阅读说明：本技术 自移动式轨道交通三维扫描系统 (Self-moving type rail transit three-dimensional scanning system ) 是由 谭兆 刘成 王长进 张冠军 洪江华 李亚辉 许磊 秦守鹏 石德斌 梁永 赵海 于 2020-04-22 设计创作，主要内容包括：本发明公开了自移动式轨道交通三维扫描系统,包括移动车、数据采集系统用于采集轨道的实时状态数据,将实时状态数据传送至中央处理系统,接收中央处理系统传送的指令并根据指令执行相应的动作；惯导系统用于获取移动车导航位置数据,并将导航位置数据传送至中央处理系统；中央处理系统用于接收数据采集系统传送的实时状态数据及惯导系统传送的导航位置数据,对实时状态数据及导航位置数据分析并根据分析结果生成指令,将指令传送至移动车；时间同步系统用于对系统提供授时并同步时间。本发明惯导系统、中央处理系统、时间同步系统、数据采集系统集成到移动车上,各个传感器一次性采集多项轨道的数据并处理生成所需要的轨道检测结果,测量效率高。(The invention discloses a self-moving type rail transit three-dimensional scanning system which comprises a moving vehicle and a data acquisition system, wherein the data acquisition system is used for acquiring real-time state data of a rail, transmitting the real-time state data to a central processing system, receiving an instruction transmitted by the central processing system and executing corresponding actions according to the instruction; the inertial navigation system is used for acquiring navigation position data of the mobile vehicle and transmitting the navigation position data to the central processing system; the central processing system is used for receiving the real-time state data transmitted by the data acquisition system and the navigation position data transmitted by the inertial navigation system, analyzing the real-time state data and the navigation position data, generating an instruction according to an analysis result and transmitting the instruction to the mobile vehicle; the time synchronization system is used for providing time service for the system and synchronizing time. The inertial navigation system, the central processing system, the time synchronization system and the data acquisition system are integrated on the mobile vehicle, each sensor acquires data of multiple orbits at one time and processes the data to generate a required orbit detection result, and the measurement efficiency is high.)

1. The utility model provides a three-dimensional scanning system of self-moving track traffic which characterized in that: comprises that

The moving vehicle is arranged on the track and can move along the track;

the data acquisition system is used for acquiring real-time state data of a detected track, transmitting the real-time state data to the central processing system, receiving an instruction transmitted by the central processing system and executing corresponding action according to the instruction;

the inertial navigation system is used for acquiring the navigation position data of the mobile vehicle and transmitting the navigation position data to the central processing system;

the central processing system is used for receiving the real-time state data transmitted by the data acquisition system and the navigation position data transmitted by the inertial navigation system, analyzing the real-time state data and the navigation position data, generating an instruction according to an analysis result and transmitting the instruction to the mobile vehicle;

the time synchronization system is used for providing time service and synchronizing time for the data acquisition system, the inertial navigation system and the central processing system;

the data acquisition system, the inertial navigation system, the central processing system and the time synchronization system are arranged on the moving vehicle.

2. The self-propelled rail transit three-dimensional scanning system of claim 1, wherein: the data acquisition system includes laser scanner and structure light scanner, laser scanner and structure light scanner are installed on the locomotive, laser scanner is used for gathering the laser point cloud of being surveyed in the track traffic length scope and the track both sides certain distance within range, the profile that the left side rail and the right side rail that is used for gathering by the survey track are used for to the left and right sides of structure light scanner symmetry setting at the locomotive.

