CN101532827A - Deviation correction method for measurement of rail wear based on laser vision - Google Patents
Deviation correction method for measurement of rail wear based on laser vision Download PDFInfo
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Abstract
The invention discloses a deviation correction method for measurement of rail wear based on laser vision, comprising the steps of dividing a rail waist profile of a characteristic profile of dividing a cross section of a rail obtained by the measurement by a laser vision sensor into a rail waist big circle and a rail waist small circle; fitting a rail longitudinal shaft line according to a tangent point of the rail waist big circle and the rail waist small circle; projecting the characteristic profile to an auxiliary plane which is vertical to the rail longitudinal shaft line to obtain a projection profile of the cross section of the rail; and calculating the wear value of the cross section of the rail by aligning a standard profile of the cross section of the rail with the projection profile. The measurement error of the rail wear caused by that a light plane projected by the laser vision sensor is not vertical to the rail longitudinal shaft line can be eliminated based on the method.
Description
Technical field
The present invention relates to the laser vision measuring technique, be meant a kind of method for correcting error of measurement of rail wear based on laser vision especially.
Background technology
The regular detection of track is very important for the rationalization scheme of transportation by railroad with low-cost the maintenance: on the one hand, at track wearing and tearing and distortion commitment, carry out the track detection and help to formulate rational railroad maintenance timetable, take place to avoid unsafe condition; On the other hand, effectively track detects and will lay the foundation for track changes to repair based on condition of component from cycled recondition, makes limited manpower and instrument and equipment resource obtain better utilization, effectively saves the track maintenance cost.
At present, domestic and international many research institutions and scholar study the detection mode of rail wear, and have successfully developed various measurement mechanisms, and according to the difference of detection mode, measurement mechanism can be divided into contact and contactless.Wherein, the measuring accuracy height of contact measuring apparatus, but complicated operation, efficiency of measurement is low, and only suitable static measurement is used when being mainly used in laboratory study rail anti-wear performance, is not suitable for on-line measurement; Non-contact measurement apparatus is fit to kinetic measurement.
About non-contact measurement apparatus, at application number is 200510123725.0, denomination of invention is in the Chinese patent application of " steel rail near laser visual dynamic device and measuring method ", disclose a kind of a single line laser vision sensor has been set in the rail inboard, just can finish device to vertical abrasion of rail and side wear measurement, this device and measuring method have improved measurement of rail wear based efficient, reduce the measuring equipment cost, improved operability and convenience that through engineering approaches is used.But the laser vision sensor in this device only throws an optical plane, and therefore every width of cloth image only comprises the feature contour of a rail profile, causes the waste of image information.
In addition, at application number is 200710176429.6, denomination of invention is in the Chinese patent application of " a kind of steel rail wearing integrative parameter vehicle-mounted dynamic measuring device and method ", discloses that a kind of laser vision sensor based on optical grating construction measures that rail vertically wears away, the device and method of level abrasion and undulatory wear.The device and method of describing in this patented claim need not to improve under the situation of image acquisition hardware performance, just can improve collection density, thereby satisfies the requirement of undulatory wear on-line dynamic measurement.
Above-mentioned two kinds of devices and measuring method are in the measurement of rail wear based process, and the optical plane that all requires laser vision sensor and projected is perpendicular to the rail longitudinal axis axis.But, in the laser vision sensor installation process, be difficult to guarantee its optical plane that projects and rail longitudinal axis axis normal.In addition, laser vision sensor is installed in train bottom, during with train operation, because optical plane and rail longitudinal axis axis out of plumb that the vibration of train also can cause laser vision sensor to project, thereby has reduced the precision of measurement of rail wear based.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of method for correcting error of measurement of rail wear based on laser vision, can eliminate the measurement of rail wear based error that the optical plane that projected by laser vision sensor and rail longitudinal axis axis out of plumb are brought, improve the precision of measurement of rail wear based.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of method for correcting error of measurement of rail wear based on laser vision, this method comprises:
The web of the rail profile of the feature contour of a, rail profile that laser vision sensor is measured is divided into web of the rail great circle and web of the rail roundlet;
The point of contact of b, the described web of the rail great circle of foundation and web of the rail roundlet simulates the rail longitudinal axis axis;
C, described feature contour is projected to auxiliary plane perpendicular to described rail longitudinal axis axis, obtain the projected outline of rail profile;
D, by the nominal contour of rail profile and aliging of described projected outline, calculate the wearing valve of rail profile.
Wherein, the feature contour that the described laser vision sensor of step a is measured rail profile is: laser vision sensor projects optical plane in the rail inboard, and described optical plane and rail intersect the feature contour that forms rail profile.
