Robot optimal path forming method for track board point cloud data acquisition

Abstract

The invention discloses a robot optimal path forming method for track board point cloud data acquisition. The method comprises the following steps: step 1) using a photographing scanning method of a three-dimensional imager, obtaining a large number of point cloud data of a surface of a track board and point cloud of feature regions through repeated measurement, the feature regions selecting a middle pouring hole of the track board and peripheral part regions, and middle positions of four side surface of the track board; step 2) programming on a Windows system, to control a Kuka robot to complete automatic motion according to a specific trajectory and process; according to boundary dimensional deviation requirements of the track board, planning a robot motion path, through repeated tests,calculation, and optimization, obtaining an optimal motion path of the robot. The method is fast and efficient, and device operation is safe and stable, and meets a production process, and installation process is simple, and detection results are accurate and reliable.

Description

technical field [0001] The invention relates to the field of high-speed railway track slab detection, in particular to a robot optimal path design method for CRTS III track slab point cloud data collection. Background technique [0002] CRTSⅢ ballastless track slab is a major scientific and technological achievement independently developed by China with completely independent intellectual property rights. Compared with CRTSI and CRTSII track slabs, the detection of CRTSIII track slabs eliminates the need for on-site grinding. The production process is simplified, the cost is reduced, and at the same time, higher requirements are put forward for the precision and quality of the finished board. [0003] At present, there are two main ways to detect the external dimensions of CRTSⅢ ballastless track slabs for high-speed railways: the first one is based on motor-driven total station + special tooling. This type of detection method is widely used in engineering, but due to its c...

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Problems solved by technology

This type of detection method is widely used in engineering, but due to its cumbersome tooling and low detection efficiency, it cannot realize the detection of each track slab, and it is difficult to meet the actual production needs

The second is based on close-range photogrammetry + mechanical drive. This type of method has greatly improved the detection efficiency, but there are still the following shortcomings: the mechanical device that drives the camera movement is relatively complicated, and it cannot achieve flexible data acquisition methods; The photogrammetry method is used to realize the detection of the track slab, the layout of the photogrammetric measurement points is limited, the number of laser beams on the inner surface of the rail support platform is limited, the obtained measurement points are limited, and the fine model of the characteristic parts of the track slab cannot be reconstructed; the scanning equipment and mechanical device The operating systems are independent of each other, and the information interaction and coordinated control of the two cannot be realized; the detection function of a single rail support platform of the track slab is not designed, and timely and efficient retesting work cannot be carried out for the overrun of a single rail support platform

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