3. The self-propelled rail transit three-dimensional scanning system of claim 2, wherein: the mobile vehicle comprises a motion acquisition module, a main control module, a motion control module and an emergency braking module;

the motion acquisition module is fixedly arranged on the mobile vehicle and is used for acquiring the motion state of the mobile vehicle, generating motion state information and sending the motion state information to the main control module;

the main control module is fixedly arranged on the mobile vehicle, and is used for receiving the motion state information, sending the motion state information to a central processing system, receiving a motion instruction and a braking instruction sent by the central processing system, sending the motion instruction to the motion control module, and sending the braking instruction to an emergency braking module;

the motion control module is used for receiving a motion instruction sent by the main control module and adjusting the motion state of the mobile vehicle according to the motion instruction;

and the emergency braking module is used for receiving the braking instruction transmitted by the main control module and controlling the mobile vehicle to brake according to the braking instruction.

4. The self-propelled rail transit three-dimensional scanning system of claim 3, wherein: the motion acquisition module includes:

the track gauge sensor is used for measuring the distance between the measured tracks;

the inclination angle sensor is used for detecting the angle change of the moving vehicle in the horizontal direction during moving;

and the rotating speed encoder is used for acquiring mileage data of the mobile vehicle.

5. The self-propelled rail transit three-dimensional scanning system of claim 4, wherein: the central processing system comprises an industrial personal computer, and is used for receiving real-time state data of a measured track transmitted by the laser scanner and the structured light scanner, comparing the real-time state data with normal state data of track traffic system infrastructure stored in a database, generating a comparison result, receiving navigation position data transmitted by the inertial navigation system, analyzing and generating an instruction according to the comparison result and the navigation position data, and transmitting the instruction to a main control module of the mobile vehicle.

6. The self-propelled rail transit three-dimensional scanning system of claim 5, wherein: the commands include motion commands for controlling movement of the mobile cart and brake commands for controlling braking of the mobile cart.

7. The self-propelled rail transit three-dimensional scanning system of claim 6, wherein: and the navigation position data acquired by the inertial navigation system comprises the position, the speed, the course and the attitude angle of the moving vehicle.

8. The self-propelled rail transit three-dimensional scanning system of claim 7, wherein: the time synchronization system comprises a time synchronization controller, wherein the time synchronization controller is used for acquiring GPS time, processing the GPS time to generate timing time, and sending the timing time to the data acquisition system, the inertial navigation system and the central processing system for time synchronization.

9. The self-propelled rail transit three-dimensional scanning system of claim 8, wherein: the moving vehicle is internally provided with a signal conditioning board, and the structured light scanner is electrically connected with the main control module through the signal conditioning board.

10. The self-propelled rail transit three-dimensional scanning system of claim 9, wherein: the moving vehicle is provided with a laser scanner angle calibrator which is used for calibrating the direction perpendicularity of the measuring line of the laser scanner.

Technical Field

The invention belongs to the technical field of rail transit comprehensive detection, and particularly relates to a self-moving rail transit three-dimensional scanning system.

Background

With the development of high-speed railways and urban rail transit, the detection requirements of lines are more and more increased. At present, the requirements of high-speed rail and urban rail transit detection mainly comprise rail absolute coordinate measurement, line clearance detection, tunnel structure section detection, platform space detection, contact network state monitoring, gauge measurement, ultrahigh measurement, auxiliary equipment ownership investigation and the like.

According to the traditional detection method, various detection contents are detected one by one through measuring equipment such as a total station, a track gauge and a laser range finder, so that the detection efficiency is low, field work is large, data processing is complex, and the detection cost is high.

The vehicle-mounted mobile laser scanning technology is a comprehensive measurement and detection technology integrating various sensors such as a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), a laser scanner, a digital camera, and a digital video camera on a mobile carrier. Various sensors automatically acquire various positions, postures, influences and laser scanning data in a moving state, and non-contact spatial geographic information acquisition, processing and warehousing are realized through a unified geographic reference and data acquisition synchronization technology. In the operation process, the integrated three-dimensional laser scanning system is carried on a rail car (or is installed on the car, and the car is driven on a flat car), and mass point clouds and influence data in the range of dozens of meters to hundreds of meters on two sides of the rail transit are rapidly collected through the movement of a carrier. And performing combined calculation on the ground GNSS base station, the mobile GNSS receiver, the ground control point, the IMU and the laser scanner data to obtain high-precision three-dimensional laser point cloud data. Compared with ground laser scanning and airborne laser scanning, the vehicle-mounted mobile scanning has a high-efficiency flexible data acquisition mode, is more and more applied to engineering practice, and the vehicle-mounted mobile scanning technology is one of the hotspots of current research. The mobile vehicle-mounted scanning system is used for detecting through the mobile vehicle-mounted three-dimensional scanning system, navigation and positioning are carried out through the GNSS-IMU, the laser scanner obtains line data, three-dimensional point cloud of the rail transit line can be rapidly obtained, and processing is carried out based on the three-dimensional point cloud so as to complete various detections.