Described laser vision sensor comprises two or more optical plane projectors; A plurality of optical planes that described laser vision sensor projects are parallel to each other.
After described step a, this method also comprises: based on the coordinate of described feature contour under laser vision sensor mathematical model two-dimensional measurement coordinate system, adopt the equation of radius constraint nonlinear optimization method difference described web of the rail great circle of match and web of the rail roundlet; And go out the point of contact coordinate of described web of the rail great circle and web of the rail roundlet based on the Equation for Calculating of described web of the rail great circle and web of the rail roundlet.
The described point of contact match rail longitudinal axis axis according to web of the rail great circle and web of the rail roundlet of step b is: according to the coordinate fitting straight line of described point of contact under described laser vision sensor mathematical model camera coordinate system, with described straight line as the rail longitudinal axis axis.
Described nominal contour and the described projected outline with rail profile of steps d is aligned to: the web of the rail profile with described projected outline is a benchmark, on described auxiliary plane described nominal contour and projected outline is alignd.
Described wearing valve comprises: vertical wearing valve and horizontal wearing valve.
The wearing valve of the described calculating rail profile of steps d is:
Described vertical wearing valve is the distance that the vertical measurement of wear point of described nominal contour arrives described projected outline in vertical direction;
The level abrasion measurement point that described horizontal wearing valve is described nominal contour arrives the distance of described projected outline in the horizontal direction.
The method for correcting error of measurement of rail wear based on laser vision of the present invention adopts multi-thread laser vision sensor collection to contain the image of a plurality of cut surface character profiles of rail, so can improve the utilization factor of image information.
In addition, the feature contour of the rail profile that the present invention measures laser vision sensor calculates the rail longitudinal axis axis based on the mathematical model of laser vision sensor; According to perpendicular to the auxiliary plane of rail longitudinal axis axis, and the feature contour of the rail profile that measures is projected on the auxiliary plane, obtains projected outline.The present invention is with projected outline's benchmark, nominal contour is alignd with it, calculate wearing valve in the rail profile with this, so can eliminate the measurement of rail wear based error that the optical plane that projected by laser vision sensor and rail longitudinal axis axis out of plumb are brought, improve the precision of measurement of rail wear based.
Description of drawings
Fig. 1 is the method for correcting error schematic flow sheet of measurement of rail wear based on laser vision of the present invention;
The feature contour image of the rail profile that Fig. 2 photographs for laser vision sensor;
Fig. 3 is the data model of laser vision sensor;
Fig. 4 is a synoptic diagram of determining rail web of the rail great circle and web of the rail roundlet point of contact in the two-dimensional measurement coordinate system;
Fig. 5 is rail longitudinal axis axis and the feature contour of rail profile and the structural relation synoptic diagram of auxiliary plane among the present invention;
Fig. 6 is the projected outline and the nominal contour alignment synoptic diagram of rail profile.
Embodiment
The technical solution of the present invention is further elaborated below in conjunction with the drawings and specific embodiments.
The method for correcting error of a kind of measurement of rail wear based on laser vision provided by the present invention as shown in Figure 1, mainly may further comprise the steps:
Adopt multi-thread laser vision sensor to measure a plurality of sections of the inboard web of the rail of rail and rail head part among the present invention, multi-thread laser vision sensor contains two or more optical plane projectors, can project a plurality of optical planes that are parallel to each other.Preferably, can adopt the laser vision sensor that can throw three optical planes, three optical planes that wherein project are parallel to each other.Laser projecting apparatus in the laser vision sensor is aimed at the rail inboard and is projected optical plane, and this optical plane and rail intersect, and forms rail profile, and then rail profile overlaps with optical plane.After the imaging of rail profile imaging system, obtain the image of the feature contour of rail profile.Wherein, the rail profile imaging system mainly is made of video camera, camera lens and image capturing system.
It is to be noted, in principle, laser projecting apparatus in the described laser vision sensor need be aimed at the rail inboard and project optical plane perpendicular to the rail longitudinal axis axis, but during practical application, in the laser vision sensor installation process, be difficult to guarantee that its optical plane that projects is definitely vertical with the rail longitudinal axis axis; In addition, laser vision sensor is installed in the train bottom, during with train operation, because optical plane and rail longitudinal axis axis out of plumb that the vibration of train also can cause laser vision sensor to project.In view of above-mentioned factor, the abrasion that the present invention can measure rail based on optical plane and rail longitudinal axis axis off plumb condition, and can eliminate in the prior art because the measurement of rail wear based error that optical plane that laser vision sensor projects and rail longitudinal axis axis out of plumb are brought.The present invention can measure rail wear accurately by follow-up processing.
