CN101021417B - Long straight rail geometric parameter photogrammetry - Google Patents
Long straight rail geometric parameter photogrammetry Download PDFInfo
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- CN101021417B CN101021417B CN200710034591A CN200710034591A CN101021417B CN 101021417 B CN101021417 B CN 101021417B CN 200710034591 A CN200710034591 A CN 200710034591A CN 200710034591 A CN200710034591 A CN 200710034591A CN 101021417 B CN101021417 B CN 101021417B
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Abstract
A camera measuring method of long-straight track geometric parameter belongs to digital camera measuring and digital image disposing technique of railway contribution. It is: fix cooperate symbol on circuit detecting vehicle head moving on long-straight track, install camera before the vehicle. When vehicle moving along the track, at least two images at different time of the symbol moving as track waving and deflecting are shoot. Achieve geometric parameter (at least one of gage, cant, longitudinal deviation and versed sine) of the track by image processing. The invention efficiently meets high-speed railway requirements of high precision, reliability and automatic degree detecting, greatly improves geometric parameter level of track, which can be applied directly in geometric parameter detecting system of tamping vehicle and be as a core to design multiform track detecting vehicles.
Description
Technical field
The present invention relates to the digital photogrammetry and the digital image processing techniques of railway construction, further be meant the method that detects the long straight rail geometric parameter.
Background technology
The measurement of orbit geometry parameter is to improving the track component design, explore the track overall permanence, determine the track Rational structure, improve track and rolling stock interacts and influence, and important directive function is all arranged in advancing the track parts and rolling stock serviceable life etc.
The geometric parameter of track mainly comprises following four:
(1) gauge: the distance of 16mm place two action edge under the inboard end face of two strands of rail head of rail;
(2) superelevation: the discrepancy in elevation of same rail profile two treads; The purpose of control superelevation error is to make two strands of rail stressed evenly, and guarantees the vehicle smooth-ride;
(3) partially vertical: height, the i.e. vertical fluctuations amount of rail surface before and after also claiming; The vertical inclined to one side error of control reduces the destruction of track very important to reducing the dynamic action between wheel track;
(4) versed sine: rail medial surface gauge point along rail to the horizontal level variable quantity; Control versed sine error is to safety of driving a vehicle and the meaning that steadily has particular importance.In the gapless track location, if orbital direction is bad, arrived high temperature season, also may cause expansion rail track, the serious threat traffic safety.
As shown in Figure 1, A
1And B
1Be 2 rail head points of left rail, the rail head point of corresponding right rail is respectively A
2And B
2, then | B
1B
2| be gauge.B
1And B
2Be respectively T with the intersection point of ground level
1And T
2Then | B
1T
1| and | B
2T
2| be respectively vertical inclined to one side, right rail partially vertical of left rail, | B
1T
1-B
2T
2| be superelevation.A
3, B
3, C
3Be respectively the gauge point on the track centerline, by B
3To A
3C
3Make vertical line, intersection point is K, then | and B
3K| is a versed sine.
In railway maintenance maintenance, measure the geometric parameter of track usually by the tamping car pick-up unit, make compacting then firm by ramming and rise, the track lining operation, correct trade shape.The geometric parameter that the examination of newly repairing railway is also needed to measure track.For a long time, the laser straightening device is adopted in the detection of long straight location orbit geometry parameter usually, by direct pointing laser pickoff on the wireline inspection car of in orbit Laser emission dolly of locking, laser beam is behind the optical system beam-expanding collimation, be extended to a width through cylindrical mirror again and be about the vertical covering of the fan of 20mm and inject to and reach laser pickoff, synthesize orbit geometry parameter by the light-beam position that receives on the laser pickoff.Concerning operating personnel, adjusting laser beam is an exigent job, in case laser beam has broken away from target surface, then can't measure.Particularly along with railway develops to high speed, heavily loaded direction, circuit is checked and accepted, the workload of maintenance constantly increases, can be shorter and shorter for the time of examination, maintenance operation, and the contradiction of transporting and detect maintenance becomes increasingly conspicuous.In this case, the precision of traditional track geometric parameter measurement system based on the laser straightening device and the requirement that automaticity all can not satisfy the modern railways high speed development.