At present, scholars at home and abroad complete various detections on rail transit by processing based on three-dimensional laser point cloud by using a vehicle-mounted mobile scanning technology, but the mobile vehicle-mounted three-dimensional scanning system has the following problems in daily use:

1. the mobile vehicle-mounted three-dimensional scanning system is overlarge in size, heavy in weight and inconvenient to carry, and cannot meet the requirement of daily detection and monitoring;

2. in the three-dimensional scanning measurement process, a tractor and a flat car are required to be provided by a railway/urban rail operation department, the matching difficulty is high, and the measurement cost is high;

3. most of mobile vehicle-mounted three-dimensional scanning systems are produced abroad and can only be purchased for introduction, communication interfaces, data interfaces and software development interfaces related to the mobile vehicle-mounted three-dimensional scanning systems are not opened, and the mobile vehicle-mounted three-dimensional scanning systems have single software functions and cannot meet the detection and monitoring requirements of railways/urban rails;

4. the mobile vehicle-mounted three-dimensional scanning system is positioned based on a POS system, positioning accuracy is affected by GNSS signals, when the mobile vehicle-mounted three-dimensional scanning system is positioned in a tunnel, the positioning accuracy is reduced due to lock losing of the GNSS signals, and the system is out of synchronization, so that the mobile vehicle-mounted three-dimensional scanning system is not suitable for tunnel measurement.

Therefore, based on the engineering application requirements and the technical problems, it is necessary to develop a self-moving type rail transit three-dimensional scanning system capable of solving the technical problems.

Disclosure of Invention

The invention aims to provide a self-moving type rail transit three-dimensional scanning system which is simple in structure, simple to operate, high in measuring efficiency and low in detection cost, and can quickly acquire measured data of the periphery of a railway/urban rail.

The technical scheme of the invention is as follows:

the utility model provides a three-dimensional scanning system of self-moving track traffic which characterized in that: comprises that

The moving vehicle is arranged on the track and can move along the track;

the data acquisition system is used for acquiring real-time state data of a detected track, transmitting the real-time state data to the central processing system, receiving an instruction transmitted by the central processing system and executing corresponding action according to the instruction;

the inertial navigation system is used for acquiring the navigation position data of the mobile vehicle and transmitting the navigation position data to the central processing system;

the central processing system is used for receiving the real-time state data transmitted by the data acquisition system and the navigation position data transmitted by the inertial navigation system, analyzing the real-time state data and the navigation position data, generating an instruction according to an analysis result and transmitting the instruction to the mobile vehicle;

the time synchronization system is used for providing time service and synchronizing time for the data acquisition system, the inertial navigation system and the central processing system;

the data acquisition system, the inertial navigation system, the central processing system and the time synchronization system are arranged on the moving vehicle.

In the technical scheme, the data acquisition system includes laser scanner and structure light scanner, laser scanner and structure light scanner are installed on the locomotive, laser scanner is used for gathering the laser point cloud of being surveyed the track traffic length within range and track both sides certain distance within range, structure light scanner symmetry sets up the profile that is used for gathering the left side rail and the right side rail of being surveyed the track in the left and right sides of locomotive.