The laser vision sensor aligning rail inboard that employing can be throwed three optical planes that are parallel to each other projects optical plane, forms three rail profiles, is respectively rail profile 1, rail profile 2 and rail profile 3.After the imaging of rail profile imaging system, obtain comprising the image of the feature contour of three rail profiles, as shown in Figure 2, wherein, feature contour 1 corresponding rail profile 1, feature contour 2 corresponding rail profiles 2, feature contour 3 corresponding rail profiles 3, each feature contour all comprises rail head profile and web of the rail profile two parts.
Image with feature contour collects calculator memory by high speed image acquisition board, and image is analyzed, and obtains the coordinate of feature contour under image coordinate system, i.e. image coordinate.By the mathematical model of laser vision sensor, described image coordinate is transformed in the camera coordinate system then, obtains the three-dimensional coordinate of feature contour under camera coordinate system.
Wherein, the mathematical model of laser vision sensor as shown in Figure 3: camera coordinates is o
c-x
cy
cz
cThe image coordinate on image coordinate plane 31 is o
u-x
uy
u Optical plane 30, the optical plane that is promptly projected by laser projecting apparatus aligning rail inboard are with optical plane 30 any point o
mBe initial point, set up three-dimensional reference frame o
m-x
my
mz
m, make z
m=0, the two-dimensional measurement coordinate that then obtains optical plane is o
m-x
my
m
Based on the mathematical model of above-mentioned laser vision sensor, the image coordinate of feature contour according to the conversion between image coordinate system and the camera coordinate system, is obtained the three-dimensional coordinate of feature contour under camera coordinates.Wherein, the conversion in the mathematical model of laser vision sensor between each coordinate system can application reference number is 03142658.1, and denomination of invention is the Chinese patent application of " a kind of structured light vision sensor scaling method based on plane target drone ".Table 1, table 2, table 3 have provided the web of the rail profile of three feature contours among Fig. 2 respectively at camera coordinate system o
c-x
cy
cz
cUnder the partial 3-D coordinate data, unit be the millimeter (mm).
Table 1 is depicted as the partial 3-D data of feature contour 1 web of the rail profile under camera coordinate system:
Table 1
Table 2 is depicted as the partial 3-D data of feature contour 2 web of the rail profiles under camera coordinate system:
Table 2
Table 3 is depicted as the partial 3-D data of feature contour 3 web of the rail profiles under camera coordinate system:
Table 3
Set up the measurement coordinate system o of rail profile
n-x
ny
n, as shown in Figure 4, be the yn axle with the rail axis of symmetry, with the flange of rail x
nAxle, the great circle partial contour on the AB section contour representation rail web of the rail, the BC segment table shows the roundlet partial contour on the rail web of the rail.The B point is the point of contact of described great circle and roundlet.
Because rail profile overlaps with optical plane 30 among Fig. 3, so above-mentioned measurement coordinate system o
n-x
ny
nTwo-dimensional measurement coordinate system o with optical plane among Fig. 3
m-x
my
mOverlap.
Mathematical model based on laser vision sensor, conversion by camera coordinate system and two-dimensional measurement coordinate system, can with the three-dimensional camera coordinate Mapping of the web of the rail shown in table 1, table 2, the table 3 in the two-dimensional measurement coordinate system, obtain the two-dimensional measurement coordinate of feature contour on optical plane.Then, the web of the rail profile with feature contour under the two-dimensional measurement coordinate system is divided into web of the rail great circle and web of the rail roundlet, and retrains the equation of nonlinear optimization method difference match web of the rail great circle and web of the rail roundlet by radius.Wherein, radius constraint nonlinear optimization method and fitting algorithm are prior art, repeat no more herein.
The web of the rail great circle of feature contour 1 and the equation of web of the rail roundlet in the two-dimensional measurement coordinate system are:
Web of the rail great circle: (x-266.129)
2+ (y+195.365)
2=122500
Web of the rail roundlet: (x+40.363)
2+ (y+62.060)
2=225
The web of the rail great circle of feature contour 2 and the equation of web of the rail roundlet in the two-dimensional measurement coordinate system are:
Web of the rail great circle: (x-255.818)
2+ (y+170.034)
2=122500
Web of the rail roundlet: (x+49.864)
2+ (y+35.912)
2=225
The web of the rail great circle of feature contour 3 and the equation of web of the rail roundlet in the two-dimensional measurement coordinate system are:
Web of the rail great circle: (x-244.819)
2+ (y+147.468)
2=122500
Web of the rail roundlet: (x+59.009)
2+ (y+8.736)
2=225
According to the equation of above-mentioned web of the rail great circle and web of the rail roundlet, can calculate the point of contact of web of the rail great circle and web of the rail roundlet.The web of the rail great circle of feature contour 1, feature contour 2 and feature contour 3 and the web of the rail roundlet point of contact coordinate under the two-dimensional measurement coordinate system is respectively: Q1
m(54.118 ,-56.078), Q2
m(63.600 ,-29.885), Q3
m(72.654 ,-2.506).