In recent years, with computer technology and digital image processing techniques is that the infotech of core obtains develop rapidly, the digital camera manufacturing technology level increases substantially, and these scientific-technical progress make the detection that utilizes photographing measurement method to implement orbit geometry parameter become possibility.
Summary of the invention
The technical problem to be solved in the present invention is, defective at the prior art existence, a kind of photographing measurement method of long straight rail geometric parameter is proposed, it can satisfy the needs of high-speed railway requirement high precision, high-reliability, high automation degree detecting preferably, improve the orbit geometry parameter level greatly, can directly apply to the circuit geometric parameter detection system of tamping car, also can go out various forms of track inspection vehicles as core design.
The photographing measurement method of long straight rail geometric parameter of the present invention is: the wireline inspection car headstock on long straight rail fixedly installs the cooperation sign, video camera is installed in car body the place ahead, when the wireline inspection car when described orbital direction is moved, take described cooperation sign with this track fluctuating deflection campaign at least two different images constantly with video camera, obtain the geometric parameter of described track by Flame Image Process, described geometric parameter be gauge and superelevation, vertical partially, in the versed sine at least one.
Below the present invention made further specify.
Referring to Fig. 2, the photographing measurement method of long straight rail geometric parameter of the present invention is: wireline inspection car 2 headstocks on long straight rail 1 fixedly install cooperation sign 4, video camera 3 is installed in described wireline inspection car 2 the place aheads, when wireline inspection car 2 during along described orbital motion, take described cooperation sign 4 with this track fluctuating deflection campaign at least two different images constantly with video camera 3, obtain the geometric parameter of described track by Flame Image Process, described geometric parameter be gauge and superelevation, vertical partially, in the versed sine at least one.
Shown in Fig. 3 to 5, described cooperation sign 4 (6 monumented points have drawn among Fig. 2) can be a circle marker 5, also can be diagonal form sign 6 or drumheads 7, can also be other suitable shape.If be used for night work, cooperation sign 4 can adopt the sign of being made by the LED illuminating source.
Among the present invention, described video camera 3 can be installed on the ground in described wireline inspection car 2 the place aheads, and also can be installed in can be along on the measurement dolly of described orbital motion and be convenient to move this video camera.
Consider that the actual photographed distance may alter a great deal, measurement to long straight rail need change to hundreds of rice (as changing to 900 meters from 30 meters) from tens meters usually, for the monumented point that keeps described cooperation sign 4 keeps suitable enlargement factor to make full use of the visual field on image, keep clear picture simultaneously, video camera 3 can adopt electronic change times camera lens; When wireline inspection car 2 direction along ng a paths move, video camera is taken the witness marker dot image, the change in location of monumented point in the processor real-time detected image, and according to the monumented point change in location, drive motor-driven lens, make the picture point of monumented point on image, keep rational position all the time, fully effectively utilizing the visual field, and make image focusing clear.Then, by Flame Image Process, promptly processor can calculate track gauge, superelevation in real time, indulge orbit geometry parameters such as inclined to one side and versed sine according to picture point coordinate and the prioris such as the actual relative position of target that obtain in advance.
As shown in Figure 6, the measuring method of described gauge can be, at 2 positions that circuit inspection vehicle 2 contacts with left and right rail 2 cooperation signs 4 is installed respectively, is used for the variation of reaction rail distance; During concrete enforcement, both can make a side sign be fixed on described wireline inspection car, and only make the opposite side sign, and also can make the both sides sign simultaneously with track wobble with track wobble.
The monumented point quantity difference of cooperation sign 4, the orbit parameter that may synthesize is also inequality.In general, have 2 or 2 above witness marker points promptly can synthesize superelevation, vertical partially, versed sine.If 5 or 5 above witness marker points are arranged, then can directly obtain the wireline inspection car and remove the outside position of rail, be the wireline inspection car dipping and heaving, about the skew, and 3 attitude angle, be deflection, the angle of pitch and side rake angle, thereby synthesize superelevation, vertical partially, orbit geometry parameter such as versed sine, and other geological information.
The following describes the synthetic schemes of adoptable orbit geometry parameter.
