponding control lines. The two cameras 11 of the first acquisition unit form an included angle of 45 degrees with the lower portion of one side in the suspension type monorail box type track beam 5, the two cameras 11 of the second acquisition unit form an included angle of 45 degrees with the upper portion of one side in the suspension type monorail box type track beam 5, the two cameras 11 of the third acquisition unit form an included angle of 45 degrees with the top in the suspension type monorail box type track beam 5, the two cameras 11 of the fourth acquisition unit form an included angle of 45 degrees with the lower portion of the other side in the suspension type monorail box type track beam 5, and the two cameras 11 of the fifth acquisition unit form an included angle of 45 degrees with the upper portion of the other side in the suspension type monorail box type track beam 5. The acquisition areas of two cameras 11 of the same acquisition unit overlap by fifty percent or more. Five acquisition units respectively gather the image information of rail box track roof beam 5 interior lower right corner, upper right corner, top, upper left corner and lower left corner, and two cameras 11 of each acquisition unit are set up one left side and one right side, and respective camera inclines 45 jiaos relatively to the collection face to reach oblique photography's purpose, five acquisition unit's five acquisition region mutual overlap degree keep more than fifty percent, two adjacent acquisition region border overlap degree also should keep more than fifty percent, in order to guarantee that the three-dimensional model who establishes has sufficient precision and use value.

The lighting system is five soft light strips 12, each soft light strip 12 is in detect 7 middle parts of platform and correspond the two that set up at same acquisition unit between the camera 11. The identification system is five infrared ray generators 13, the five infrared ray generators 13 are respectively arranged on five cameras 11 at the same end of the detection platform 7 in a one-to-one correspondence manner, and two infrared generators 13 respectively punch laser identification points with different shapes on the lower part and the upper part of one side in the suspended monorail box-shaped track beam 5 in the process of image information acquisition, laser identification points with different shapes are respectively arranged on the lower portion and the upper portion of the other side in the suspended type monorail box-shaped track beam 5 by the other two infrared generators 13 in the image information acquisition process, laser identification points with different shapes are arranged on the top in the suspended type monorail box-shaped track beam 5 by the remaining one infrared generator 13 in the image information acquisition process, and the laser identification points are used as homonymous points for photo splicing in the three-dimensional modeling process. The controller 4 is connected with and controls the operation of each infrared generator 13 through the corresponding control circuit.

The detection device also includes a power supply 14. The power 14 is in on the mobile detection car 1, it is connected through the power supply line respectively step motor 8 camera 11 sheen lamp area 12 and laser generator, and then through power 14 to step motor 8 camera 11 sheen lamp area 12 and infrared generator 13 provides the required electric energy of work.

The detection method of the detection device for the internal structure of the suspended monorail box-type track beam is characterized by comprising the following steps of:

step S1, determining the area of the image capturing area of the camera 11 according to the imaging principle that the product of the working distance and the CMOS size is equal to the product of the focal length and the field of view, determining the aperture size, ISO parameters, and shutter time of the camera 11, connecting the stepping motor 8 of the walking device, the camera 11 of the camera array system, and the infrared generator 13 of the identification system with the controller 4 through corresponding control lines, respectively, turning on the soft light strip 12 of the lighting system, and setting the working parameters of the infrared generator 13 through the controller 4.

Step S2, according to the area of the image acquisition area of the camera 11 and the working parameters of the stepping motor 8 set by the controller 4, determining the advancing distance of the stepping motor 8 driving the advancing wheel 9 to ensure more than fifty percent overlap of two adjacent image acquisition areas, as shown in fig. 4, suspending the mobile detection vehicle 1 at the bottom of the suspended monorail box-type track beam 5 by the traveling device in a slidable manner.

Step S3, the rover station of the RTK positioner 2 is set up, and the RTK positioner 2 is fixed on the mobile inspection vehicle 1.

And step S4, planning the task route and the length of the mobile detection vehicle 1, starting the stepping motor 8 through the controller 4 and driving the mobile detection vehicle 1 to move at the bottom of the suspension type monorail box-type track beam 5.

Step S5, in the moving process of the mobile detection vehicle 1, the controller 4 controls the camera 11 to collect image information of the two sides and the top of the inside of the suspended monorail box-shaped track beam 5, the controller 4 controls the soft light strip 12 to polish the two sides and the top of the inside of the suspended monorail box-shaped track beam 5, and the controller 4 controls the infrared generator 13 to polish laser identification points with different shapes on the two sides and the top of the inside of the suspended monorail box-shaped track beam 5. The image information collected by the camera 11 is inputted through the data line and stored in the data memory 3. After the acquisition task is finished, image information in the data storage device 3 is imported into a computer, three-dimensional modeling is carried out on the suspension type monorail box type track beam 5 by combining with a laser identification point, a real and restored three-dimensional model of the suspension type monorail box type track beam 5 is finally obtained, and the internal structure of the suspension type monorail box type track beam 5 can be detected through the three-dimensional model of the suspension type monorail box type track beam 5. The three-dimensional modeling method comprises the following steps:

The image information in the data storage 3 is led into a contextcapture to obtain a plurality of groups of photos, the photos are subjected to aerial triangulation, a series of point cloud data and textures containing various information of the photos are obtained by combining a walking track line diagram of the mobile detection vehicle 1 obtained by the RTK positioner 2 and laser identification points, the point cloud data are submitted to production and packaged to form a triangular grid, then a white mold is formed, and finally the textures are attached to the surface of the white mold to obtain a real and restored three-dimensional model of the suspended monorail box-type track beam 5. Whether cracks exist on the surface of the steel structure inside the suspended monorail box type track beam 5 or not can be visually detected according to the three-dimensional model, and the length, the whole area and the depth of the cracks can be directly measured in software. When the internal structure of the suspended monorail box-type track beam 5 is in trouble, the maintenance point of the monorail box-type track beam 5 can be positioned through the walking track line graph of the mobile detection vehicle 1 obtained by the RTK positioner 2. According to the three-dimensional model, the corrosion condition inside the box-type track beam 5 can be detected or whether foreign matters exist to influence the running of the suspension type monorail train. The three-dimensional model of the suspension type monorail box-type track beam 5 actually obtained and the designed model are led into the REVIT to realize forward and reverse comparison, so that the deformation condition of the suspension type monorail box-type track beam 5 is detected, a plurality of geometric parameters such as the gradient and the linear stability of the suspension type monorail box-type track beam 5 are detected, difference detection is carried out on the geometric parameters and the design scheme, and the suspension type monorail box-type track beam 5 is further convenient to maintain. Whether the conditions of the conductive rail, the guide rail and the walking rail in the suspension type single-rail box-type track beam 5 are good or not can be detected according to the three-dimensional model, the defects that the operation of the detection method of the traditional suspension type single-rail box-type track beam is complex and the workload is large are finally overcome, the workload of manual operation is effectively reduced while the detection efficiency and the accuracy are ensured, the detection work gradually tends to be intelligentized and digitalized, and the accurate detection of the suspension type single-rail box-type track beam can be completed by combining the data obtained by detection.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.