In the technical scheme, the mobile vehicle comprises a motion acquisition module, a main control module, a motion control module and an emergency braking module;

the motion acquisition module is fixedly arranged on the mobile vehicle and is used for acquiring the motion state of the mobile vehicle, generating motion state information and sending the motion state information to the main control module;

the main control module is fixedly arranged on the mobile vehicle, and is used for receiving the motion state information, sending the motion state information to a central processing system, receiving a motion instruction and a braking instruction sent by the central processing system, sending the motion instruction to the motion control module, and sending the braking instruction to an emergency braking module;

the motion control module is used for receiving a motion instruction sent by the main control module and adjusting the motion state of the mobile vehicle according to the motion instruction;

and the emergency braking module is used for receiving the braking instruction transmitted by the main control module and controlling the mobile vehicle to brake according to the braking instruction.

In the above technical solution, the motion acquisition module includes:

the track gauge sensor is used for measuring the distance between the measured tracks;

the inclination angle sensor is used for detecting the angle change of the moving vehicle in the horizontal direction during moving;

and the rotating speed encoder is used for acquiring mileage data of the mobile vehicle.

In the technical scheme, the central processing system comprises an industrial personal computer, and is used for receiving real-time state data of a measured track transmitted by the laser scanner and the structured light scanner, comparing the real-time state data with normal state data of infrastructure of a track traffic system stored in a database, generating a comparison result, receiving navigation position data transmitted by the inertial navigation system, analyzing and generating an instruction according to the comparison result and the navigation position data, and transmitting the instruction to a main control module of the mobile vehicle.

In the above technical solution, the command includes a motion command for controlling the motion of the vehicle and a brake command for controlling the braking of the vehicle.

In the above technical solution, the navigation position data collected by the inertial navigation system includes a position, a speed, a heading, and an attitude angle of the mobile vehicle.

In the above technical solution, the time synchronization system includes a time synchronization controller, and the time synchronization controller is configured to acquire GPS time, process the GPS time to generate timing time, and send the timing time to the data acquisition system, the inertial navigation system, and the central processing system for time synchronization.

In the technical scheme, a signal conditioning board is arranged in the moving vehicle, and the structured light scanner is electrically connected with the main control module through the signal conditioning board.

In the technical scheme, the moving vehicle comprises a frame and a traveling mechanism which is arranged on the frame and used for driving the frame to move;

the frame comprises a supporting box and a working platform horizontally arranged on the supporting box;

the walking mechanism comprises two groups of driving assemblies symmetrically arranged at two sides of a supporting box, each group of driving assemblies comprises a driving supporting leg, a follow-up supporting leg, a driving motor arranged on the driving supporting leg, a driven driving wheel and a driven follow-up wheel, one end of the driving supporting leg is detachably connected with the supporting box, a connecting plate is arranged below the driving supporting leg, a motor box is arranged below the connecting plate, the driving motor is arranged in the motor box, an output shaft of the driving motor penetrates through the motor box to be connected with the driving wheel, the driving wheel is arranged at the outer side of the driving supporting leg, one end of the follow-up supporting leg is detachably connected with the supporting box, a mounting box is arranged at the bottom of the outer side of the follow-up supporting leg, a rotating shaft is arranged in the mounting box, the rotating shaft penetrates through the mounting box to be connected with the follow-up wheel, the track inspection vehicle is characterized in that rotatable top wheels are arranged on one side, close to the driving wheels, of the motor box and one side, close to the driven wheels, of the mounting box, and are used for respectively supporting the inner sides of tracks in traveling of the inspection vehicle, track gauge sensors are arranged on the top wheels of a group of driving assemblies, and when the driving motor operates, the driving wheels rotate to drive the driven wheels to synchronously rotate so that the traveling mechanism moves on the tracks.

In the technical scheme, the driving motor is a servo motor, and a rotating speed encoder is arranged on the servo motor and used for detecting the walking distance and the walking speed of the inspection vehicle.

In the above technical scheme, the center of the support box is provided with an inclination angle sensor.