Orbit geometry parameter when (1) adopting 2-4 monumented point is synthetic: as shown in Figure 7, cooperation sign 4 is designated as P, is example with 4 monumented points, and wherein O is a picture centre, and XOY is an image coordinate system,
If at initial time t
0, the picture point of acquisition is p
1, p
2, p
3, p
4, and p
1p
2And p
3p
4Intersection point be q; Usually before beginning to measure, adjust video camera 3 levels and take, then p over against monumented point
1p
2Be parallel to the imageing sensor horizontal direction, p
3p
4Be parallel to the imageing sensor vertical direction.In fact,, do not have the strict camera position of adjusting, promptly have a little inceptive direction angle and an angle of pitch,, can't influence final measurement as long as keep video camera fixing in measuring process if in the initial moment.
If t
1The picture point that obtains is p constantly
1', p
2', p
3', p
4', and p
1' p
2' and p
3' p
4' intersection point be q '; By the existing digit image processing techniques, can detect transversal displacement Δ x and the length travel Δ y of the relative q of q, and p
1' p
2' with p
1p
2Angle ψ.According to | p
1' p
2' | and the monumented point P1 that measures in advance and P2 are apart from the enlargement factor K=p that can also obtain this moment video camera
1p
2||/| P
1P
2|.If gauge is L, can obtain following synthetic orbit geometry parameter:
Versed sine=Δ x;
Left side rail is indulged partially=Δ y+Lsin ψ/2;
Right rail is indulged partially=Δ y-Lsin ψ/2;
Superelevation=Lsin ψ.
Orbit geometry parameter when (2) adopting the above monumented point of 5 or 5 is synthetic: as shown in Figure 8, cooperation sign 4 is designated as P, is example to adopt 6 monumented points shown in Figure 2, is not in same plane to the requirement of these 6 monumented points; Suppose P
1, P
2, P
3, P
4In same plane, P
5, P
6Not in this plane.Wherein 4 coplanar points can be by last joint algorithm process.And by following the tracks of P
5, P
6Can obtain the deflection ω of wireline inspection car, the angle of pitch
Be without loss of generality, suppose initial time t
0The time wireline inspection car 2 coordinates be reference frame.At moment t
1, the amount of exercise of wireline inspection car 2 relative references system can be decomposed into 1 rotation matrix R and 1 translation vector T, and R is 3 * 3 rank matrixes, characterizes the attitude of wireline inspection car 2 relative reference coordinate systems, and its element is Eulerian angle deflection ω, the angle of pitch
With the function of side rake angle ψ, T is 3 * 1 rank vector (t
x, t
y, t
z), be called translation vector, characterize the position of wireline inspection car relative reference coordinate system.
If t
0And t
1The normalization coordinate of corresponding picture point is respectively p=(x, y, 1) constantly
TAnd p '=(x ', y ', 1)
T, can get according to the polar curve geometric relationship
p′
i T(t×Rp
i)＝0
T can not obtain the size of translation vector T from following formula, because multiply by the establishment that non-vanishing number does not arbitrarily influence equation.Therefore following formula has 6-1=5 unknown number.Concerning each monumented point, at t
0The moment and t
1The picture point that obtains respectively is called match point constantly, if obtain 5 groups of above match points, then can find the solution following formula.That is to say that if having 5 above monumented points, establishing gauge is L, then can solve the wireline inspection car the position (except rail to distance) and attitude, thereby synthesize orbit geometry parameter superelevation, partially vertical and versed sine:
Versed sine=Δ x;
Left side rail is indulged partially=Δ y+Lsin ψ/2;
Right rail is indulged partially=Δ y-Lsin ψ/2;
Superelevation=Lsin ψ (wherein L is a gauge).
By adopting various existing correlated digital image processing techniquess, can detect accurately and location map picture point position, for example, sub-pix framing technology is exactly one of image processing method of a kind of advanced person, uses it to make target location accuracy in the image be higher than the physical resolution of image.The present invention can select following sub-pixel positioning technology commonly used for use:
1, use adaptive template correlation filtering method: basic thought is to make the adjustable template of parameter, to each coarse positioning point, at first determine to answer the parameter of modeling plate, select only template, with selected template coarse positioning point and neighborhood point thereof are carried out related operation, with gained related coefficient fitting surface, determine the maximal correlation position.
2, adaptive threshold gravity model appoach: for some target, can extract target area by multiple image process method with certain area, and consider the gray distribution features of target, adopt the grey scale centre of gravity method, in the target area be with the gray scale weights obtain the target area grey scale centre of gravity as the target location, adopt the Gaussian distribution template of band adaptive threshold that the feature target is carried out track and localization simultaneously.