Based on the conversion between two-dimensional measurement coordinate system and the image coordinate system, obtain three coordinates of point of contact under image coordinate and be: Q1
u(359.410,381.806), Q2
u(459.433,381.008), Q3
u(545.057,376.976).
Based on the conversion between image coordinate system and the camera coordinate system, obtain three coordinates of point of contact under camera coordinate system and be: Q1
c(2.569,27.387,410.542), Q2
c(24.995,27.709,418.689), Q3
c(49.848,27.256,429.129).
Then, at the coordinate under camera coordinate system, obtain straight line by fitting algorithm according to three point of contacts, this straight line is the rail longitudinal axis axis.Wherein, the algorithm by 3 fitting a straight lines in space is a prior art, repeats no more herein.
Rail longitudinal axis axis equation is expressed as to formula with point:
Be expressed as with parameter type:
T ∈ R wherein, t is a parameter, R is web of the rail great circle or the little radius of a circle of the web of the rail.
Step 103 is crossed the plane of a bit doing arbitrarily on the rail longitudinal axis axis perpendicular to the rail longitudinal axis axis, obtains auxiliary plane.
Preferably, can get the web of the rail great circle of feature contour 1 correspondence on the rail longitudinal axis axis and the point of contact Q1 of web of the rail roundlet, as shown in Figure 5, cross the plane of Q1 work, obtain auxiliary plane F perpendicular to the rail longitudinal axis axis.To formula equation or parameter type equation, must be point of contact Q1 based on the point of rail longitudinal axis axis
c(2.569,27.387,410.542) perpendicular to the equation of the auxiliary plane F of rail longitudinal axis axis are: x-0.003y+0.357z-143.789=0.
Step 104 is a projecting direction with the rail longitudinal axis axis direction, and feature contour is projected on the auxiliary plane, obtains the projected outline of rail profile.
With the projected outline of the projection of feature contour on auxiliary plane as rail profile.
According to the three-dimensional data of feature contour under camera coordinate system, by calculating the three-dimensional data of projected outline under camera coordinate system.Wherein, the point on the feature contour and this in the corresponding point in the projected outline, be that the pass of subpoint is: cross certain point on the feature contour and make straight line perpendicular to auxiliary plane, the intersection point of this straight line and auxiliary plane is this subpoint on auxiliary plane.Then can be at the three-dimensional coordinate under the camera coordinate system in the hope of the coordinate of subpoint under camera coordinate system of this point according to this.Similarly, other each point all adopts the method to ask for subpoint on auxiliary plane on the feature contour.Described each subpoint combines and is projected outline.
Table 4, table 5 and table 6 are depicted as the three-dimensional data of projected outline under camera coordinate system of the web of the rail profile correspondence of each rail profile among Fig. 2.Feature contour 1 corresponding projected outline 1, feature contour 2 corresponding projected outlines 2, feature contour 3 corresponding projected outlines 3.
Table 4 is depicted as the three-dimensional data of web of the rail profile under camera coordinate system of projected outline 1:
Table 4
Table 5 is depicted as the three-dimensional data of web of the rail profile under camera coordinate system of projected outline 2:
Table 5
Table 6 is depicted as the three-dimensional data of web of the rail profile under camera coordinate system of projected outline 3:
Table 6
Step 105: the web of the rail profile with the projected outline of rail profile is a benchmark, the projected outline of rail profile is alignd with nominal contour, thereby calculate the wearing valve of rail profile.
So-called nominal contour is meant in not abrasion of rail, and under the regular condition of specification, the standard geometric profile of rail transversal section.Because rail abrasion in use mainly occur in the rail head part, and web of the rail part can not be worn and torn substantially, therefore, the present invention aligns the projected outline of rail profile and the web of the rail profile of nominal contour on auxiliary plane, calculate then the rail head profile each wearing valve, comprise horizontal wearing valve and vertical wearing valve.