In the technical scheme, the battery box is installed at the rear part of the supporting box, the storage battery used for supplying power is installed in the battery box, the power stabilizer is installed in the supporting box, and the storage battery is electrically connected with the rotating speed encoder, the track gauge sensor and the driving motor through the power stabilizer.

In the technical scheme, the moving vehicle is provided with the laser scanner angle calibrator perpendicular to the measuring line direction for calibrating the laser scanner, and the laser scanner angle calibrator is electrically connected with the storage battery.

The invention has the advantages and positive effects that:

1. the invention adopts an integrated design concept of portable design and modularized integration, integrates an inertial navigation system, a central processing system, a time synchronization system and a data acquisition system on the moving vehicle, realizes good stability and portability of a self-moving rail transit three-dimensional scanning system, can directly run on a rail, has small volume and convenient carrying, does not need to be matched with a traction locomotive and a flat car, can meet the requirement of daily detection and monitoring, is convenient for people to carry on line operation compared with the traditional measurement mode, and has low measurement cost and high measurement efficiency.

2. The data acquisition system integrates a laser scanner and a structure light scanner, the precision of three-dimensional point cloud generated after multi-source data preprocessing can reach 2-4mm, and compared with the existing laser measurement precision, the data acquisition system is higher, and the laser scanner can scan on a moving vehicle for 360 degrees and can completely acquire data of all structures of a railway/urban rail.

3. The time synchronization system uses a high-precision time synchronization controller to time all sensors, the time mode is unified and standard, after receiving a GNSS signal once, the time synchronization controller sends a synchronization signal to each system in the three-dimensional scanning system to synchronize.

4. The mobile vehicle is integrated with a laser scanner, a structure optical scanner, an inertial navigation system, a GNSS receiver, an inclination angle sensor, a track gauge sensor, a rotating speed encoder and the like, and a communication interface, a data interface and a software development interface of a scanning system can be opened through integration.

5. The moving vehicle controls the moving vehicle to run through the PLC, the wheels of the moving vehicle to synchronously run, the running stability of the trolley is guaranteed, vibration in the moving process is reduced, the measurement precision is improved, operation software is embedded into the PLC, and the measurement is carried out on a rail traffic line through an external control end remote scanning system.

Drawings

FIG. 1 is a block diagram of a self-propelled rail transit three-dimensional scanning system of the present invention;

FIG. 2 is a schematic diagram of the self-propelled rail transit three-dimensional scanning system of the present invention;

FIG. 3 is a perspective view of the carriage of the present invention;

FIG. 4 is a top view of the dolly of the invention;

FIG. 5 is a front view of the dolly of the invention;

FIG. 6 is a side view of the dolly of the invention;

FIG. 7 is a schematic view of an operation panel in the present invention;

fig. 8 is a block diagram of the operating software in the system of this embodiment 2.

In the figure:

1. first drive supporting leg 2, work platform 3, operating panel

4. Second driving supporting leg 5, second top wheel 6 and track gauge sensor

7. Hand push rod 8, scanner support 9, power voltage stabilizer

10. A first driving wheel 11, a first follower wheel 12, a first top wheel

13. Battery box 14, first follow-up supporting leg 15, second follow-up supporting leg

16. Second follow-up wheel 17, second drive wheel 18, place the platform

19. Support box 20, second motor box 21, second mounting box

22. First motor box 23, first mounting box 24, laser scanner

25. Structured light scanner 26, laser scanner angle checker 27, and time synchronization controller

28. Power supply voltage stabilizer 29, inertial navigation system 30 and inclination angle sensor

31. Moving vehicle emergency stop button 32, system restart button 33, time synchronization switching button

34. Power switch 35, time synchronization signal output interface a36, and time synchronization signal output interface B

37. Time synchronization signal output interface 38, time synchronization signal output interface D39, and time synchronization signal output interface E interface C

40. Time synchronization signal output port 41, network port A42 and network port B F

Detailed Description

The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention in any way.