| Symmetrical suspension rubber wheel type(SAFEGE type)track beam is one kind of suspended monorail track beam.As the main load-bearing component of suspended monorail transit system,SAFEGE type track beam has more stable overall structural mechanics performance,and is currently the most advanced and widely used suspended monorail track beam.The inner cavity of the track beam is the main working surface,and its shape error determines the stability and safety of the vehicle during operation.Therefore,each track beam needs to undergo strict testing of its manufacturing and processing shape error before leaving the factory.At present,the detection of SAFEGE type track beams mainly adopts the method of manually entering the inner cavity of the track beam,which has problems such as large detection workload,poor working environment,low efficiency,chaotic data recording,and complex management.This article proposes a multi line laser SAFEGE type track beam detection robot system based on the shape error detection requirements of SAFEGE type track beams.The detection robot collects point cloud data of track beams,and designs a fast,efficient,and accurate calculation method for track beam shape error detection results that meets the requirements of track beam detection.In the design of the overall inspection scheme of the multi line laser SAFEGE type track beam inspection robot,the inspection indicators of the track beam shape error and the actual characteristics of the inspection task were comprehensively analyzed.The multi line laser sensors were combined to form a wide field of view structured light inspection system.The mobile robot chassis was used as the carrier platform,and the structured light inspection system was mounted to form the inspection robot system,By detecting the robot entering the inner cavity of the track beam,the full contour detection scanning of the inner cavity of the track beam is achieved.Based on the hardware composition and detection accuracy requirements of the multi line laser SAFEGE type track beam detection robot,the main hardware selection of the system is carried out.Aiming at the problem that the measuring coordinates of multiple line laser sensors in the structured light detection system are not uniform,the installation parameters of each sensor in the structured light detection system are determined by sensor calibration,and the data of multiple line laser detection are fused by coordinate transformation relationship to realize the collection of the profile data of the cavity section in the rail beam.In order to determine the position information of the profile data of the detection robot in the detection process,the mobile robot motion model is established based on the structural characteristics of the robot chassis,and the dead reckoning method of the mobile robot is analyzed.In addition,the advantages and disadvantages of the encoder,inertial measurement unit observation model and sensors are combined,based on the principle of complementary advantages,A data fusion method of odometer inertial measurement unit based on extended Kalman filter is designed to realize the positioning function of the rail beam detection robot by means of multi-sensor data fusion.To solve the problem of calculating the parameters of the rail beam shape error index,the point cloud data of the working surface in the cavity of the rail beam is obtained by unifying the position information of the mobile robot chassis positioning system and the contour information of the structured light detection system into the same global coordinate system.And using point cloud filtering,the point cloud data within each meter range is divided into a data unit.For the data unit,the plane segmentation method is used to divide it into feature data of each working face.Based on the feature data of each working face,the corresponding rail beam shape error index parameters are calculated using the data position relationship.Compared with manual detection methods,the multi line laser SAFEGE type rail beam detection robot system and shape error calculation method presented in this paper have advantages such as high detection efficiency,low complexity,fast calculation speed,and no need for manual participation in data processing.They meet the requirements of SAFEGE type rail beam shape error detection,greatly improving the efficiency of rail beam detection,and verifying the feasibility of the proposed method in rail beam shape error detection. |
PDF Full Text Request