Be illustrated in figure 6 as the projected outline and the nominal contour alignment synoptic diagram of rail profile, the G point is level abrasion measurement point, and the H point is vertical measurement of wear point.According to " railway track maintenance rule " regulation, the G point is positioned at standard section apart from rail surface 16mm place, and the H point is positioned at wide 1/3 place of rail surface.Is that benchmark align with nominal contour with web of the rail profile with the projected outline of rail profile, can obtain the vertical wearing valve W of rail profile
v, horizontal wearing valve W
h
Concrete, as shown in Figure 6, vertical wearing valve W
vArrive the distance of projected outline in vertical direction for the vertical measurement of wear point H of rail profile nominal contour; Horizontal wearing valve W
hArrive the distance of projected outline in the horizontal direction for the level abrasion measurement point G of rail profile nominal contour.
Based on the conversion between the two-dimensional measurement coordinate system of camera coordinate system and optical plane, obtain the two-dimensional measurement coordinate data of projected outline on optical plane; Because the angle between optical plane and the auxiliary plane is known, therefore can calculate the coordinate data of projected outline on auxiliary plane by cosine.Be after benchmark aligns with nominal contour with web of the rail profile then, can draw on the nominal contour coordinate that vertical measurement of wear point and level wear away measurement point, thereby the wearing valve that draws three rail profiles be projected outline:
Rail profile 1: vertical wearing valve: 3.862mm, horizontal wearing valve :-1.550mm;
Rail profile 2: vertical wearing valve: 3.894mm, horizontal wearing valve :-1.696mm;
Rail profile 3: vertical wearing valve: 3.840mm, horizontal wearing valve :-1.716mm.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (8)
1, a kind of method for correcting error of measurement of rail wear based on laser vision is characterized in that, this method comprises:
The web of the rail profile of the feature contour of a, rail profile that laser vision sensor is measured is divided into web of the rail great circle and web of the rail roundlet;
The point of contact of b, the described web of the rail great circle of foundation and web of the rail roundlet simulates the rail longitudinal axis axis;
C, described feature contour is projected to auxiliary plane perpendicular to described rail longitudinal axis axis, obtain the projected outline of rail profile;
D, by the nominal contour of rail profile and aliging of described projected outline, calculate the wearing valve of rail profile.
2, according to the method for correcting error of the described measurement of rail wear based on laser vision of claim 1, it is characterized in that, the feature contour that the described laser vision sensor of step a is measured rail profile is: laser vision sensor projects optical plane in the rail inboard, and described optical plane and rail intersect the feature contour that forms rail profile.
According to the method for correcting error of the described measurement of rail wear based on laser vision of claim 2, it is characterized in that 3, described laser vision sensor comprises two or more optical plane projectors; A plurality of optical planes that described laser vision sensor projects are parallel to each other.
4, according to the method for correcting error of the described measurement of rail wear based on laser vision of claim 1, it is characterized in that, after described step a, this method also comprises: based on the coordinate of described feature contour under laser vision sensor mathematical model two-dimensional measurement coordinate system, adopt the equation of radius constraint nonlinear optimization method difference described web of the rail great circle of match and web of the rail roundlet; And go out the point of contact coordinate of described web of the rail great circle and web of the rail roundlet based on the Equation for Calculating of described web of the rail great circle and web of the rail roundlet.
5, according to the method for correcting error of claim 1 or 4 described measurement of rail wear based on laser vision, it is characterized in that, the described point of contact match rail longitudinal axis axis according to web of the rail great circle and web of the rail roundlet of step b is: according to the coordinate fitting straight line of described point of contact under described laser vision sensor mathematical model camera coordinate system, with described straight line as the rail longitudinal axis axis.
6, according to the method for correcting error of the described measurement of rail wear based on laser vision of claim 1, it is characterized in that, described nominal contour and the described projected outline with rail profile of steps d is aligned to: the web of the rail profile with described projected outline is a benchmark, on described auxiliary plane described nominal contour and projected outline is alignd.
According to the method for correcting error of the described measurement of rail wear based on laser vision of claim 1, it is characterized in that 7, described wearing valve comprises: vertical wearing valve and horizontal wearing valve.
According to the method for correcting error of claim 1 or 7 described measurement of rail wear based on laser vision, it is characterized in that 8, the wearing valve of the described calculating rail profile of steps d is:
Described vertical wearing valve is the distance that the vertical measurement of wear point of described nominal contour arrives described projected outline in vertical direction;
The level abrasion measurement point that described horizontal wearing valve is described nominal contour arrives the distance of described projected outline in the horizontal direction.
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