3, gray-scale map fitting process: for some target, also can select suitable analytic surface for use, gray-scale map is carried out surface fitting, obtain the extreme value place of analytic surface again, thereby realize the sub-pixel precision location of target directly according to the feature of target image.
4, carry out the automatic identification of the appointed area or the whole audience according to gray feature:
As shown in Figure 5, the diagonal form sign image has certain feature, be all bright or dark and average gray difference is little as diagonal zones, adjacent angle zone one bright one is dark and average gray difference is big, 4 angular domains separately average gray and the average gray in whole zone have than big-difference, the average gray of center is close with the average gray in whole zone, in the same angular domain between pixel gray difference little, the sign outer rim has ellipse or sub-elliptical to exist, and has two step edges that intersect at the center to exist.Make full use of these features, can realize high-precision identification and location reliably.
The correction of atmospheric agitation:, therefore need to consider the influence of atmospheric agitation to imaging because video camera 3 distance objective longest distances can reach more than the hundreds of rice.This moment can be by installing existing adaptive optics equipment additional, or suitably revise with the software algorithm form.
The selection of video camera and installation: the digital camera motor speed is fast, convenient storage, is easy to realize digitizing, the robotization of aftertreatment, therefore adopts digital camera more suitable than analog video camera.Because in the environment when the operation of circuit inspection vehicle, dust and noise pollution are big, and there is high vibration to exist.For guaranteeing the normal operating conditions of video camera, correctly obtain the witness marker object image, the installation video camera that needs reinforcement, and camera lens installed additional dust guard.
The selection of processor: in the detection of orbit geometry parameter, can adopt PC computing machine or dsp processor, as image storage, data processing equipment.Because dsp processor speed is fast, easy and simple to handle, therefore be more suitable for being used in the actual device.Selected at video camera, can be according to the interface scheme design dsp processor of video camera.
As known from the above, the present invention is a kind of photographing measurement method of long straight rail geometric parameter, and its technological merit has:
(1) different with the laser aligning of prior art, the inventive method does not need the strict aligning of video camera witness marker, as long as witness marker is in the camera field of view scope; Therefore, in actual use, owing to avoided in the laser straightening device adjusting the complicated link of laser beam, the operability of measurement mechanism is better;
(2) system digitalized degree height.It is the hardware device of core that this device adopts with video camera and personal computer (or dsp processor), low to the hardware-dependent degree, digitized degree and automaticity height, can adopt easily computing machine to the view data that video camera obtains store, duplicate, transmission and robotization handle.
The inventive method has satisfied the needs of high-speed railway requirement high precision, high-reliability, high automation degree detecting effectively, improved the orbit geometry parameter level greatly, can directly apply to the circuit geometric parameter detection system of tamping car, also can go out various forms of track inspection vehicles as core design.
Description of drawings
Fig. 1 is the synoptic diagram of expression rectilinear orbit geometric parameter definition;
Fig. 2 is the principle schematic of photographing measurement method;
Fig. 3 is masked as the pattern synoptic diagram of circle marker for cooperation;
Fig. 4 is masked as the pattern synoptic diagram of drumheads for cooperation;
Fig. 5 is masked as the pattern synoptic diagram of diagonal form sign for cooperation;
Fig. 6 is for measuring the cooperation sign of gauge;
Fig. 7 is orbit geometry parameter scheme diagram (4 witness marker point situations);
Fig. 8 is orbit geometry parameter scheme diagram (6 witness marker point situations).
In the drawings:
The 1-long straight rail, 2-wireline inspection car, the 3-video camera,
4-cooperation sign, the 5-circle marker, 6-diagonal form sign,
The 7-drumheads, XOY---image physical coordinates system;
p
1, p
2, p
3, p
4The picture point of-reference cooperation monumented point correspondence constantly;
p
1', p
2', p
3', p
4'-in real time measured the picture point of the monumented point of cooperation constantly correspondence;
ω-difference is the anglec of rotation of monumented point coordinate system constantly;
The OXYZ-reference frame; P
1～P
6The monumented point of-cooperation sign.
