A robot optimal path formation method for track plate point cloud data acquisition

Abstract

The invention discloses a method for forming an optimal path of a robot for collecting track plate point cloud data, which includes the following steps: Step 1) adopting a three-dimensional imager to take pictures and scan, and obtain a large number of track plate surfaces by means of multiple measurements The point cloud data and the point cloud of the feature area, the feature area selects the perfusion hole in the middle of the track plate and the surrounding part of the area, the middle part of the four sides of the track plate; step 2) programming and development on the Windows system to control the KUKA robot The automatic movement is completed according to the prescribed trajectory and process; according to the deviation requirements of the outer dimension of the track plate, the movement path of the robot is planned, and the optimal movement path of the robot is obtained after multiple tests, calculations and optimizations. The method is fast and efficient, the operation of the equipment is safe and stable, conforms to the production process, the installation process is simple, and the 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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