Embodiment
As shown in Figure 2, the inventive method is, wireline inspection car 2 headstocks on long straight rail 1 fixedly install cooperation sign 4, video camera 3 is installed in described wireline inspection car 2 the place aheads, when wireline inspection car 2 during along described orbital motion, take with the described cooperation sign 4 of this track fluctuating deflection campaign image mechanical when different with video camera 3, obtain the geometric parameter of described track by Flame Image Process, described geometric parameter be gauge and superelevation, vertical partially, versed sine.
Described cooperation sign 4 is six circle markers 5; During night work, adopt the cooperation sign of making by the LED illuminating source; Described video camera 3 is selected digital camera for use, and it is installed on the ground in described wireline inspection car 2 the place aheads; All can obtain when moving, adopt three variable or two variable change times camera lenses, focus of camera, aperture, focusing can be changed with sighting distance than picture rich in detail for the witness marker thing is drawn near; For overcoming the influence of atmospheric agitation, install adaptive optics equipment additional to imaging; For the normal operating conditions that guarantees video camera in, the operating environment that has high vibration to exist big, correctly obtain the witness marker object image in dust and noise pollution, video camera 3 is reinforced installation, camera lens installs dust guard additional.
Adopt PC computing machine or dsp processor, as Flame Image Process (image storage, data processing) equipment.Because dsp processor speed is fast, easy and simple to handle, therefore be more suitable for being used in the actual device, also can determine dsp processor according to the interface scheme of video camera.
Adopt sub-pix framing technology, monumented point position in high Precision Detection and the positioning image, and can be according to the priori of visual field internal reference sign, as line segment length, region area etc., the publish picture scale-up factor of picture of real-time calibration is used for the calculating of last turn geometric parameter.The gained orbit geometry parameter is: gauge is L, versed sine=Δ x; Left side rail is indulged partially=Δ y+Lsin ψ/2;
Right rail is indulged partially=Δ y-Lsin ψ/2; Superelevation=Lsin ψ; Wherein Δ x and Δ y are respectively the transversal displacement and the length travel of cooperation monumented point, and ψ is the side rake angle of wireline inspection car 2.
Claims (6)
1. the photographing measurement method of a long straight rail geometric parameter, it is characterized in that, this method is: wireline inspection car (2) headstock on long straight rail (1) fixedly installs LED cooperation sign (4), video camera (3) and motor-driven lens are installed in described wireline inspection car (2) the place ahead, when wireline inspection car (2) during, take described cooperation sign (4) with this track fluctuating deflection campaign at least two different images constantly with video camera (3) along described orbital motion; The change in location of monumented point in the processor real-time detected image, and according to the monumented point change in location drives motor-driven lens, makes the picture point of monumented point keep rational position all the time on image, fully effectively utilizing the visual field, and makes image focusing clear; By installing existing adaptive optics equipment additional, or suitably revise, to overcome the influence of atmospheric agitation imaging with the software algorithm form; Obtain the geometric parameter of described track again by Flame Image Process, described geometric parameter be gauge and superelevation, vertical partially, in the versed sine at least one.
2. according to the photographing measurement method of the described long straight rail geometric parameter of claim 1, it is characterized in that described cooperation sign (4) is circle marker (5), diagonal form sign (6) or drumheads (7).
3. according to the photographing measurement method of the described long straight rail geometric parameter of claim 1, it is characterized in that described video camera (3) is installed on the ground in described wireline inspection car (2) the place ahead, or be installed in can be along on the measurement dolly of described orbital motion.
4. according to the photographing measurement method of the described long straight rail geometric parameter of claim 1, it is characterized in that, in the described Flame Image Process, adopt sub-pix framing technology, the monumented point position in detection and the positioning image.
5. according to the photographing measurement method of the described long straight rail geometric parameter of claim 1, it is characterized in that, adopt PC computing machine or dsp processor to carry out described Flame Image Process.
6. according to the photographing measurement method of the described long straight rail geometric parameter of claim 1, it is characterized in that synthetic described orbit geometry parameter is expressed as:
Versed sine=Δ x;
Left side rail is indulged partially=Δ y+Lsin ψ/2;
Right rail is indulged partially=Δ y-Lsin ψ/2;
Superelevation=Lsin ψ;
Wherein, gauge is L, and Δ x and Δ y are respectively the transversal displacement and the length travel of cooperation monumented point, and ψ is the side rake angle of wireline inspection car (2).
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